NL2026770A - Method for administration of a medium - Google Patents

Abstract

The present invention relates to a method for carrying out plant control in an environmentally friendly manner of a predetermined plant to be controlled, such as a weed, for control thereof by means of administration of a medium, such as a substantially inert medium, the method comprising steps for: — detecting, such as by means of sampling, a presence and/or a location of an instance of a plant or part thereof to be controlled, — administering the medium at the location of the plant or part thereof to be controlled, wherein : — the medium is in a state for, upon application, to extract heat from the plant to be controlled or the part thereof, preferably wherein the medium is nitrogen which is applied at least partly in a liquid state.

Description

Method for administration of a medium The present invention relates to a method for carrying out plant control in an environmentally friendly manner of a predetermined plant to be controlled, such as a weed, for control thereof by means of administration of a medium, such as an inorganic medium. substantially inert medium.

Unwanted vegetation, such as weeds, occurs in many locations and under many conditions. Controlling such undesirable plant growth has traditionally been manual work, which is becoming an increasingly expensive method of such control. Subsequently, a chemical control was developed. However, negative aspects are increasingly attributed to this chemical control, such as harm to humans and animals and plant growth not intended for control. Burning weeds using burners is also used. However, this involves high energy consumption with high CO2 production and often incomplete combustion and production of polluting particles such as soot particles. It also burns organic material that could otherwise have been used in the production of renewable gas products as an energy source instead of as an energy waste.

In order to overcome such drawbacks, the present invention provides a method for carrying out plant control in an environmentally friendly manner of a man having a predetermined plant to be controlled, such as a weed, for control thereof by means of administration of a medium, such as a substantially inert medium, the method comprising the steps of: — detecting, such as by sampling, a presence and/or a location of an instance of a plant to be controlled or part thereof,

— the application of the medium at the location of the plant or part thereof to be controlled, wherein: which is administered at least in part in a liquid state.

By means of such a method according to the present invention, undesirable plants can be controlled in a manner which is considerably less subject to the aforementioned drawbacks of the prior art. The use of such a medium for extracting energy from the plant to be controlled has the advantage that the plant to be controlled is advantageously damaged. Such damage advantageously controls or limits the viability of the plant to be controlled. Furthermore, the use of such a medium provides the advantage that control can extend into the soil in that the medium can flow into the soil and/or energy is also extracted from the soil. For example, in combustion according to the prior art, penetration into the soil is much more difficult/limited.

According to a first embodiment, the administration is performed by means of an outlet mouth of an administration device, such as a dispensing machine or a dispensing lance. The method can hereby be carried out in an advantageous manner for an application suitable for such a device.

By means of such an automatic applicator according to the present invention, undesirable plants can be controlled in a manner which is considerably less subject to the drawbacks mentioned in the prior art. The use of such a medium for extracting energy from the plant to be controlled has the advantage that the plant to be controlled is advantageously damaged. Such damage advantageously controls or limits the viability of the plant to be controlled. Furthermore, the use of such a medium provides the advantage that control can extend into the soil because the medium can flow into the soil and/or energy is also extracted from the soil. For example, in combustion according to the state of the art, penetration into the soil is much more difficult/limited.

By means of such an application lance according to the present invention undesirable plants can be controlled in a manner which is considerably less subject to the mentioned drawbacks of the prior art. The use of such a medium for extracting energy from the plant to be controlled has the advantage that the plant to be controlled is advantageously damaged. Such damage advantageously controls or limits the viability of the plant to be controlled. Furthermore, the use of such a medium provides the advantage that control can extend into the soil in that the medium can flow into the soil and/or energy is also extracted from the soil. For example, in combustion according to the prior art, penetration into the soil is much more difficult/limited.

According to a further preferred embodiment, the method comprises the steps of passing medium through a ring conduit or double conduit of a feedthrough assembly arranged between a fluid supply and to an outlet mouth of an outlet assembly or an actuating assembly thereof.

This advantageously realizes that a flow along two sides is possible, so that it is possible to maintain a lower temperature at the location of several output assemblies. As a result, when a respective actuating assembly is actuated, a medium as cold as possible is always output from the nozzle, so that a maximum amount of energy is extracted from the plant to be controlled for the purpose of controlling it according to the present invention.

According to a further preferred embodiment, the medium has a boiling point of less than 0°C, preferably a boiling point of less than minus 50°C, more preferably less than minus 75°C, further preferably less than minus 190°C, further preferably the medium is liquid nitrogen. Given the intended result of extraction of energy from the plant to be controlled, such a medium, especially when it reaches the plant to be controlled in liquid form, provides maximum energy extraction. Although, in this light, a liquid carbon dioxide, short-chain organic substance and a liquid oxygen substantially achieve such a goal, because of the environmental influence, a liquid nitrogen is preferred. The liquid nitrogen has as a further preferred property a relatively low boiling point and a relatively high heat of vaporization relative to oxygen. For the purpose of the present preferred embodiment and/or the invention, the components of the dispenser should be adapted for safe and durable operation with such a medium.

According to a further preferred embodiment, the method comprises steps for allowing medium to seep through a seepage assembly for carrying out a seepage amount of medium in gaseous and/or liquid form under preferably predetermined resistance. In this way, a sustained supply in a preferred state, such as liquid, is advantageously realized with low leakage costs or seepage costs such as leakage loss. A reason for this advantage is that because of the seepage, or leakage, a small flow can be realized in the feedthrough assembly and/or the output assembly or parts thereof or by means of exchange of medium between them. Preferably, a flow rate for seeping or leaking is adjustable by means of the seepage assembly, more preferably from the control unit or by means of an exchangeable seepage medium, such as a porous material, arranged in the seepage assembly, preferably in combination with an adjustable valve. .

According to a further preferred embodiment, the method comprises steps for measuring a temperature of the medium by means of a thermometer for preferably keeping a temperature by the control unit, wherein the temperature can preferably be determined at the location of the feed-through assembly and/or the output assembly.

According to a further preferred embodiment, the method comprises the steps of detecting a plant to be controlled by means of a detection assembly (3) comprising at least a detection device (13), such as comprising at least one image acquisition unit such as a camera, for detecting detection information, such as comprising image information, for the purpose of determining a presence and/or a location of an instance of a plant or part thereof to be controlled. The method can hereby be carried out in an advantageous manner using such a detection system for the purpose of automated administration of medium.

According to a further preferred embodiment, the method comprises steps for analyzing the detection information for detecting in the detection information recognition patterns related to recognition of the plant to be controlled or the part thereof, preferably for the purpose of detecting by means of the recognized patterns to enrich the detection information into enriched detection information. Preferably, analytical means are used for this. Such analysis means preferably comprise image analysis means for analyzing recorded images for the purpose of determining the presence of the plant or part thereof to be controlled. Use is preferably made herein of properties of the plant or part thereof with regard to size, structure of stems, branches and/or leaves thereof or combinations thereof. In the case of, for example, a pavement, any presence of vegetation is designated by a customer as a plant to be controlled. In the case of, for example, a vegetated environment, a closer recognition on the basis of the size, structure of the stems, branches and/or leaves, for example, is envisaged. Actuation of an output assembly or its actuation assembly is hereby advantageously realized on the basis of such an analysis. This reduces or eliminates the use of manual actuation. In itself, manual actuation, such as with a view to additional administration in case of persistent presence of plants to be controlled, is equally envisaged.

According to a further preferred embodiment, the method comprises steps for measuring a medium pressure by means of a pressure gauge, preferably by means of a pressure gauge arranged on the dispensing device, more preferably on a ring line, double line, discharge nozzle or feedthrough assembly thereof. The actuation of the output assembly or its actuation assembly can be further regulated on the basis of information from such a pressure gauge, whereby in the event of a higher pressure a higher output speed can be taken into account, but also, for example, a possible lower energetic value of the medium when it is in gaseous form or, for example, with a possible higher energetic value of the medium when it is in liquid form. Furthermore, a through-flow of the medium for, for instance, flushing the feed-through assembly and/or the output assembly can be controlled with this.

According to a further preferred embodiment, the method comprises the step of administering the medium comprising actuating an actuating assembly (12), such as comprising a valve assembly, having at least one discharge nozzle (117) for passage of a quantity through the at least one discharge nozzle. medium for carrying it out at the location of a respective plant to be controlled. It is hereby possible to carry out manual or automatic application of the medium to the plant to be controlled in a simple manner.

Preferably, the method further comprises steps of administering the medium into a part of the plant to be controlled, such as a stem, stem, branch, leaf and/or root. This is achieved in an advantageous manner. Furthermore, it is thereby feasible to inject parts of the plant to be controlled, such as a stem or trunk of a suitable size, with the medium in order to damage its viability at the location of the needle, or even deeply below it. Preferably, with a porous or full stem or trunk, a portion of the roots is accessible through the medium.

Preferably, the application herein comprises steps of inserting the discharge nozzle into the part of the plant to be controlled comprising the stem, stem, branch, leaf and/or root before or during the application steps.

According to a further preferred embodiment, the method comprises the steps of applying a driver to administer the medium according to the driver. Preferably, such control is performed on a processing unit of a control unit of a device or system for applying the method. An advantage of this is that a suitable method of administration can be carried out by means of a simple operating operation. For example, it is advantageously provided here that a duration of an administration is simply performed by actuating a suitable program by means of a suitable operating operation, such as pressing a button. It is further provided that an intermittent administration can be performed by means of an even simple operating operation. Provided in a further advantageous manner that a surface of a plot or part thereof, or of a pavement or part thereof can be treated by means of such a control device in such a way that precisely the locations of the plant to be controlled are provided with an application and other locations are precisely not used. provided with administration.

It is provided herein that, in addition to manual operation, the control unit can be provided with relevant data relating to the presence of a plant to be controlled or part thereof relative to an outlet nozzle, so that the application is optimally performed at the location of the plant to be controlled in the outlet nozzle. Such relevant data is preferably obtained by means of an image recording device with a previously known positioning with respect to such an output nozzle.

According to a further preferred embodiment, the medium is administered over a certain period of time. In combination with, for example, a known outflow rate, or an estimate thereof, the dose of the administration is hereby determined. More preferably, the medium is hereby administered at predetermined intervals.

Further advantages, features and details of the present invention will be described in greater detail below with reference to one or more preferred embodiments with reference to the attached figures. Similar but not necessarily identical parts of different preferred embodiments are designated by the same reference numerals.

fig. 1 is a perspective view of part of a preferred embodiment.

fig. 2 is a perspective view of the preferred embodiment of FIG. 1 including a control unit.

fig. 3 and 4 are representations of the embodiment according to FIG. 1 and 2 from a different view direction.

fig. 5 and 6 are representations of the embodiment according to FIG. 1 and 2 from a side view.

fig. 7 and 8 are representations of the embodiment according to FIG. 1 and 2 from a top view.

fig. 8 is a representation of the embodiment according to FIG. 1 and 2 from a bottom view.

fig. 2 is a schematic block diagram of the preferred embodiment of FIG. 1.

fig. 10 is a state diagram of a preferred method using the preferred embodiment of FIG. 1.

fig. 11 is a state diagram of a preferred method using the preferred embodiment of FIG. 1.

fig. 12 is a flow chart of a preferred method according to a further preferred embodiment.

fig. 13 is a flow chart of a preferred method according to a further preferred embodiment.

fig. 14 is a flow chart of a further preferred method of a further preferred embodiment.

fig. 15 is a flow chart of a further preferred method of a further preferred embodiment. fig. 16 is a schematic side view of a further preferred embodiment.

fig. 17 is a schematic side view of a detail applicable to the preferred embodiment of FIG. 16.

fig. 18 is a schematic cross-sectional representation of a detail applicable to the preferred embodiment of FIG. 16.

fig. 19 is a flow chart of a method according to a further preferred embodiment. A preferred embodiment (Fig. 19) according to the present invention relates to a method for carrying out plant control in an environmentally friendly manner by preferentially operating a device for this purpose. It is important here that the method can be carried out by means of a medium that is suitable for extracting heat from the plant to be combated upon application. Preferably, the medium is administered at least in part in a liquid state. A further preferred feature of the method is that the medium withdraws the heat by a temperature increase of the medium and/or a phase change of the medium, which phase change preferably occurs from a liquid to a gas. The method is preferably described in the following description of preferred embodiments with reference to devices also described. The method is hereby not limited to execution by means of such a device. Any measure related to such an embodiment of such a device is optional within the scope of the invention with which heat is extracted from a plant to be controlled.

The method is preferably carried out by means of a device, such as a device that is displaceable with respect to the ground, such as a mobile device, which is provided with a series of nozzles and preferably also with a series of detection means for identifying a target. presence of a plant to be controlled relative to any respective nozzle. An alternative of such a device is a manually carried device, such as a administering lance.

The method begins in step 200. In step 210, an admission of a medium to the device, a feedthrough assembly thereof, such as through a medium supply thereof, is actuated. By means of such an operation, the device is provided with a functional supply of a sufficient amount of medium. The medium and such a functional supply of a sufficient amount of medium means that the medium is supplied in an amount such that medium for administration to the plant to be controlled has a conditions or temperature such as to functionally control the plant to be controlled. For this purpose, a medium is kept in a preferably liquid state with a temperature suitable for this purpose until an application is made to a plant to be controlled. In the case of a medium with a boiling point such as below 100 Kelvin, this is preferably achieved according to a preferred embodiment by some seeping of medium and/or by passing the medium through a parallel line arrangement or through a ring line. Recovery of seeped medium to a suitable container is herein provided, preferably using forced condensation by means of a suitable device.

A more simple way of seeping is to exhaust a controlled or predetermined amount of medium to the environment. Such venting of medium to the environment is provided to be performed under the actuation of medium pressure. In this case, a device operating under a higher ambient temperature and therefore a greater supply of heat to the medium present in the device will seep at a higher flow rate than in the case of a lower ambient temperature. Such a regulation is provided by a higher outflow velocity of the seeping medium in the case of a fixed seepage passage or seepage opening. In the case of an adjustable trickle opening, the flow rate is additionally adjustable by adjusting the trickle opening. For example, it is foreseeable that a seepage opening is set larger at an expected higher ambient temperature or that a seepage opening is set smaller at an expected lower ambient temperature.

As such, the method continues in step 220 with seeping the medium supplied to the device from step 210.

In step 230 the device is brought in a manner suitable for the device towards the plant to be controlled, in particular an outlet nozzle of the device is brought towards, at or into the plant to be controlled. This brings the device into a position such that the administration of a dose of medium can be carried out in a suitable manner. The suitable way depends on the combination of the plant to be controlled and the device used. A form of the device, such as the mobile device with an outlet nozzle fixed to the device, is relatively better suited for administration by nebulizing, pouring or dripping. A further form of the device, such as the application lance, is also suitable, for example, for injecting the plant to be controlled or for administering directly to a surface of the plant to be controlled.

After performing an administration, the method continues with step 220 if the method is not continued in step 250 and there are still further plants to be treated to be controlled. Alternatively, a step 245 is provided in which the determination is made whether the method is continued for a further plant to be controlled or whether the method should continue in step 250. A step 150 is allowed to operate the medium for for the purpose of closing off the admittance of medium. As a result, medium is no longer supplied to the device. As a result, the seeping will also stop. As a result, the device will return to the ambient temperature from a desired or actually achieved temperature of the medium.

Specific variants of the method for specific types of plant to be controlled are described below.

A Japanese Knotweed is a type of plant that can be controlled with few or no natural enemies in Europe, for example. As a result, this species is becoming increasingly common. One way of combating this is as follows. The operator of the device, preferably an application lance, locates a plant. Optionally, the space around it is freed up. Optionally, the plant to be controlled is clipped or pruned for easier administration of medium according to the present invention. A height above ground level of 0 to 100 cm, more preferably from 0 to 10 cm is hereby preferably maintained in order to reduce or prevent an obstruction by partitions present in the handle. Preferably, a puncture operation is then performed to provide access to the root, such as from the stem. Such a puncturing operation can be performed as well by means of a nozzle part of the administering lance. Next, the stem and/or root is injected with the medium. It is particularly advantageous if the medium penetrates to the root. The removal of heat from the plant by the medium causes hypothermia or frost damage. Preferably, the increase in volume of the medium during a phase transition from liquid to gas causes further damage to the plant to be controlled. Optionally, after such treatment with the medium, all or part of the remains of the plant is removed. Alternatively, the plant is monitored after administration in order to observe whether the plant would recover despite the damage inflicted.

An alternative crop controllable according to the present invention is a giant hogweed. Such a crop causes irritation to humans or animals by means of, for example, juices thereof. After locating and optional pruning and piercing to the root of the giant hogweed, as analogous to the above description of the Japanese Knotweed, the giant hogweed is injected with the medium.

Alternatively, the lance is useful for spraying medium, such as by spraying all kinds of weeds to damage them. For some species, damaging the leaf and/or stem is sufficient and for other species an injection at the root is advantageous. This will be applied by those skilled in the art within the understanding of the present invention to each species per se.

An alternative embodiment of the present invention is directed to a method of conducting pest control, such as a crawling pest, such as a caterpillar, in an environmentally friendly manner, for control thereof by means of application of a medium, such as a substantially inert medium, the method comprising the steps of: — detecting, such as by sampling, a presence and/or a location of an instance of a pest to be controlled, — administering the medium at the site of the pest to be controlled wherein: - the medium is in a state for upon application to extract heat from the pests to be controlled, preferably wherein the medium is nitrogen which is applied at least partly in a liquid state.

Preferably, such a method provides steps for atomizing the medium. More preferably, such a method provides steps for reaching around a trunk or branch of a tree for spraying at the surface thereof.

A preferred embodiment (Fig. 1-9) according to the present invention relates to an automatic applicator 1. This is substantially designed for administering a medium, in this example liquid nitrogen, to a plant to be controlled from outlet nozzles. In this case, the liquid nitrogen originates from a storage tank which can be arranged on a vehicle, wherein the vehicle is preferably also suitable for carrying the dispenser at a predetermined height above a ground in which the plant to be combated grows.

To this end, as an example of a detection device, the device comprises detection cameras for detecting the plant to be controlled while the vehicle is being advanced relative to the plant or plant growth to be controlled.

Seen in the direction of movement behind the plant to be controlled, there is always at least one discharge nozzle for discharging the liquid nitrogen.

It is hereby achieved as one of the objects of the invention that the plant is cooled by extracting energy by heating the liquid nitrogen and by a phase change of the liquid nitrogen to a gaseous nitrogen as well as by heating the gaseous nitrogen to the ambient temperature.

By this extraction of energy from the plant to be controlled, freezing of this plant to be controlled is intended with the intended result that the plant will be damaged and lose viability.

The dispenser 1 according to this preferred embodiment comprises the following components.

A framework or frame 2 carries the various components and has a support assembly 9 for coupling the frame therewith to a vehicle for advancing the dispenser.

The dispenser is designed to move in the direction of arrow A.

It applies here that the support assembly 9 is located at the rear of the frame.

A detection compartment 21 is formed on the frame from a sheet material, such as metal or plastic sheet material, with a top plate 22 for holding the cameras.

The purpose of the detection compartment, preferably referred to as camera compartment, is a closed space for the cameras to function therein for detecting plants to be controlled or parts thereof as a preferred embodiment of the detection means.

The dispenser 1 receives medium in a passage assembly 4 which serves to feed the medium towards the output assembly 5. The passage assembly preferably comprises a double conduit 41, or a ring conduit 41. A conduit part 42 at the top thereof it receives media from an external media storage 7 (Fig. 10) by means of an input element 10. To this end a hose or tube can be coupled to the feed element 10 for passage of the fluid through the hose or tube into the feed-through assembly 4. The external medium storage is a medium tank known per se which is suitable for storing the used medium such as the preferred liquid nitrogen. One or more shut-off valves are preferably arranged at the location of the inlet element 10 and/or an outlet side of the medium tank.

The feedthrough assembly via is further preferably provided with a seepage assembly 44 for discharging a small amount of medium per unit time therethrough. An outlet opening 19' of the outlet tube or seepage 19, which is arranged in the compartment 22 at the bottom of the dispenser, provides the outlet of the medium in that compartment. The desirability of this stems from a temperature difference between the environment and the temperature of the medium, a feedthrough assembly, or an output assembly, or a supply hose or tube. The medium receives energy from the environment and this energy affects the medium in terms of state, temperature and pressure. Stationary medium heats up, so that a state transition is ultimately unavoidable and will therefore increase the pressure.

A gradual discharge of medium through the seepage assembly leads to a continuous passage of a small amount of medium with which the temperature in the passage assembly can be controlled. The trickle assembly has a feed-through resistance for limiting a flow rate through the trickle assembly. Both an adjustable, such as adjustable by means of a screw element, feed-through channel and a porous material are provided. In such a case, the porosity determines the flow rate. More preferably, some combination of an adjustable channel, and valve and/or such a porous material is provided, as well as a further measure that limits the flow rate with respect to an open outlet.

Preferably, a temperature sensor or thermometer 45 of the dispenser is arranged at the trickle assembly. Alternatively, one or more further thermometers are provided, such as, for example, also a thermometer at the pressure control assembly 46 referred to below, or at any actuation assembly 10.

The feedthrough assembly via is further preferably provided with a pressure control assembly 46, and/or a separate pressure sensor or pressure gauge 47 or pressure relief valve 48, preferably integrated. An important consideration in favor of the pressure control assembly is pressure relief in the event of high pressure generation or rapid pressure variation from a low pressure to a high pressure. Alternatively, provision is made to provide one or more further pressure gauges, such as, for example, at the above-mentioned trickle assembly or at any actuation assembly

10. The output of the pressure regulating assembly It can be seen that both the seepage assembly 44 and the pressure regulating assembly 46 are arranged on the ring conduit 41. In this way it is advantageously provided that the through-flow realized by the seepage assembly and thereby cooling and/or temperature control the seep assembly from two sides. It has further been realized that in the event of a phase change of the medium, discharge from this phase change towards the seep assembly can be achieved in two ways. This also applies to the pressure control assembly 46.

The output assembly 5 includes a plurality of actuating assemblies 10 and therewith respective nozzles 11 arranged on the feedthrough assembly 4, each nozzle receiving medium through a connecting tube 49 on it. Each nozzle is therefore supplied with medium from the passage assembly 4 . Here, a part 43 of a tube on the underside of the feed-through assembly can also be regarded as forming part of the output assembly.

5.

In front of the frame, seen in the direction of the arrow A, there is a detection assembly 3 comprising five cameras 13 arranged with a lens opening 13' towards the bottom. In this case, the camera body is located on the top side of a camera compartment 21 closing plate 22. The camera compartment 21 is divided into five subcompartments, one for each camera (Fig. 9). The aperture 13' is preferably surrounded by light sources for illuminating the compartment to provide optimum detection conditions with regard to the illumination thereof.

In fig. 9, the automatic dispenser 1 is shown from below. The compartments are clearly visible here. The camera compartment 21 is divided into 5 compartments for 5 respective cameras 13 whose lens is visible 13° in this bottom view. During use, the camera compartment preferably makes contact with the ground by means of a flap 34 attached to the front wall of compartment 21. The broken line 34' shows how the flap deviates slightly backwards during contact with the ground and a forward movement of the machine. .

In a similar manner, compartment 32, with the dispensing mouth openings 117 shown therein, which serves as the dispensing compartment, is divided into 5 subcompartments for each dispensing mouth separately.

This prevents administered medium from the one delivery nozzle opening 11', as indicated by recorded detection information from the respective camera, from being spread out of this compartment.

The compartments 21, 32 are preferably mutually separated.

The partition according to the preferred embodiment is in the form of plate-shaped walls with flaps extending thereunder, respectively flap 34 and flap 33. Flap 34 serves to close the front of the camera compartment 21 for a desirable continuity in lighting conditions.

The flap 33 serves to close off the transition between the camera compartment 21 and the output compartment 32. This flap protects the camera compartment against ingress of liquid nitrogen discharged from the output nozzle or vapor formed therefrom.

This flap 33 also protects the camera compartment against cooling by this medium.

In this case, a lower part of the flap preferably drags along the floor to some extent during use, whereby the flap extends, for example, to the indicated broken line 33'. Flap 34 is also provided to trail slightly over the bottom, although too long would limit the camera's view of the bottom.

This flap 33 separation is relatively more important than flap 34 separation for the purpose of shielding the camera compartment from medium as delivered into the administration compartment, such as because of the target very low temperature of the medium.

A compartment 6 serves for housing a control unit of the automatic dispenser.

Preferably, the compartment 6 is divided into a compartment 6' and a compartment 6". This provides a sub-compartment for a processing unit of the control unit for processing the detection information, such as image information from cameras, as well as measurement information from the at least one thermometer and/or the at least one pressure gauge, as well as signals for the safety of the dispenser, and for communication with an operating device for operation by the user, and a control unit for controlling the actuation assembly. Furthermore, a sub-compartment is hereby provided for a control unit of the control unit for controlling the actuation assembly and/or valves thereof.

This includes that the processing unit of the control unit and the control unit of the control unit can be considered together as the control unit. It is equally included herein that the control unit of the control unit is to be regarded as forming part of the actuation assembly for actuating the valves. Importantly, by processing the detection information, it is determined how the medium is administered, such as within what time interval from recording the detection information by the detection assembly and by what amount, such as preferably by what time interval from opening a valve of actuating assembly of the output assembly.

The cameras are connected via a network connection to an input of a control unit, which input is for receiving detection information from the camera. The detection information is preferably enhanced by image analysis to determine a location of a plant or part thereof to be controlled.

Since the distance between a camera and the respective spray nozzle is known, it is possible to determine at which moment or within which time interval the application must be carried out following detection of the plant to be controlled by means of the camera. Preferably, the speed or the tracked elapsed distance between the camera and the respective nozzle is used here. It also takes into account a delivery delay resulting from the time the medium uses between release through the actuating assembly such as through a valve assembly and reaching the plant to be controlled through the discharge nozzle. The temperature in the feed-through assembly is also preferably taken into account here. This takes into account the presence at the location of the output assembly or an actuation assembly thereof of the medium or its condition. It is further provided to take into account an administration interval between successive portions of the medium. One reason for this is that the medium can reach a higher temperature with a longer residence time or a slower throughput than with a fast throughput.

To this end, as is described in greater detail below with reference to flow charts, the operation of the percolator assembly is also important, since the percolator assembly or a setting thereof influences a residence time of the medium in the feedthrough assembly and/or the output assembly. . Furthermore, temperature measurements and/or pressure measurements are provided for this purpose for determining the required amount of medium during the execution of an administration. The amount of medium in the application is adjusted to the amount of energy services being extracted from the plant to be controlled.

As also described in greater detail below on the basis of respective flow charts, it is equally provided that the species or variety of the plant to be controlled is taken into account. A relatively vulnerable species herein, for example, requires a smaller amount of energy extraction than a relatively tough species.

The steps or processes described below with reference to the respective figures should be read in conjunction with matter described with reference to the above figures.

In fig. 10 schematically shows the dispenser 1 together with a medium supplying medium tank 7 for medium storage, i.e. storage tank, a user input device or user operating device 8 for operating and/or adjusting the automatic dispenser, as well as the plant W to be controlled over which the medium is administered from nozzle 11. This scheme, together with FIG. 11 and FIG. 12, interconnections for the medium or lines of communication or control between the parts.

It is shown here that the medium can be guided from the medium tank 7 towards the feed-through assembly 4, which for this purpose is provided with the said input element 10. The medium flows via the feed-through assembly 4 to the output assembly 5, comprising the at least one actuation assembly which is preferably designed as a valve assembly 12. According to the embodiment as described, a plurality of valve assemblies 12 are arranged on a ring conduit 41 which may form part of both the bushing assembly 4 and the output assembly 5 in this preferred embodiment.

From the valve assembly, actuating door passage of the medium to the nozzle, the medium flows towards this nozzle in order to reach the crop W to be controlled.

Furthermore, in this Fig. 10 shows the control of the dispenser according to the preferred embodiment.

Centrally arranged herein is the control unit 6 which according to the preferred embodiment is divided into a computer device 6' comprising receiving means for receiving sensor information, performing calculations, and outputting results and instructions, and in an amplifier portion 6' for on the basis of which instructions sent out by the computer device 6' can be controlled for, for example, the actuation assembly or a valve assembly thereof.

The automatic dispenser is preferably designed such that from a predetermined activation the automatic dispenser under control of the computer device 6' can autonomously perform the function of automatic dispenser until additional operation operating instructions are given from the operating device 8 or until sensor information leads to a computer device 6' to execute a stop instruction to stop the autonomous functioning of the dispenser.

It is noted here that the movement of the automatic dispenser during the said autonomous functioning can preferably be achieved under the control of a human being or a separate vehicle, whether autonomous or not, which movement is beyond the description of this preferred embodiment. fall.

Stopping or stopping the dispenser by this vehicle is an intended example of said sensor information on the basis of which the control unit interprets a stop instruction.

Alternatively, the control unit provides the operator 8 with an instruction request to be prompted to the operator.

The operations performed by the computer device 6' on the basis of inputs from the operating device and/or from the sensors determine the course of the process performed by the computer device 6' and provide control instructions to the amplifier portion 6'. The amplifier portion 6" sends respective drive pulses or drive signals to the output assembly or actuation assembly 12 thereof based on the driving instructions. These drive pulses or drive signals thus serve to drive a preferred valve assembly for passing fluid through the respective output nozzle.

In fig. 11 shows the passage of the medium through the respective components of the automatic dispenser by means of a state diagram. First, the medium flows through step 101 from the medium tank 7 to the feedthrough assembly 4, passing the medium supply 10 therewith. Subsequently, the medium flows by means of step 102 from the feedthrough assembly and/or through the feedthrough assembly and/or parts of the output assembly, together preferably formed by means of the ring duct 41, to a respective valve assembly. At the location of the valve assembly, the medium is held back by means of the respective valve until a plant to be controlled has been detected and the control unit or its computer device has determined at what time and with what amount of medium should be discharged from the discharge nozzle.

By means of step 114, relevant measurement information arranged thereon are transmitted from sensors at the location of the feed-through assembly 4, such as the temperature sensor 45 and/or the pressure sensor 47 (see for instance Fig. 1) to the computer device 6'. Thus, step 114 does not count as a representation of the flow of medium. Such information is largely dependent on a presence of medium in the feedthrough assembly, a condition of the medium and/or a flow rate of the medium. Process steps are also provided in which one or more valve assemblies are actuated to discharge fluid through the respective outlet orifices in order to adjust such a presence of the fluid in the feedthrough assembly, a state of the fluid from an undesirable state to a desirable condition.

By means of such process steps, the best possible quality of the medium is facilitated at a dosage of a plant to be controlled. Furthermore, this proactively prevents a situation of overpressure from developing.

By means of step 103, the medium flows by opening the valves of the valve assembly towards the nozzle for supplying the medium to the control plant W. Subsequently, the medium flows through and out of the nozzle to the control plant W whose location has already been set. determined in order to administer at the right time. Preferably, the nature of the plant to be controlled was also determined to determine the correct dose of application.

In fig. 12 a number of method steps is related to a number of components of the automatic dispenser by means of a state diagram or flow diagram. By step 107, the results of operating operations performed on the user operating device 8 are signaled as instructions to the computing device 6'. As aforesaid, the computer device 6' functions within limits preferably autonomously based on e.g. a start instruction to e.g. a stop command from the user operating device 8. Such instructions are transferred from the user operating device to the computer device by means of step 107.

Accordingly, information for interpretation or received by the user is transmitted from the computing device 6' to the user operating device 8 by step 108. Such information concerns information regarding the termination of said autonomous operation, such as for example based on sensor information and/or decisions made therefrom. Also, for example, the exhaustion of medium in the storage tank is a reason for cessation of the autonomous operation and feedback thereof to the user. Preferably, the computer device 6' is provided with at least one administration prescription specifying a mode of administration during autonomous operation. Herein is specified, for example, an amount of medium for a session, or an amount of medium for a type of plant to be detected.

By means of step 109, the computer device 6 provides a control signal to the amplifier section 67, which control signal for the amplifier section 6' serves as a control signal for corresponding actuation of the output assembly, an actuation assembly thereof and/or a valve assembly thereof. To this end, an electrical control unit, such as an electric motor or a solenoid, is preferably provided which is capable of actuating the output assembly, the actuation assembly and/or a valve assembly under control of this control signal and/or a further power supply. to flow to the respective discharge nozzle.

By means of step 110, the detection assembly 3, a detection device 13 and/or an image acquisition unit such as a camera 13 receives a signal, such as by means of step 112, from the plant to be combated W, for performing detection on the presence of a plant to be combated. It is hereby provided that pattern recognition or a part of pattern recognition is executable on the detection assembly, or that the entire pattern recognition for determining the presence of the plant to be combated is performed on the computer device 6'. It is provided herein that an initial recognition of the presence of a plant to be controlled is performed on the detection device 13, and that upon determining an image information to be further analyzed, such image information is transmitted to the computer device 67.

When analyzing the acquired image as an example of the detection information, this detection information is enriched, or detailed detection information is extracted from the detection information, by means of analysis. Preferably, patterns are recognized here that distinguish the plant to be controlled from the environment, such as by means of colour, shape, length. Within the context of the present invention, further parameters are applicable for distinguishing the plant to be controlled from the environment.

At least one signal is preferably used to compare the detected patterns. Here, a signal is a predetermined set of parameters, individually or in combination, with which patterns can be compared and distinguished from the environment. In this way, the plant to be controlled is advantageously distinguished from the environment and detected. Preferably, the result of this detection is added to the detection information or used separately as detection information. For example, in the case of detecting weeds growing by grouting in a pavement, an aberration of signal is thereby caused by acquiring images of the pavement in which a plant to be controlled is distinguished from such images without the presence of a combat plant.

After receiving detection information, such as in the form of respective acquired image information, by the computer device 6', it sends a driving signal after the amplifier portion 6" for the amplifier portion to drive the output assembly 5, an actuation assembly 12, and /or a valve assembly by means of step 111. With this, a predetermined amount of medium is administered to the plant to be controlled via the outlet opening for a predetermined amount of time.

fig. 13 is a representation of a preferred embodiment of software, as stored on a tangible memory storage, wherein the software is suitable for performing any method of the present invention and/or for any autonomous operation of controlling a dispenser according to the present invention and/or for any autonomous functioning of controlling an application lance as used to control a plant to be controlled.

Functional portion 138 indicates functional states in which the dispenser is ready to operate, in which the dispenser can be used by manual operation or by autonomous functioning. Functional portion 139 indicates functional states in which the dispenser can shut down under control. In other cases, the functioning of the automatic dispenser is interrupted, such as by means of an emergency stop. In idle state 131, the dispenser is turned on and at rest, and the dispenser is waiting to receive an instruction, such as an input from a user operating device 8, as indicated with reference to a preferred embodiment described above.

Upon invoking state 132, the dispenser receives an instruction to operate manually. As a result, the dispenser prepares for manual operation and enters the manual state 133. During such manual operation, the dispenser or specific functions thereof, such as actuation of an actuating assembly or a valve assembly 12, is activated at preference is controlled by control buttons. An operator can herein make use of, for instance, images as recorded by a detection device 13 or actuate on the basis of his own sensory perception. Preferably, also during manual operation, the amount of media output is tracked and/or estimated based on actuation times of the actuation assembly.

Upon invoking state 134, the dispenser receives an instruction to operate autonomously or operate under control of the computing device 6' while receiving data from respective sensors and perform a start-up process. During the startup process, the computer device is activated and components of the dispenser are subjected to a startup test or self-test. Furthermore, licenses required by the software are preferably checked for operation.

When functional state 135 is called, the dispenser operates in the autonomous operating state. During the autonomous operating state in state 135, which is further preferably explained in the following with reference to a further flowchart. the dispenser switches to shutdown state 136 of functional portion 139. During this state, information collected during state 133 or 135 is stored in the computer device ©'. Preferably, this information is sent to a storage which is preferably included in user operating device 8, or more preferably to a server which is adapted to store data from the administration device. An advantage of such storage is that operational data of the dispenser, such as quality of function or amount of medium used, can be tracked. In the event of a suitable control, the automatic dispenser is switched on again and changes to the rest state 131.

In case of an abort control, in any of the states 132, 133, 134, 135, of functioning (abort), the dispenser switches to the abort state

137. Such a trigger to abort occurs when an operator senses an emergency and operates an emergency trigger such as an emergency button to this end. Alternatively, such actuation breaks down when sensor information requires it, such as in the event of a pressure above a threshold value in the feedthrough assembly 4. Herein, respective parts of the dispenser are de-energized as a safety measure by switching off such controls. components. The supply of the medium from the storage tank is shut off. Preferably, collected information is stored in the computer device 6' for determining the reasons for the breakdown of operation. In the case of a suitable control, the automatic dispenser is switched on again, it is started up in the idle state 131.

Alternatively, preferred embodiments of the method are described with reference to Figures 14 and 15. Figs. 14 shows a preferred embodiment of a start-up process, such as recordable in state 131, of the dispenser. The method starts in step 140. In step 141, the camera units 13 functioning as detection device 13 are started and checked with regard to a license present. In step 142, the correctness is determined. If an incorrectness has been determined, the device switches to the abort state mentioned above by means of step 149 for initiating an abort.

If in a step 142 the correctness has been determined, then in step 143 a technical check of the camera units is started. The cameras are then activated and it is determined whether the interaction with the computer device 6' functions. Preferably, an acquired test image is also checked for image parameters, such as color and contrast, more preferably with and without camera exposure within the compartment in which the camera is arranged. In step 144, the correctness of responses from the camera units is determined by the computer device ©'. If the responses are incorrect, or do not meet predetermined threshold values, it proceeds to step 145. In step 145, the check is repeated a predetermined number of times. If the check still determines correctness, it is continued in step 146. If the check still fails, step 149 switches to the said abort state by means of step 149 for initiating an abort.

If the responses are correct, it proceeds to step 146. In step 146, a determination of the height of the dispenser relative to a ground is performed. In step 147, it is determined whether the height falls within a predetermined functional range, such as within a lower limit and an upper limit. If it is determined that the height is not satisfactory, the operator is then indicated in step 148 that the height must be adjusted, or the height of the dispenser is automatically adjusted if it is provided with suitable height adjustment means. If the height is satisfactory, continue with step 151.

In step 151, cooling of the feedthrough assembly and preferably the output assembly is initiated. Preferably, one or more, preferably 3, of the actuating assemblies 12 is actuated so that medium can flow through the feedthrough assembly and the output assembly and respective media is output through the respective output nozzles. As a result, the feed assembly in the output assembly is cooled by means of the medium. In step 152, the duration of opening of the respective actuation assemblies is determined. If the duration is less than a predetermined number of seconds, such as 10 seconds but some range in duration is provided, the medium is continued to be passed. If the time exceeds the 10-second threshold, proceed to step 153.

In step 153, at least one of the actuating assemblies is closed and at least one of the actuating assemblies is held open for more gradual fluid outflow and more gradual cooling. Preferably, in step 153, an actuating assembly is held open. In step 154, the length of time to leave the open actuation assemblies is determined. Furthermore, the temperature of at least one respective thermometer is monitored. If the time exceeds a threshold, such as 300 seconds and the temperature is less than minus 120°C, continue to step 155. If the time does not yet exceed the threshold and the temperature is greater than minus 120°C, continue at step 157.

In step 157, the left-open or left-open actuation assemblies are held open for further cooling.

If the time exceeds a further threshold, such as an additional 150 seconds and the temperature is less than minus 120 °C, proceed to step 155. If the time exceeds the threshold and the temperature is above minus 120 °C, then the the method continues in step 149 with an abort, such as before going to said abort state. Provision is also made here for the said thresholds and time thresholds to be implemented as any other time range, as a predetermined time range, or at some other temperature, as a predetermined temperature. It is important in the preferred embodiment that a sufficiently low temperature is achieved. In the inventor's view, it is achieved with a sufficient passage of medium, either by a relatively high flow rate over a shorter time or by a relatively low flow rate over a longer time. In both cases, the desirability of a minimal boot loss of medium is envisaged. In step 158, this method ends and the dispenser is ready for manually controlled or autonomous operation.

A preferred embodiment of a method for autonomous functioning is set forth in further detail in FIG. 15. The method starts in step 160. In step 161, a start-up signal is sent to the respective camera units 13. Next, the respective camera units acquire images for detecting detection information. Detection information is therefore detectable from these acquired images. Detection of detection information is performed either by a processing unit integrated in an image acquisition unit or by a processing application operating on a processing unit of the controller such as the computer device 6'. Hereby, patterns are preferably recognized from the acquired images on the basis of color, shape, length for the purpose of distinguishing the plant to be controlled from the environment of the plant. The preferred patterns are predetermined to be used for recognizing detection information from the image information. Here, a preferred pattern comprises for instance a plant relative to a street surface or a tiled surface or alternatively a structure of a higher plant relative to a lower vegetation such as grass. Specific shape patterns of specific plant species can also be made available as a preferred pattern in order to perform pattern recognition detection based thereon.

In step 162, based on the results of step 163, it is determined whether a plant to be controlled has been detected. If it has been determined in step 162 that a plant to be controlled has been detected, it is continued in step 163. If a plant to be controlled has been detected by a camera, a specific dose or portion must be extracted in good time, depending on the movement speed of the device. - bumped by a respective discharge nozzle. To this end, in step 163, the control unit sends a signal to the respective actuating assembly 12, containing ejection of the determined dose or portion. This is preferably done by opening a valve of a valve assembly through which the dose is ejected through the discharge nozzle 11'. An opening time for such a valve or spray valve is, for example, between 100 and 1500 ms. At step 164, a record of the emitted dose is made so that a record of how much media has been used can be kept. It is provided here that this information can be used for keeping track of consumption, but also for comparing the detection information or camera images with the dose used afterwards. If it is determined in step 162 that a plant to be controlled has been detected for a predetermined time, it proceeds directly to step 165.

In step 165 it is determined, preferably based on information from the detection assembly, whether the height of the dispenser, such as the height, such as relative to the bottom, of cameras or output nozzles is within predetermined threshold values. This is important, for example, when the ground is variable with respect to a suspension of the dispenser with respect to a carrying vehicle. If it is determined in step 165 that the height does not meet the predetermined threshold values, an indication is made in step 167 as to the required height adjustment. This output is provided to, for example, the user operating device 8 or to a motorized height-adjusting device adapted, for example, to rotate a spindle for height-adjustment. In step 168, the height adjustment is adjusted, as performed by sending a control signal from the computer device 6' to the motorized height adjustment device. Alternatively, the operator manually adjusts the height based on the indication indicated via a display of the user operating device 8.

The adjustment is preferably performed per predetermined cycle.

At step 166, the method continues with the set height meeting the predetermined threshold values to collect detection information. In step 169, it is determined whether the data is ready for processing by the computing device 6'. If it is determined that the data is not ready for processing by the computing device, in step 169', the data is formatted to be stored for later processing or analysis as preferably raw detection data. For example, redundant repetitive data relating, for example, to plantless parts of the trajectory traveled between successive plants to be controlled are removed from the data quantity. Alternatively, detection parameters, such as image recording parameters, are further adjusted, such as by adjusting an exposure by camera-related lighting elements, such as LEDs that illuminate the interior space of the respective camera compartment. Alternatively, adjustment of camera settings at constant exposure is provided. Such controls are provided, for example, depending on crop species, such as for recognizing structures thereof and/or colors thereof.

If it is determined in step 169 that the detection data is ready for processing by the computer device 6', the detection information is processed in step 170 for storage thereof and is stored by a storage process 171 on a suitable medium. Such a medium is a memory, such as a flash memory or a disk memory, but a cache memory of the computer device 6' is also provided. The purpose of this is to use this raw detection data to provide input data for reports such as for correlating to the amounts of media output, but also for improving detection algorithms.

In step 172, after storing the data, it is determined whether a stop instruction has been received serving to terminate the method. If no stop instruction has been received, the method continues again from step 161 for further determinations of the presence of a respective further plant to be controlled. When a stop command is received, such as from the user operator 8, all stored data, such as including detection data and data related to output medium and data related to output medium related to cooling of the feedthrough assembly and the output assembly, sent in step 173 to a final storage through a data transfer process 174. Such final storage is provided as to the computing device 6' external storage memory, such as a hard disk or flash memory, or transmission over a network connection to a server storage.

In step 175, it is determined whether the transmission of the data according to step 173 has been completed and found to be OK, such as by querying the data transmission process or by checking a transmission log, such as by a checksum check regarding the transmission of the data. If it is determined in step 175 that sending the data does not meet a predetermined quality criterion, it is returned in step 173 for resending the data. If it is determined in step 175 that the transmission of the data meets the predetermined quality criterion, the method is continued in step 176. Furthermore, it is determined in step 175 how many transmission repetitions have been attempted and if this number exceeds a threshold value, such as 3, also continued in step 176. The session of the method is further terminated by collecting and transmitting other session data from the computer device 6' to the user operating device and/or further to said server storage. Finally, the process is finally closed in step 177.

A preferred embodiment (Fig. 16) according to the present invention relates to a administering lance 61. It comprises a handling frame 63 which made the device suitable for manual handling of the administering lance 61. Furthermore, the administering lance comprises a medium supply 62 for feeding from a medium storage. from the medium to the delivery lance. Furthermore, the delivery lance includes a pass-through assembly 71 for passing the medium from the medium supply to an exit assembly. Furthermore, the application lance comprises an output assembly 72 for outputting the medium at a respective plant to be controlled.

The administering lance 61 according to the present preferred embodiment is intended and adapted for portable use. An operator of the application lance carries the application lance to administer a dose of medium to a plant to be controlled. This dose of medium is administered by the operator through the discharge nozzle, also to be referred to as a spray nozzle or atomizing nozzle, at the location of the plant to be combated.

The operator carries the dispensing lance by the handle 82 on the top thereof and, for example, also on a handle 81 which is located halfway through the lance body 88.

The lance body 88 extends from the handle 82 to the grommet assembly 71 at the other end of the lance body 88.

The pass-through assembly 71 on the underside of the lance body 88 serves to pass fluid from the fluid supply 62 from a fluid container, such as a tank that is either portable by the operator or movable in the vicinity of the operator. A supply hose 84 serves to supply medium to the medium supply of the administration lance. A supply wire 85 serves to supply energy to the delivery lance. A proposed alternative to the energy supply by means of a wire is energy supply by means of a battery. A connector or coupling 86 serves to couple the hose and/or wire to the fluid supply 62. A connecting rod 87 serves to direct fluid to the feedthrough assembly 71.

The feedthrough assembly 71 includes a valve 66 that closes tube 79 until an administration is to be performed. At that moment the valve is opened by means of an operation by the operator for the purpose of passing a dose of medium. This dose medium reaches the output assembly 72 with output port 73 through tube 78.

The actuation of the valve 66 is performed by means of an actuating assembly 64 which is preferably arranged on the top of the lance body 88. The actuating assembly preferably includes at least one knob such as the 3 buttons shown. The operating assembly hereby forms the operator interface for the operator. The operating assembly is also provided as, for example, a handle or a touch screen. An example of a delivery mode is the delivery of a single dose with an execution time of a predetermined number of seconds. Alternatively, a position is provided in which the operator always has such a dose ejected at a predetermined interval of, for example, 2 seconds. Such a position is, for example, practical when the operator is present at a location with a number of plants to be controlled, when the operator has a high degree of certainty that he can bridge a distance between 2 successive plants to be controlled during the predetermined interval. .

A wire connection 65 extends from the operating assembly 64 to the valve 66. A further wire connection 83 extends from the energy supply 85 to the valve 66. With this, both the valve 66 and the operating assembly can be supplied with energy. In addition, the valve 66 is provided with control signals from the actuating assembly 64.

Preferably, the device comprises a seepage assembly for carrying out a seepage amount of medium in gaseous and/or liquid form under a preferably predetermined resistance. The seep assembly is constructed by means of a parallel tube 67 which is arranged parallel to main tube 79, 78. A blockage 69 in the parallel tube 67 hinders flow of the medium. The blockage is both fixed and adjustable. For example, a fixed blockage is designed as a small opening or passage through a porous material. An adjustable blockage is, for example, implemented by means of an adjustable nut or an adjustable valve. For example, a porous material is provided as a plastic or stone material provided with channels through which the medium can seep. One purpose of the seep is that the temperature of the medium up to the valve 66 remains sufficiently low for the effective operation of the delivery medium, and further to maintain the medium in a liquid state. If the temperature or pressure in the tube 79 becomes too high, energy can be dissipated by seeping through tube 67 by means of medium to be discharged thereby. Alternatively, it is envisaged that additional exhaust by opening the valve 66 co-regulates this temperature.

It is envisioned that the dose be poured or sprayed over the plant to be controlled, but it is equally envisioned that the dose be administered into the plant to be controlled. To this end, the discharge mouth of the administering lance is preferably directed downwards, which is achieved by the bend 72 in the tube 78. A bottom view A-A of the discharge mouth shows an oval opening within an end plate 75 of the tube 78. A narrowing is hereby realized which is helpful. in the case of directed spraying by means of the administration lance through the discharge opening 76. The constriction is arranged in the end portion 74 of the tube 78 and is formed by means of an insert 77. Depending on the application, alternative shapes of such an insert 77 are provided.

Arranged on the tube 78 near the discharge mouth is a shielding plate 89 which is intended to contain medium such as should it splash back.

Clauses

A dispenser (1) for carrying out plant control in an environmentally friendly manner of a predetermined plant to be controlled, such as a weed, for control thereof by means of administration of a medium, such as a substantially inert fluid, device comprising: - a frame (2), - a media supply (10} for supplying the media from a media storage, - a passage assembly (4) for passage of the media from the media supply, or - an output assembly (bh) comprising at least one actuating assembly (12), such as comprising a valve assembly, with at least one discharge nozzle (11') for passing through the at least one discharge nozzle a quantity of medium for discharge thereof at a respective plant to be combated, - a detection assembly (3 ) comprising at least a detection device (13), such as comprising at least one image acquisition unit such as a camera, for detecting detection information, such as comprising image information, for the purpose of determining a presence and/or a location of an instance of a plant to be controlled or part thereof, — a control unit (6) operatively connected to at least on the detection assembly for receiving the detection information, and to the actuation assembly for passing the amount of medium through the at least one output nozzle based on the detection information, wherein

- the device is suitable for carrying out the medium in a condition in which it is used to extract heat from the plant to be controlled or the part thereof during application, preferably wherein the medium is nitrogen which is added at least partly in the liquid state; served through the output opening.

A dispenser according to claim 1, wherein the detection assembly is arranged for compiling detection information per output nozzle assembly, actuation assembly and/or respective at least one output nozzle thereof; preferably by means of two or more detection devices, further preferably by means of a detection device per output nozzle assembly, actuation assembly and/or respective at least one output nozzle thereof.

A dispenser according to claim 1 or 2, wherein the feedthrough assembly comprises a ring or twin line arranged between the fluid supply and the exit nozzle assembly or the at least one actuating assembly thereof.

Dispenser according to one or more of the preceding claims, designed for using a medium with a boiling point of less than 0°C, preferably designed for using a medium with a boiling point of less than minus 50°C. , further preferably less than minus 75°C, further preferably less than minus 190°C, further preferably adapted to function with liquid nitrogen.

A dispenser according to one or more of the preceding claims, comprising a trickle assembly for dispensing a trickle amount of medium in gaseous and/or liquid form under preferably predetermined resistance.

A dispenser according to one or more of the preceding claims, comprising at least one thermometer for preferably keeping a temperature up to date by the control unit, wherein the temperature can preferably be determined at the location of the feed-through assembly and/or the output assembly.

A dispenser according to one or more of the preceding claims, comprising at least one detection compartment, wherein the at least one detection device is arranged in the at least one detection compartment.

A dispenser according to one or more of the preceding claims, comprising at least one exit compartment, preferably wherein the at least one exit mouth is arranged in the at least one exit compartment for exiting the medium separately from the at least one detection device.

A dispenser according to one or more of the preceding claims, comprising analysis means for the detection information for detecting in the detection information recognition patterns related to recognition of the plant to be combated or the part thereof, preferably to - how to enrich the detection information into enriched detection information by means of the recognized patterns.

A dispenser according to one or more of the preceding claims, comprising a pressure gauge, preferably provided with a connection to the control unit for maintaining a pressure by the control unit, the pressure preferably being determinable at the location of the feedthrough assembly and /or the output assembly.

A dispenser according to one or more of the preceding claims, comprising a pressure relief valve, preferably arranged in an assembly with the pressure gauge, for outlets of medium in the event of an overpressure in the feed-through assembly and/or the output assembly.

A dispenser according to one or more of the preceding claims, comprising an actuation assembly with an outlet for each detection device.

A dispenser according to one or more of the preceding claims, comprising coupling means for coupling the device to a vehicle and/or comprising ground transport means, such as wheels or caterpillar tracks for transport relative to the ground.

A dispenser according to one or more of the preceding claims, comprising height detection means for determining the height of the device relative to the ground.

A dispenser according to claim 13, wherein the height detecting means comprise at least one distance sensor, preferably at the location of at least one corner of the frame.

A dispenser according to one or more of the preceding claims, wherein the actuation assembly comprises a valve suitable for closing and, preferably momentarily, opening a medium conduit towards an outlet, further preferably the valve being suitable for operation with liquid and/or evaporating nitrogen.

A dispenser according to one or more of the preceding claims, comprising an operating device (8) for operation by human action, preferably an operating device connected to the control unit in a wired or wireless manner.

An dispenser according to one or more of the preceding claims, wherein the medium supply comprises connecting means for connection to the medium tank.

A dispenser according to one or more of the preceding claims, comprising a security cap for secure closing of the device, preferably comprising a closing detector and/or a closing lock, which are further preferably connected to the control unit.

A dispenser according to one or more of the preceding claims, comprising partition flaps which extend from a partition between compartments towards the bottom, preferably during use up to or overhanging the bottom.

A method for carrying out plant control in an environmentally friendly manner of a predetermined plant to be controlled, such as a weed, for control thereof by means of administration of a medium, such as a substantially inert medium, by means of an automatic dispenser according to the present invention , the method comprising steps for: — providing the device, — bringing the device to the location of a soil showing the presence or the expected presence of the plant to be controlled, — moving in such a direction the arrangement that first the detection assembly passes the plant to be controlled and then the output assembly.

An application lance for carrying out plant control in an environmentally friendly manner of a predetermined plant to be controlled, such as a weed, for control thereof by means of application of a medium, such as a substantially inert medium, device comprising: - a handling frame for carrying and/or handling the delivery lance thereof, — a medium supply for feeding the medium from a medium storage, — a passage assembly for passing the medium from the medium supply, or — an output assembly comprising at least one actuating assembly, such as comprising an actuable valve assembly, comprising at least one discharge nozzle for passage of a quantity of medium for discharge thereof at the location of a respective plant to be controlled, and - an operating assembly for manually operating the administering lance by means of operating means, wherein - the device is suitable for running the medium in a condition in which it withdraws prior to administration of heat to the plant or part thereof to be controlled, preferably wherein the medium is nitrogen which is applied at least partly in liquid state via the outlet opening.

The administration lance of claim 1 wherein the discharge nozzle is formed with a substantially needle shape.

Administration lance according to claim 1 or 2, wherein the discharge nozzle comprises a nebulizer for causing an nebulization of the medium.

Administration lance according to one or more of the preceding claims, designed for using a medium with a boiling point of less than 0°C, preferably designed for using a medium with a boiling point of less than minus 50°C, more preferably less than min 75°C, further preferably less than min 190°C, further preferably adapted to function with liquid nitrogen.

Administration lance according to one or more of the preceding claims, wherein the feed-through assembly comprises a ring line or a double line arranged between the medium inlet and the outlet thereof.

Administration lance as claimed in one or more of the foregoing claims, comprising a seepage assembly for dispensing a seepage amount of medium in gaseous and/or liquid form under preferably predetermined resistance.

The administration lance of claim 5, wherein the seepage assembly is arranged at the ring or twin conduit.

The administration lance of claim 5 or 7, wherein the seep assembly supplies medium to the discharge nozzle.

The administering lance of claim 8 wherein the seepage assembly supplies fluid to the discharge nozzle via the annular conduit or the twin conduit.

An administration lance according to one or more of the preceding claims, comprising a pressure gauge, wherein the pressure can preferably be determined at the location of the feed-through assembly and/or the output assembly.

Administration lance according to one or more of the preceding claims, comprising a pressure relief valve, preferably discharging medium through the discharge mouth.

Administration lance according to one or more of the preceding claims, wherein the actuating means comprises a mechanical actuation such as a button or a lever for actuating the actuation assembly.

A delivery lance according to any one of the preceding claims, wherein the actuating means provides electrical or electronic control of the actuation assembly, such as by means of a button, switch or user interface.

Administration lance according to one or more of the preceding claims, comprising a control unit for controlling the actuation assembly, such as on the basis of at least one control programming.

An administration lance according to one or more of the preceding claims, comprising a carrying assembly for facilitating carrying the administration lance by an operator.

16. Administration lance according to one or more of the preceding claims, wherein the nozzle is provided with a substantially oval outlet opening.

The administration lance of claim 16 wherein the oval discharge opening is arranged in a head end face of the nozzle.

Administration lance according to one or more of the preceding claims, comprising a supply valve for closing off the medium supply relative to the medium storage, preferably at a start of the medium supply, such as a medium hose.

The administration lance of any preceding claim comprising a media storage closure assembly for closing the media storage at a media outlet thereof.

A method for carrying out plant control in an environmentally friendly manner of a predetermined plant to be controlled, such as a weed, for control thereof by means of administration of a medium, such as a substantially inert medium, by means of an application lance according to the present invention , the method comprising steps for: — providing the application lance, — bringing the device to the location of a plant to be controlled, — administering the medium to or in the plant to be controlled, moving the device in such a direction direction that first the detection assembly passes the plant to be controlled and then the output assembly.

In the foregoing, the present invention has been described with reference to some preferred embodiments. Various aspects of different embodiments are deemed to be described in conjunction with one another with all combinations considered to be within the scope of the invention upon reading by a person skilled in the art based on this document being read by a person skilled in the art. These preferred embodiments do not limit the scope of this document. The requested rights are defined in the appended claims. kkkkk

Claims (15)

CONCLUSIONS A method for carrying out plant control in an environmentally friendly manner of a predetermined plant to be controlled, such as a weed, for control thereof by means of administration of a medium, such as a substantially inert medium, the method comprising steps for: - the observation, such as by means of sampling, of a presence and/or a location of an instance of a plant or part thereof to be controlled, — the application of the medium at the location of the plant or part thereof to be controlled, whereby: a condition for extracting heat from the plant to be controlled or part thereof upon application, preferably wherein the medium is nitrogen which is applied at least partly in a liquid state. A method according to claim 1, wherein the administering is performed by means of an outlet mouth of a dispensing device, such as a dispensing machine or a dispensing lance. A method according to claim 2, comprising the steps of passing medium through a ring or double conduit of a feed-through assembly arranged between a medium supply and to an outlet mouth of an outlet assembly or an actuating assembly thereof. Method according to one or more of the preceding claims, wherein the medium has a boiling point lower than 0°C, preferably a boiling point lower than minus 50°C, further preferably less than minus 75°C, further preferably less than minus 190°C, further preferably the medium is liquid nitrogen. A method as claimed in one or more of the foregoing claims, comprising steps for allowing medium to seep through a seepage assembly for carrying out a seepage amount of medium in gaseous and/or liquid form under preferably predetermined resistance. Method according to one or more of the preceding claims, comprising steps for measuring a temperature of the medium by means of a thermometer for preferably keeping a temperature by the control unit, wherein the temperature can preferably be determined at the location of the feedthrough assembly and/or the output assembly. Method according to one or more of the preceding claims, comprising the steps of detecting a plant to be controlled by means of a detection assembly (3) comprising at least one detection device (13), such as comprising at least one image acquisition unit such as a camera, for detecting detection information, such as comprising image information, for the purpose of determining a presence and/or a location of an instance of a plant to be controlled or part thereof. Method according to claim 6, comprising steps for analyzing the detection information for detecting in the detection information recognition patterns related to recognition of the plant to be combated or the part thereof, preferably for the purpose of identifying patterns by means of the patterns recognized to enrich detection information into enriched detection information. Method as claimed in one or more of the foregoing claims, comprising steps for measuring a medium pressure by means of a pressure meter, preferably by means of a pressure meter which is arranged on the administering device, more preferably on a ring main, double line, discharge nozzle or feedthrough assembly thereof. A method according to any preceding claim wherein the step of administering the medium comprises actuating an actuating assembly (12), such as comprising a valve assembly, having at least one discharge nozzle (117) for passing through the at least one discharge nozzle an amount of medium for discharge thereof at the location of a respective plant to be controlled. Method as claimed in one or more of the foregoing claims, comprising steps for administering the medium in a part of the plant to be controlled comprising a stem, stem, branch, leaf and/or root. A method according to claim 10, wherein the application comprises the step of inserting the discharge nozzle into the part of the plant to be controlled comprising the stem, stem, branch, leaf and/or root before or during the steps for administering it. Method according to one or more of the preceding claims, comprising the steps of applying a driver for the driver administration of the medium. The method of claim 13 wherein the medium is administered over a period of time. The method of claim 13 or 14 wherein the medium is administered at predetermined intervals. * kk kk