SE2150218A1 - Vegetation management system and method for managing vegetation within an area - Google Patents

Vegetation management system and method for managing vegetation within an area

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Publication number
SE2150218A1
SE2150218A1 SE2150218A SE2150218A SE2150218A1 SE 2150218 A1 SE2150218 A1 SE 2150218A1 SE 2150218 A SE2150218 A SE 2150218A SE 2150218 A SE2150218 A SE 2150218A SE 2150218 A1 SE2150218 A1 SE 2150218A1
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vegetation
state
time
area
management system
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SE2150218A
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SE546151C2 (en
Inventor
Erik Swan
Girish Agarwal
Ulf Axelsson
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Husqvarna Ab
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Application filed by Husqvarna Ab filed Critical Husqvarna Ab
Priority to SE2150218A priority Critical patent/SE546151C2/en
Priority to PCT/SE2022/050153 priority patent/WO2022186746A1/en
Priority to EP22706134.8A priority patent/EP4301127A1/en
Publication of SE2150218A1 publication Critical patent/SE2150218A1/en
Publication of SE546151C2 publication Critical patent/SE546151C2/en

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • G06Q10/06313—Resource planning in a project environment
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G23/00—Forestry
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M21/00—Apparatus for the destruction of unwanted vegetation, e.g. weeds
    • A01M21/04—Apparatus for destruction by steam, chemicals, burning, or electricity
    • A01M21/043—Apparatus for destruction by steam, chemicals, burning, or electricity by chemicals
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0089—Regulating or controlling systems
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H11/00—Control of undesirable vegetation on roads or similar surfaces or permanent ways of railways, e.g. devices for scorching weeds or for applying herbicides; Applying liquids, e.g. water, weed-killer bitumen, to permanent ways
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G06V20/188—Vegetation
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G23/00—Forestry
    • A01G23/02—Transplanting, uprooting, felling or delimbing trees
    • A01G23/08—Felling trees
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/04—Interpretation of pictures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N2021/8466—Investigation of vegetal material, e.g. leaves, plants, fruits
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30181—Earth observation
    • G06T2207/30188—Vegetation; Agriculture

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  • Environmental Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Insects & Arthropods (AREA)
  • Wood Science & Technology (AREA)
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  • Entrepreneurship & Innovation (AREA)
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  • Strategic Management (AREA)
  • Pest Control & Pesticides (AREA)
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Abstract

A vegetation management system (100) for managing vegetation within an area. The vegetation management system (100) comprises at least one controller (110) configured to receive image data related to vegetation within the area; and to determine, based on the received image data related to the vegetation within the area, the vitalization of the vegetation within the area. The at least one controller (110) is further configured to determine, based on the determined vitalization of the vegetation within the area, a time when the vegetation reaches a desired vegetation state; and to control, based on the determined time, a subsequent action of the vegetation management system (100) to manage the vegetation within the area.

Description

VEGETATION MANAGEMENT SYSTEM AND METHOD FOR MANAGINGVEGETATION WITHIN AN AREA TECHNICAL FIELDThe present disclosure relates to a vegetation management system as Well as a method for managing vegetation Within an area.
BACKGROUND Vegetation is an assemblage of plant species. It is a general terrn, Without specificreference to particular structure, spatial extent, or any other specific botanical or geographiccharacteristics. Examples that are encompassed by the terrn vegetation are forests, Wheat fields,parks, cultivated gardens and laWns.
Vegetation management is used for targeted control and elimination of unWantedvegetation. By performing vegetation management, vegetation may be controlled to become,or to be maintained, in a desired state. The desired state may be a state suitable for the purposeof the vegetation and/or the surrounding environment of the specific vegetation.
In order to control a vegetation, maintenance is generally run at fixed cadencedepending on a typical groWth rate in the area. However, as growth rate generally is individualfor the areas, it is not uncommon that actions, such as clearing actions in a forest, are taken toosoon or too late. When the actions are taken too soon, effort could have been put elseWhere,While When actions are taken too late that may result in more Work than expected. Thus, thereis a need for better planning and scheduling of vegetation maintenance.
Furthermore, once vegetation maintenance has been performed Within a certainarea, it is generally desirable to follow up and assure the quality of the maintenance activities.This is typically performed through on-site inspection at sample locations. Due to the requiredcosts and time, it is norrnally not possible to inspect the entire area, especially if the area is Wide.
SUMMARY It is difficult, expensive and time consuming to plan and follow up vegetationmaintenance Work. Vegetation Within a certain area is therefore often managed either too earlyor too late and it is difficult to ensure that the quality of the clearance is sufficient.
In view of the above, it is therefore a general object of the aspects andembodiments described throughout this disclosure to provide a vegetation management systemthat manages vegetation Within an area in a time efficient, easy, reliable and accurate Way.
This general object has been addressed by the appended independent claims.Advantageous embodiments are defined in the appended dependent claims.
According to a first aspect, there is provided a vegetation management system formanaging vegetation Within an area.
In one exemplary embodiment, the vegetation management system comprises atleast controller. The at least one controller is conf1gured to receive image data related tovegetation Within the area and to determine, based on the received image data related to thevegetation Within the area, a vitalization gradient for the vegetation Within the area. The at leastone controller is further configured to determine, based on the deterrnined vitalization gradientfor the vegetation Within the area, a time When the vegetation reaches a desired vegetation stateand to control, based on the deterrnined time, a subsequent action of the vegetation managementsystem to manage the vegetation Within the area.
In some embodiments, the at least one controller is further configured to receivea scheduled time for When it is believed that the vegetation reaches a desired vegetation state;and to compare the scheduled time With the deterrnined time. The at least one controller mayfurther be configured to adjust the scheduled time to correspond to the deterrnined time if thecompared times are not equal. The at least one controller may further be configured to, forexample, transmit a message to an output device if the scheduled time is adjusted to correspondto the deterrnined time.
In some embodiments, the at least one controller is further configured to receive,at the deterrnined time When the vegetation reaches the desired vegetation state, vegetation inputdata associated With a current vegetation state Within the area. The at least one controller isfurther configured to determine if the received vegetation input data associated With the current vegetation state corresponds to the desired vegetation state; and to transmit a message to an output device if the current vegetation state differs from the desired vegetation state. The atleast one controller may further be configured to adjust, based on a difference between thecurrent Vegetation state and the desired Vegetation state, the deterrnination of time Whenvegetation reaches a desired vegetation state. The vegetation input data may be, for example,received via a user interface.
In some embodiments, the at least one controller is further configured to receiveinformation regarding What vegetation state that corresponds to the desired vegetation state.
In some embodiments, the at least one controller is further configured todeterrnining a risk of the vegetation falling Within the area, Wherein the deterrnined risk is to beused When deterrnining the time When the vegetation reaches a desired vegetation state.
In some embodiments, the at least one controller is conf1gured to control asubsequent action of the vegetation management system to manage the vegetation Within thearea by deterrnining a risk of the vegetation falling Within the area if not managing thevegetation at the desired time When the vegetation has reached the desired vegetation state.
In some embodiments, the at least one controller is conf1gured to control asubsequent action of the vegetation management system to manage the vegetation Within thearea by transmitting a message comprising the deterrnined time When the vegetation reaches adesired vegetation state to an output device.
In some embodiments, the at least one controller is conf1gured to control asubsequent action of the vegetation management system to manage the vegetation Within thearea by deterrnining an estimated time required to manage the vegetation based on the desiredvegetation state.
In some embodiments, the at least one controller is further configured to receive,at the deterrnined time When the vegetation reaches a desired vegetation state, sensor input datareflecting an actual time required to manage the vegetation. The sensor input data may be sensorinput data received from at least one machine used to manage the vegetation.
In some embodiments, the at least one controller is further configured to receivetime data indicating a season, Wherein the received time data indicating the season is to be usedWhen deterrnining the vitalization gradient for the vegetation Within the area.
According to a second aspect, there is provided a method implemented by the vegetation management system according to the first aspect.
In one exemplary implementation, the method for managing vegetation Within anarea is performed by a vegetation management system. The method comprises receiving imagedata related to vegetation Within the area; and deterrnining, based on the received image datarelated to the vegetation Within the area, the vitalization gradient for the vegetation Within thearea. The method further comprises deterrnining, based on the deterrnined vitalization gradientfor the vegetation Within the area, a time When the vegetation reaches a desired vegetation state;and controlling, based on the deterrnined time, a subsequent action of the vegetationmanagement system to manage the vegetation Within the area.
In some embodiments, the method further comprises receiving a scheduled timefor When it is believed that the vegetation reaches a desired vegetation state; and comparing thescheduled time With the deterrnined time. The method may further comprise adjusting thescheduled time to correspond to the deterrnined time if the compared times are not equal. Themethod may further comprise, for example, transmitting a message to an output device if thescheduled time is adjusted to correspond to the deterrnined time.
In some embodiments, the method further comprises receiving, at the deterrninedtime When the vegetation reaches the desired vegetation state, vegetation input data associatedWith a current vegetation state Within the area; and deterrnining if the received vegetation inputdata associated With the current vegetation state corresponds to the desired vegetation state. Themethod further comprises transmitting a message to an output device if the current vegetationstate differs from the desired vegetation state. The method may further comprise adjusting,based on a difference between the current vegetation state and the desired vegetation state, thedeterrnination of time When vegetation reaches a desired vegetation state. The vegetation inputdata may be, for example, received via a user interface.
In some embodiments, the method further comprises receiving informationregarding What vegetation state that corresponds to the desired vegetation state.
In some embodiments, the method further comprises deterrnining a risk of thevegetation falling Within area, Wherein the deterrnined risk is to be used When deterrnining thetime When the vegetation reaches a desired vegetation state.
In some embodiments, controlling a subsequent action of the vegetation management system to manage the vegetation Within the area comprises deterrnining a risk of the vegetation falling Within the area if not managing the vegetation at the desired time Whenthe vegetation has reached the desired vegetation state.
In some embodiments, controlling a subsequent action of the vegetationmanagement system to manage the vegetation Within the area comprises transmitting a messagecomprising the deterrnined time When the vegetation reaches a desired vegetation state to anoutput device.
In some embodiments, controlling a subsequent action of the vegetationmanagement system to manage the vegetation Within the area comprises deterrnining anestimated time required to manage the vegetation based on the desired vegetation state. Themethod may further comprise receiving, at the deterrnined time When the vegetation reaches adesired vegetation state, sensor input data reflecting an actual time required to manage thevegetation. The sensor input data may be, for example, sensor input data received from at leastone machine used to manage the vegetation.
In some embodiments, the method further comprises receiving time dataindicating a season, Wherein the received time data indicating the season is to be used Whendeterrnining the vitalization gradient for the vegetation Within the area.
Some of the above embodiments eliminate or at least reduce the problemsdiscussed above. By deterrnining a vitalization gradient of a vegetation based on image data, atime for When the vegetation Will reach a desired state may be deterrnined in a time efficient,easy, reliable and accurate Way. Based on the deterrnined time, it may be possible to control atleast one subsequent action of the vegetation management system such that the vegetationWithin the area may be managed in a suitable time. Thus, the planning and scheduling ofvegetation management may be improved and a vegetation management system and method are provided that improve vegetation management.
BRIEF DESCRIPTION OF DRAWINGS These and other aspects, features and advantages Will be apparent and elucidatedfrom the following description of various embodiments, reference being made to theaccompanying draWings, in Which: Figure l illustrates a schematic view of a vegetation management system; Figure 2 shows a flowchart of an example method performed by a vegetationmanagement system; and Figure 3 shows a schematic view of a computer-readable medium.
DETAILED DESCRIPTION The disclosed embodiments will now be described more fully hereinafter withreference to the accompanying drawings, in which certain embodiments of the vegetationmanagement system are shown. This vegetation management system may, however, beembodied in many different forms and should not be construed as limited to the embodimentsset forth herein; rather, these embodiments are provided by way of example so that thisdisclosure will be thorough and complete, and will fully convey the scope of the vegetationmanagement system to those skilled in the art. Like numbers refer to like elements throughout.
In one of its aspects, the disclosure presented herein concems a vegetationmanagement system for managing vegetation within an area. The area may be any area thatcomprise vegetation, such as a forest, a field, a park or an area along a road, railway, pipelines,communication infrastructure or power line. Figure 1 illustrates a schematic view of thevegetation management system 100. As will be appreciated, the schematic view is not to scale.The present disclosure is now going to be described with reference to Figure 1. The vegetationmanagement system 100 comprises at least one controller 110. As may be appreciated, thevegetation management system 100 may comprise a plurality of controllers 110communicatively coupled to each other. By combining a plurality of controllers 1 10 even higherprocessing power may be achieved.
If the vegetation management system 100 comprises a plurality of controllers 1 10,the controllers 110 may be communicatively coupled to each other by a wirelesscommunication interface 140. The wireless communication interface may also be used tocommunicate with other devices, such as servers, personal computers, smartphones, satellites,other vegetation management systems or any remote device, which comprises a wirelesscommunication interface and a controller. Examples of such wireless communication areBluetooth®, Global System Mobile (GSM), Long Term Evolution (LTE) and 5G or New Radio(5G NR), to name a few.
In one embodiment, the at least one controller 110 is embodied as software, e.g.remotely in a cloud-based solution. In another embodiment, the at least one controller 110 maybe embodied as a hardware controller. The at least one controller 110 may be implementedusing any suitable, publicly available processor, computing means, virtual computer, cloudcomputer or Programmable Logic Circuit (PLC). The at least one controller 110 may beimplemented using instructions that enable hardware functionality, for example, by usingexecutable computer program instructions in a general-purpose or special-purpose processorthat may be stored on a computer readable storage medium (disk, memory etc.) to be executedby such a processor. The controller 110 may be configured to read instructions from a memory120 and execute these instructions to manage vegetation within an area. The memory may beimplemented using any commonly known technology for computer-readable memories such asROM, RAM, SRAM, DRAM, FLASH, DDR, SDRAM or some other memory technology.
A first embodiment according to the first aspect will now be described. The atleast one controller 110 is configured to receive image data related to vegetation within an area.The image data may be received from at least one imaging unit 130 or from the memory 120via a wireless communication interface 140, such as a transceiver. The image data maypreferably be satellite image data. Additionally, or altematively, the image data may be receivedfrom unmanned aerial vehicles (UAVs), mobile cameras, Virtual Reality (VR) or AugmentedReality (AR) glasses and/or from imaging units 130, such as cameras, located at fixedinstallations. The resolution of the image data may be, for example, between 0.1x0.1 metersand 15x15 meters. The received image data may be image data received at a single point intime, or the image data may be received over a period of time, i.e. from a plurality of timepoints.
Based on the received image data related to the vegetation within the area, avitalization gradient of the vegetation within the area is deterrnined. The vitalization of thevegetation describes the state of the vegetation. If the vitalization is zero, this means thatnothing is growing within the area, i.e., that no vegetation such as trees, bushes, straw, grass,com, hays or crops grows within the area. For example, if the vegetation comprises a forest, avitalization equal to zero may indicate that the trees within the forest have been felled. A highervitalization, i.e. above zero, implies that something is growing within the area. The vitalization gradient describes how the vegetation within the area is changing. A negative vitalization gradient may indicate that vegetation is dying, and/or that the vegetation is affected by disease.Thus, a negative vitalization gradient may indicate that maintenance have to be performed inorder to take care of the area. If the vitalization gradient is decreasing, this may indicate thatthe vegetation is exposed to e.g. pests. For example, if the vegetation comprises a f1r forest, thespruces may be exposed to bark beetles. Dead trees may fall and/or they may become fuel forf1res. Thus, a negative vitalization gradient may indicate that the vegetation needs to bemanaged. If the vitalization gradient instead is a positive gradient, this indicates that thevegetation within the area is growing and increasing. A positive gradient may indicate thateverything is growing as expected and that everything seems normal. However, if the gradientis increasing at too high a speed, this may indicate that the vegetation is growing with anunexpected speed, i.e. a speed that deviates from an expected growth speed. Thus, a positivevitalization gradient may additionally be used to detect abnorrnalities in growth, for exampledue to biocides.
The vitalization gradient may depend on the type of vegetation within the area.The vitalization gradient may furtherrnore depend on the season. For example, most vegetationmay have a higher vitalization gradient in the spring than in the winter, as vegetation seems togrow more during warrner and sunnier weather than during the dark and cold winter. Thus, insome embodiments, the at least one controller ll0 may be configured to receive time dataindicating a season. In these embodiments, the at least one controller ll0 may further beconf1gured to determine the vitalization gradient of the vegetation within the area based on thereceived time data indicating the season.
The vitalization gradient may be deterrnined in several different ways. Forexample, the vitalization gradient may be based on spectral band analysis of the received imagedata. Spectral band analysis may be used as different objects absorb and reflect certainwavelengths light differently. For example, vegetation cell structures may reflect near-infraredwavelengths light, while chlorophyll may absorb visible wavelengths of light. Thus, the spectralband analysis with the image data reflecting the vegetation within the area may be used toidentify the vegetation and to determine the vitalization gradient.
Based on the deterrnined vitalization gradient for the vegetation within the area, a timewhen the vegetation reaches a desired vegetation state is deterrnined. It is often desirable that the vegetation grows until it reaches a certain state, e.g. a state when the vegetation has reached a certain size or ripeness. HoWeVer, once the desired Vegetation state is reached, the Vegetationmay need to be managed. It may be appreciated that even if this state is referred to as a desiredVegetation state herein, this state may also be referred to as a pre-deterrnined Vegetation stateor a specified Vegetation state.
The desired Vegetation state may depend on the Vegetation Within the area, on theenvironment surrounding the Vegetation Within the area and/or the purpose of the VegetationWithin the area. If the Vegetation comprises a Wheat field, the desired Vegetation state may beWhen the Wheat is ready to harVest. If the Vegetation comprises a forest, the desired state maybe When the trees Within the forest haVe reached a size When they are suitable to fell. The treesmay be suitable to fell When they haVe reached a certain height, or When they may risk falling.AltematiVely, or additionally, the desired Vegetation state may depend on the enVironmentsurrounding the Vegetation. If the Vegetation comprises a forest and the forest surrounds a road,an electric utility grid or a railway, the desired Vegetation state, or the specified Vegetation state,may be a state When the trees are suitable to fell. By managing the trees, it may be aVoided thattrees disturb the traffic, fall oVer the road or railWay, or cause outage to the electric utility grid.Thus, the desired Vegetation state may depend on seVeral of factors and especially on thepurpose of the Vegetation management system 100. Therefore, in some embodiment, the at leastone controller 110 of the Vegetation management system 100 may be configured to receiVeinformation regarding What Vegetation state that corresponds to the desired Vegetation state.Based on this, the at least one controller 110 may determine When, i.e. at What time point, theVegetation managed by the Vegetation management system 100 Will reach a desired state.Additionally, or altematiVely, the at least one controller 110 may be further conf1gured todeterrnining a risk of the Vegetation falling or interfering Within the area. This deterrnined riskmay then be used When deterrnining the time When the Vegetation reaches the desired Vegetationstate.
Based on the deterrnined time, i.e. the time When the Vegetation Will reach thedesired state, the at least one controller 110 is configured to control a subsequent action of theVegetation management system 100 to manage the Vegetation Within the area.
Accordingly, the present disclosure proVides a Vegetation management system100 that may determine at What time a managed Vegetation Will reach a desired state and control a subsequent action based on this deterrnined time. As this Will be performed based on image data, such as satellite images, it is possible to schedule, plan and manage maintenance of avegetation Within an area in a correct time Without having to visit the area physicallybeforehand. It may be assured that a subsequent action of a vegetation management system 100is controlled in a time efficient, easy, reliable and accurate Way to manage the vegetation Withinthe area. Additionally, this provides a system 100 Where it is possible to perform qualityassurance and to follow up the Whole area Without actually having to visit every location Withinthe Whole area. Thus, the present disclosure improves vegetation management.
In some embodiments, the at least one controller 110 may further be configuredto receive sensor data related to the environment Within the area. The received sensor data maybe used, for example, as additional data When deterrnining the time When the vegetation reachesa desired vegetation state. Additionally, or altematively, the sensor data may be used asadditional input data When controlling the subsequent action of the vegetation managementsystem 100. The received sensor data may be received from at least one sensor unit 150 or fromthe at least one memory 120. The sensor data may comprise, for example, climate and Weatherdata, location data, barometric data, temperature data, altitude data, soil properties data and/orinfrared light data. The climate and Weather data may comprise data relating to sun radiation,Wind and moisture.
The received sensor data may be used by the at least one controller 110, forexample, When deterrnining the season. As previously described, the vitalization gradient maydepend on the season. Thus, by deterrnining the season, the at least one controller 110 may beconfigured to determine the vitalization gradient. If the received sensor data comprisestemperature data, a very low temperature may indicate the season as Winter, While a hightemperature may indicate the season as being summer.
Additionally, or altematively, the received sensor data may be used Whendeterrnining the time When the vegetation reaches the desired vegetation state. As previouslydescribed, the received sensor data may comprise Weather data and this data may be used Whendeterrnining the risk of the vegetation falling Within the area. For example, if the Weather dataindicates that the Weather Within the area is extremely Windy, this may increase the risk of thevegetation falling Within the area. Thus, the time When the vegetation reaches the desired vegetation state may be reached earlier than if the Weather Was not Windy. Accordingly, the 11 received sensor data may be used for considering further environmental factors whendeterrnining the time when the vegetation reaches the desired vegetation state.
As previously described, the at least one controller 110 is conf1gured to control asubsequent action of the vegetation management system 100 based on when the vegetationreaches a desired vegetation state. In some embodiments, the at least one controller 110 may beconf1gured to transmit a message to an output device 160 with the deterrnined time when thevegetation reaches a desired vegetation state. The message may be, for example, a work order,which schedules a contractor, or operator, to clear the area at the deterrnined time when thevegetation reaches the desired vegetation state. In some embodiments, when the vegetationmanagement system 100 manages vegetation within several different areas, the vegetationmanagement system 100 may determine the different times when each of the areas reaches itsdesired vegetation state and the vegetation management system 100 may plan for managing thevegetation within each of the areas at the deterrnined times. The system 100 may prioritise andorganize between the deterrnined times and schedule contractors, and/or operators. The system100 may transmit messages, or work orders, to different contractors, and/or operators, based onboth the deterrnined times and the vegetation within the areas.
Furthermore, as the provided vegetation management system 100 may base itsactions on received image data, the vegetation management system 100 may additionally followup the performed maintenance of the vegetation within the area. This may be performed in aneasy, time efficient and relatively cheap way. Based on new follow up image data associated tothe same area that previously has been managed by the vegetation management system 100, theat least one controller 110 may be conf1gured to determine if the vegetation within the area isin an expected state after the maintenance has been performed. The new follow up image datamay originate from the same image unit that provided the first image data, i.e. the image datathat the vegetation management system 100 based its actions on. Altematively, the new followup image data may originate from another apparatus. For example, the new follow up imagedata may be obtained from an apparatus that is used to inspect the managed area.
For example, if the area that is managed by the provided system 100 is a forestalong a power line, it may be desirable that the branches of the trees within the forest will keepa distance of at least 3 meters from the power line. Thus, the forest will reach the desired vegetation state when the branches are 3 meters from the power line. Once the area along the 12 power line has been managed, the at least one controller 110 may be conf1gured to determinewhether the maintenance has been performed well enough and with an approved quality, i.e.that the distance actually is at least 3 meters between the power line and the branches.Accordingly, with the provided vegetation management system 100 it may be possible to followup the quality of the contractors, or operators. It may be possible to assure that all the vegetationwithin the whole area is managed in a desired way instead of only performing physicalinspections at one location within specific area.
Additionally, or altematively, the at least one controller 110 may be configured tocontrol the subsequent action of the vegetation management system 100 by deterrnining anestimated time required to manage the vegetation within the area based on the desiredvegetation state. Thus, it may be deterrnined how long time it will take to perform a desiredmaintenance action for the vegetation within the area. For example, if the vegetation comprisesa forest next to a road, a railway or a power line, the estimated time may be the required workinghours that it may take to clear the forest such that there is no risk of trees falling over the road,railway or power line. Altematively, if the vegetation comprises a wheat field or a potato field,the estimated time may be the required time to harvest the wheat or to pull up all the potatoes.The estimated required time to manage, or clear, the vegetation within the area may additionallybe dependent on the density of the vegetation and ground classification. In some embodiments,also these parameters may be taken as input when deterrnining the estimated required time.Thus, the provided vegetation management system 100 may provide assistance when planningand scheduling maintenance work within an area.
In some embodiments, the at least one controller 110 may be configured to controlthe subsequent action of the vegetation management system 100 by deterrnining a risk if notmanaging the vegetation at the desired time when the vegetation has reached the desiredvegetation state. For example, as previously described, it may be desirable that branches of treeswithin a forest keep a distance of at least 3 meters from a power line. Thus, the desiredvegetation state is when the branches are 3 meters from the power line. In case the trees are notmanaged, i.e. cut, at this deterrnined time, the branches will come closer than 3 meters to thepower line and will most likely be of danger to the power line, i.e. risking destroying the powerline. Thus, the provided vegetation management system 100 may determine that there is a risk area around the power line at any time after the time when the branches will be closer than 3 13 meters to the power line. This risk will maintain as long as the trees are not managed or cut. Insome embodiments, the at least one controller 110 may be configured to provide a colouredmap, where all risk areas are coloured as, e. g., red areas.
Additionally, the at least one controller 110 may, in some embodiments, furtherbe configured to receive, at the deterrnined time when the vegetation reaches a desiredVegetation state, sensor input data reflecting an actual time required to manage the vegetation.The sensor input data may be, for example, sensor input data received from at least one machineused to manage the vegetation. Thus, the vegetation management system 100 may gather andanalyse data on time spent clearing combined with, for example, density of vegetation andground classif1cation. Thus, the present disclosure may provide a management system 100 witha feedback loop. By feeding back the time that actually was needed to manage, e. g. clear, thevegetation, it may be possible to control the correctness of the estimated time. If the estimatedtime and the actual time differ significantly from each other, this may be an indication that thevegetation management system 100 may have to update and/or adjust its calculations and/oralgorithms. In some embodiments, the vegetation management system 100 may be providedwith a neural network, which may leam from previous estimates and may be used to improvethe predictions of the estimated time required to manage the vegetation.
In some embodiments, the at least one controller 110 may further be configuredto receive a scheduled time for when it is believed that the vegetation reaches a desiredvegetation state. The scheduled time may be a time scheduled by a landowner or a contractorfor maintenance of the vegetation of the area. The scheduled time may be based on when it isbelieved that the vegetation within the area will be in the desired state, or when it would besuitable for the contractor to manage the vegetation. The at least one controller 110 may furtherbe configured to compare the scheduled time with the deterrnined time. Accordingly, it may bepossible to determine if there is a difference between the scheduled time and the timedeterrnined by the vegetation management system 100.
In case the scheduled time and the time deterrnined by the vegetation managementsystem 100 differ from each other, the at least one controller 110 may be conf1gured to act. Insome embodiments, the at least one controller 110 may be configured to transmit a message toan output device inforrning that the scheduled time most likely is not the optimal time.
Additionally, or altematively, the at least one controller 110 may be conf1gured to adjust the 14 scheduled time to correspond to the deterrnined time if the compared times are not equal. Thismeans that the scheduled time may be advanced or delayed depending on the comparison Withthe deterrnined time. If the scheduled time for When it is believed that the vegetation Will be ina desired Vegetation state differs from the time deterrnined by the vegetation managementsystem 100, the scheduled time is most likely not the optimal time. The optimal time formanaging the Vegetation Within the area may be affected if something unexpected happensWithin the area. Examples of such unexpected events may be a fire, extremely bad Weather orif the area has been exposed to pesticides other than those permitted in the area, for example ifthe area has been exposed to biocides for the purpose of clearing the area of vegetation. In caseof such unexpected events, the vegetation may not have groWn as fast as expected, or may havegroWn much faster than expected, Which may affect an originally scheduled time formaintenance. Additionally, or altematively, there may be circumstances around the specificarea that may affect the vegetation and the vitalization gradient for the vegetation Within thearea. These events may be difficult for a contractor and/or landoWner to have knowledge aboutand accordingly, the present disclosure provides a better timing for When vegetation Within anarea should be managed, and may adjust the clearing schedule if it is not optimal. Furthermore,if the scheduled time is adjusted to correspond to the deterrnined time, the at least one controller1 10 may further be configured to transmit a message to an output device. In some embodiments,the message may be output to inforrn a user of the vegetation management system 100.Additionally, or altematively, the message may be transmitted directly to a contractor Who isscheduled to manage the area. This may be transmitted, for example, as an updated Work order.
In some embodiments, the at least one controller 110 may further be configuredreceive, at the deterrnined time When the vegetation reaches the desired vegetation state,vegetation input data associated With a current vegetation state Within the area. The vegetationinput data may be input and received from a user interface of a user Who currently is in the area.Altematively, the vegetation input data may be received from recently obtained image data ofthe area. Thereafter, the at least one controller 110 may be configured to determine if thereceived vegetation input data associated With the current vegetation state corresponds to thedesired vegetation state; and to transmit a message to an output device if the current vegetationstate differs from the desired vegetation state. Thus, the provided vegetation management system 100 may determine how Well the system 100 predicted the time of When the vegetation would reach the desired Vegetation state. The at least one controller 110 may be configured to,for example, adjust, based on a difference between the current Vegetation state and the desiredVegetation state, the deterrnination of time when Vegetation reaches a desired Vegetation state.Accordingly, if the Vegetation management system 100 did not accurately predict the time whenthe Vegetation would be in a desired state, the system 100 may be able to update its ways ofpredicting this, i.e. it may update and/or adjust its calculations and/or algorithms, such that thesystem 100 may be further improVed. Thus, the Vegetation management system 100 maycontinuously improVe. As preViously described, in some embodiments the Vegetationmanagement system 100 may be proVided with a neural network. The neural network may leamfrom preVious deterrninations of when the Vegetation will reach a desired state. Thus, it may beused to further improVe the deterrninations of when the Vegetation will reach the desiredVegetation state.
In some embodiments, the ways of deterrnining Vitalization gradients and/ordeterrnining when a Vegetation may reach a desired Vegetation state may be stored centrallysuch that parameters relating to neighbouring areas and/or similar growth situations may bereused when managing Vegetation within a certain area.
In some embodiments, the at least one controller 110 may be configured to controlthe subsequent action of the Vegetation management system 100 by controlling an automaticVegetation management machine. The automatic Vegetation management machine may becontrolled to manage the Vegetation within the area. The automatic Vegetation managementmachine may be controlled, for example, by deterrnining steering instructions for the automaticVegetation management machine. Examples of automatic Vegetation management machinesmay be clearing machines, robots, pesticide sprayers, surface scraping machines, machines tocontrol fire to bum Vegetation to clear safety zones around the areas; or machines for machine-controlled use of insecticides, parasites, and/or biological plant diseases that reduce plantgrowth.
In some embodiments, the Vegetation management system 100 may further beconf1gured to use a digital twin of the Vegetation of the Vegetation within the area. A digitaltwin is the generation or collection of digital data representing a physical object, i.e. theVegetation within the area. The digital twin may represent trees, plants and/or forest segments within the area. ReceiVed image data, sensor data and/or input data to the Vegetation 16 management system 100 may also be reported to the digital twin in order to mirror thevegetation and the current conditions Within the area more accurately. The digital tWin may beused to simulate the growth Within the area and may additionally, or altematively, be used toperform simulations and/or predictions in order to control subsequent actions of the vegetationmanagement system 100 in a further improved Way.
Accordingly, the vegetation management system 100 provided herein maydetermine a time for When a vegetation Will reach a desired state in a time efficient, easy,reliable and accurate Way. Based on the deterrnined time, it may be possible to control at leastone subsequent action of the vegetation management system 100 such that the vegetation Withinthe area may be managed in a suitable time. Thus, a vegetation management system 100 isprovided that improve vegetation management.
According to a second aspect, there is provided a method implemented in thevegetation management system 100 according to the first aspect. The method Will be describedWith reference to Figure 2.
In one embodiment, the method 200 may be performed by a vegetationmanagement system 100 for managing vegetation Within an area. As illustrated in Figure 2,the method 200 starts With step 210 of receiving image data related to vegetation Within thearea. The method 200 further comprises step 225 of deterrnining, based on the received imagedata related to the vegetation Within the area, the vitalization gradient for the vegetation Withinthe area; and step 235 of deterrnining, based on the deterrnined vitalization gradient for thevegetation Within the area, a time When the vegetation reaches a desired vegetation state. Themethod further comprises step 260 of controlling, based on the deterrnined time, a subsequentaction of the vegetation management system 100 to manage the vegetation Within the area.
Step 260 of controlling a subsequent action of the vegetation management system100 may comprise step 265 of deterrnining a risk of the vegetation falling Within the area ifnot managing the vegetation at the desired time When the vegetation has reached the desiredvegetation state. Additionally, or altematively, step 260 of controlling a subsequent action ofthe vegetation management system 100 may comprise step 270 of deterrnining an estimatedtime required to manage the vegetation based on the desired vegetation state. The method 200may then further comprise step 275 of receiving, at the deterrnined time When the vegetation reaches a desired vegetation state, sensor input data reflecting an actual time required to 17 manage the vegetation. The sensor input data may be, for example, sensor input data receivedfrom at least one machine used to manage the vegetation. The method 200 may furthercomprise step 280 of transmitting a message comprising the deterrnined time When thevegetation reaches a desired vegetation state to an output device.
As further illustrated in Figure 2, the method 200 may further comprise step 215of receiving sensor data related to the environment Within the area. The received sensor datamay be used, for example, as additional data When deterrnining the time When the vegetationreaches a desired vegetation state.
The method 200 may further comprise step 220 of receiving time data indicatinga season. The received time data indicating the season is to be used When deterrnining thevitalization gradient for the vegetation Within the area.
As further illustrated in Figure 2, the method 200 may further comprise step 230of receiving information regarding What vegetation state that corresponds to the desiredvegetation state.
The method 200 may further comprise step 235 of deterrnining a risk of thevegetation falling Within area. The deterrnined risk may be When deterrnining the time Whenthe vegetation reaches a desired vegetation state.
The method 200 may further comprise step 240 of receiving a scheduled time forWhen it is believed that the vegetation reaches a desired vegetation state; and step 245 ofcomparing the scheduled time With the deterrnined time. If the compared times are not equal,the method 200 may further comprise step 250 of adjusting the scheduled time to correspondto the deterrnined time. Thereafter, the method 200 may further comprise, for example, step255 of transmitting a message to an output device if the scheduled time is adjusted tocorrespond to the deterrnined time.
As further illustrated in Figure 2, the method 200 may further comprise step 285of receiving, at the deterrnined time When the vegetation reaches the desired vegetation state,vegetation input data associated With a current vegetation state Within the area. The method200 may then further comprise step 290 of deterrnining if the received vegetation input dataassociated With the current vegetation state corresponds to the desired vegetation state. If thecurrent vegetation state differs from the desired vegetation state, the method 200 may further comprise step 295 of transmitting a message to an output device. The method 200 may further 18 comprise, for example, step 298 of adjusting, based on a difference between the currentvegetation state and the desired vegetation state, the deterrnination of time when vegetationreaches a desired vegetation state. The vegetation input data may be received via a userinterface.
With the proposed method 200 it may be possible to determine a vitalizationgradient of a Vegetation based on image data and a time for when the vegetation will reach adesired state may be deterrnined in a time efficient, easy, reliable and accurate way. Based onthe deterrnined time, it may be possible to control at least one subsequent action of thevegetation management system 100 such that the vegetation within the area may be managedin a suitable time. Thus, a method 200 is provided that improve planning and scheduling ofvegetation maintenance and thus, provides improved vegetation management.
Figure 3 shows a schematic view of a computer-readable medium which isconfigured to carry instructions 310 that when loaded into a controller, such as a processor,execute a method or procedure according to the embodiments disclosed above. The computer-readable medium 300 is in this embodiment a data disc 300. In one embodiment, the data disc300 is a magnetic data storage disc. The data disc 300 is arranged to be connected to or withinand read by a reading device, for loading the instructions into the controller. One such exampleof a reading device in combination with one (or several) data disc(s) 300 is a hard drive. Itshould be noted that the computer-readable medium can also be other mediums such as compactdiscs, digital video discs, flash memories or other memory technologies commonly used. Insuch an embodiment, the data disc 300 is one type of a tangible computer-readable medium300.
The instructions 310 may also be downloaded to a computer data reading device,such as the controller 110 or other device capable of reading computer coded data on acomputer-readable medium, by comprising the instructions 310 in a computer-readable signalwhich is transmitted via a wireless (or wired) interface (for example via the Intemet) to thecomputer data reading device for loading the instructions 310 into a controller. In such anembodiment, the computer-readable signal is one type of a non-tangible computer-readablemedium 300.
References to computer program, instructions, code etc. should be understood to encompass software for a programmable processor or firmware such as, for example, the 19 programmable content of a hardware device Whether instructions for a processor, orconfiguration settings for a fixed-function device, gate array or programmable logic device etc.Modifications and other variants of the described embodiments Will come to mind to one skilledin the art having benefit of the teachings presented in the foregoing description and associateddraWings. Therefore, it is to be understood that the embodiments are not limited to the specificexample embodiments described in this disclosure and that modifications and other variants areintended to be included Within the scope of this disclosure. Still further, although specific terrnsmay be employed herein, they are used in a generic and descriptive sense only and not forpurposes of limitation. Therefore, a person skilled in the art Would recognize numerousvariations to the described embodiments that Would still fall Within the scope of the appendedclaims. As used herein, the terrns "comprise/comprises" or "include/includes" do not excludethe presence of other elements or steps. Furthermore, although individual features may beincluded in different claims, these may possibly advantageously be combined, and the inclusionof different claims does not imply that a combination of features is not feasible and/or advantageous. In addition, singular references do not exclude a plurality.

Claims (28)

1. A vegetation management system (100) for managing vegetation Within an area,Wherein the vegetation management system (100) comprises at least one controller(110) configured to: - receive image data related to vegetation Within the area; - determine, based on the received image data related to the vegetation Withinthe area, a vitalization gradient for the vegetation Within the area; - determine, based on the deterrnined vitalization gradient for the vegetationWithin the area, a time When the vegetation reaches a desired vegetation state;and - control, based on the deterrnined time, a subsequent action of the vegetation management system (100) to manage the vegetation Within the area.
2. The vegetation management system (100) according to claim 1, Wherein the at leastone controller (110) further is configured to:- receive a scheduled time for When it is believed that the vegetation reaches adesired vegetation state; and - compare the scheduled time With the deterrnined time.
3. The vegetation management system (100) according to claim 2, Wherein the at leastone controller (110) further is configured to:- adjust the scheduled time to correspond to the deterrnined time if the compared times are not equal.
4. The vegetation management system (100) according to claim 3, Wherein the at leastone controller (110) further is configured to:- transmit a message to an output device if the scheduled time is adjusted to correspond to the deterrnined time.
5. The vegetation management system (100) according to any of claims 1 to 4, Whereinthe at least one controller (110) further is configured to: - receive, at the deterrnined time When the vegetation reaches the desiredvegetation state, vegetation input data associated With a current vegetation stateWithin the area; - determine if the received vegetation input data associated With the currentvegetation state corresponds to the desired vegetation state; and - transmit a message to an output device if the current vegetation state differs from the desired vegetation state.
6. The vegetation management system (100) according to claim 5, Wherein the at leastone controller (110) further is configured to:- adjust, based on a difference between the current vegetation state and thedesired vegetation state, the deterrnination of time When vegetation reaches a desired vegetation state.
7. The vegetation management system (100) according to any of claims 5 and 6, Wherein the vegetation input data is received via a user interface.
8. The vegetation management system (100) according to any of claims 1 to 7, Whereinthe at least one controller (110) further is configured to:- receive information regarding What vegetation state that corresponds to the desired vegetation state.
9. The vegetation management system (100) according to any of claims 1 to 8, Whereinthe at least one controller (110) is configured to control a subsequent action of thevegetation management system (100) to manage the vegetation Within the area by: - transmitting a message comprising the deterrnined time When the vegetation reaches a desired vegetation state to an output device.
10. The vegetation management system (100) according to any of claims 1 to 9, Whereinthe at least one controller (110) is configured to control a subsequent action of thevegetation management system (100) to manage the vegetation Within the area by: - deterrnining an estimated time required to manage the vegetation based on the desired vegetation state.
11. The vegetation management system (100) according to claim 10, Wherein the at leastone controller (110) further is configured to:- receive, at the deterrnined time When the vegetation reaches a desiredvegetation state, sensor input data reflecting an actual time required to manage the vegetation.
12. The vegetation management system (200) according to claim 11, Wherein the sensorinput data is sensor input data received from at least one machine used to manage the vegetation.
13. The vegetation management system (100) according to any of claims 1 to 12, Whereinthe at least one controller (110) is configured to control a subsequent action of thevegetation management system (100) to manage the vegetation Within the area by: - deterrnining a risk of the vegetation falling Within the area if not managing thevegetation at the desired time When the vegetation has reached the desired vegetation state.
14. The vegetation management system (100) according to any of claims 1 to 13, Whereinthe at least one controller (110) further is configured to:- receive time data indicating a season, Wherein the received time data indicatingthe season is to be used When deterrnining the vitalization gradient for the vegetation Within the area.
15. A method (200), performed by a vegetation management system (100), for managing vegetation Within an area, Wherein the method (200) comprises:- receiving (210) image data related to vegetation Within the area; - deterrnining (225), based on the received image data related to the vegetationWithin the area, the vitalization gradient for the vegetation Within the area; - deterrnining (235), based on the deterrnined vitalization gradient for thevegetation Within the area, a time When the vegetation reaches a desiredvegetation state; and - controlling (260), based on the deterrnined time, a subsequent action of the vegetation management system (100) to manage the vegetation Within the area.
16. The method (200) according to claim 15, Wherein the method (200) further comprises:- receiving (240) a scheduled time for When it is believed that the vegetationreaches a desired vegetation state; and - comparing (245) the scheduled time With the deterrnined time.
17. The method according to claim 16, Wherein the method further comprises:- adjusting (250) the scheduled time to correspond to the deterrnined time if the compared times are not equal.
18. The method (200) according to claim 17, Wherein the method (200) further comprises:- transmitting (255) a message to an output device if the scheduled time is adjusted to correspond to the deterrnined time.
19. The method (200) according to any of claims 15 to 18, Wherein the method (200)further comprises:- receiving (285), at the deterrnined time When the vegetation reaches the desiredvegetation state, vegetation input data associated With a current vegetation stateWithin the area;- deterrnining (290) if the received vegetation input data associated With thecurrent vegetation state corresponds to the desired vegetation state; and- transmitting (295) a message to an output device if the current vegetation state differs from the desired vegetation state.
20. The method (200) according to c1aim 19, Wherein the method (200) further comprises:- adjusting (298), based on a difference between the current vegetation state andthe desired vegetation state, the deterrnination of time When vegetation reaches a desired vegetation state.
21. The method (200) according to any of c1aims 19 and 20, Wherein the vegetation input data is received via a user interface.
22. The method (200) according to any of c1aims 15 to 21, Wherein the method (200)further comprises:- receiving (230) information regarding What vegetation state that corresponds to the desired vegetation state.
23. The method (200) according to any of c1aims 15 to 22, Wherein contro11ing (260) asubsequent action of the vegetation management system (100) to manage thevegetation Within the area comprises:- deterrnining (265) a risk of the vegetation fa11ing Within the area if notmanaging the vegetation at the desired time When the vegetation has reached the desired vegetation state.
24. The method (200) according to any of c1aims 15 to 23, Wherein contro11ing (260) asubsequent action of the vegetation management system (100) to manage thevegetation Within the area comprises: - transmitting (280) a message comprising the deterrnined time When the vegetation reaches a desired vegetation state to an output device.
25. The method (200) according to any of c1aims 15 to 24, Wherein contro11ing (260) asubsequent action of the vegetation management system (100) to manage the vegetation Within the area comprises: - deterrnining (270) an estimated time required to manage the Vegetation based on the desired Vegetation state.
26. The method (200) according to c1aim 25, Wherein the method (200) further comprises: 5 - receiving (275), at the deterrnined time When the vegetation reaches a desiredVegetation state, sensor input data ref1ecting an actual time required to manage the vegetation.
27. The method (200) according to c1aim 26, Wherein the sensor input data is sensor input 10 data received from at 1east one machine used to manage the Vegetation.
28. The method (200) according to any of c1aims 15 to 27, Wherein the method (200)further comprises:- receiVing (220) time data indicating a season, Wherein the received time data15 indicating the season is to be used When deterrnining the Vitalization gradient for the Vegetation Within the area.
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