WO2017129675A1

WO2017129675A1 - Weed controlling device

Info

Publication number: WO2017129675A1
Application number: PCT/EP2017/051638
Authority: WO
Inventors: Achim Winkler
Original assignee: Robert Bosch Gmbh
Priority date: 2016-01-28
Filing date: 2017-01-26
Publication date: 2017-08-03
Also published as: DE102016201280A1

Abstract

The invention relates to a method for damaging weeds (24). The method comprises the following steps: - accelerating a non-Newtonian fluid (20) by means of a fluid acceleration unit (12), and - delivering the accelerated non-Newtonian fluid (20) to the weeds (24) by means of a fluid delivery unit (14) in order to damage the weeds.

Description

description

title

Weed control device prior art

The invention relates to a device, a system and a method for damaging weeds. Weed control in agriculture is a very labor-intensive process

Task, especially in organic farming, which prohibits or limits the use of chemicals.

DE 4039797 Al discloses a device for weed control, wherein it is proposed to carry out the damage of weeds by means of water jets.

Since water is a Newtonian liquid, a stream of water breaks down shortly after its release. The kinetic energy of the water jet thus acts on a relatively large area. The bigger the

The distance between the dispenser and the plant is the more the jet disintegrates and the lower the kinetic energy of the water jet, which can act on a desired area of the plant. Disclosure of the invention

The subject of the present invention is a method, a device and a system for damaging weeds according to the main claims. By means of the method according to the invention and the device according to the invention or the system according to the invention, it is now possible to have an extremely efficient and precise weed control. This is achieved in particular by the fact that for the damage of the weeds a non-Newtonian

Liquid is used. As explained in the introduction, Newtonian decay

Liquids, e.g. Water, due to Rayleigh decay (disintegration by surface tension), aerodynamic forces, and other largely chaotic forces, e.g. Turbulence and / or cavitation. Non-Newtonian fluids have the property of increasing in size

Shear velocities either pseudoplastic (shear thinning) or dilatant (shear thickening) behavior. By using a liquid jet of a non-Newtonian liquid, in particular a dilatant

Liquid, thus the previously explained disintegration of the liquid jet in the damage or control of plants can be compensated. The

Viscosity of a dilatant fluid is a function of shear rate and does not depend on the duration of applied shear. Thus, the viscosity of a dilatant fluid is independent of time. The greater the applied shear, the more viscous or tougher the liquid behaves. As a result, the jet of liquid remains directed for an extended period of time without disintegrating, thus minimizing energy loss and its kinetic

Energy targeted to a small area, can be introduced. Accordingly, the liquid jet of a dilatant non-Newtonian liquid causes a very high damage effect or a high destruction effect on the weeds.

The acceleration of the non-Newtonian liquid is carried out according to the invention by means of a liquid accelerating unit and the delivery of the accelerated non-Newtonian liquid to the weed by means of a liquid dispensing unit. That is, in other words, the weed damage device according to the invention has the following components:

a liquid accelerating unit configured to accelerate movement of a non-Newtonian liquid; a liquid discharging unit configured to deliver the accelerated non-Newtonian liquid to the weed to damage the same, and a control unit which is designed to control the liquid acceleration unit and / or the liquid discharge unit in dependence on the viscosity of the non-Newtonian liquid. It is also advantageous if the exit velocity and / or the mass of the non-Newtonian liquid in the delivery of the

Liquid dispensing unit is selected such that the damage of

Weed occurs due to the kinetic energy of non-Newtonian fluid. Here, the non-Newtonian liquid in the delivery

preferably an exit velocity of greater than or equal to 60 m / s

and / or have a kinetic energy of greater than or equal to 0.03 J. In other words, that the non-Newtonian liquid or the bundled liquid jet has such a high kinetic energy at the discharge from the liquid discharge unit that a corresponding mechanical

Destructive effect on the weed to which it is released. By this measure, an optimal mechanical damage of the weeds can be achieved solely by the accelerated non-Newtonian liquid, without additionally relying on chemical aids or

Herbicides must be resorted to.

It is also advantageous if, by means of the liquid acceleration unit and / or the liquid dispensing unit, the acceleration of the non-Newtonian liquid as a function of the viscosity of the non-Newtonian liquid and / or the exit velocity of the non-Newtonian liquid on delivery from the liquid dispensing unit to the damaging weeds as a function of the viscosity of the non-Newtonian fluid and / or the viscosity of the non-Newtonian

Liquid is adjusted depending on the acceleration. Accordingly, the control unit can be designed, by means of the liquid acceleration unit and / or the liquid dispensing unit, to accelerate the non-Newtonian fluid as a function of the viscosity of the non-Newtonian fluid and / or the discharge speed of the non-Newtonian fluid during dispensing from the fluid dispensing unit to the weed to be damaged, depending on the viscosity of the non-Newtonian liquid and / or the viscosity of the non-Newtonian Adjust fluid as a function of acceleration. The viscosity of non-Newtonian fluids depends, among other things, on the shear rate and thus on the acceleration or speed of the non-Newtonian fluid. The viscosity of non-Newtonian fluid is also temperature dependent. The acceleration of the non-Newtonian fluid can be adjusted such that the non-Newtonian

Liquid is sufficiently viscous prior to discharge from the liquid dispensing unit to inhibit the disintegration of the liquid jet upon exiting the liquid dispensing unit so that the kinetic energy of the liquid jet can act on a smaller area than when using Newtonian liquids. Further, the acceleration of the non-Newtonian fluid may be adjusted so that the non-Newtonian fluid does not become too viscous or solid prior to delivery from the fluid delivery unit, and thus the functionality of the fluid

Device is impaired. Conversely, the viscosity of the non-Newtonian fluid may also be adjusted, for example by changing the temperature or consistency, that the non-Newtonian fluid is sufficiently viscous prior to delivery from the fluid delivery unit to prevent disintegration of the fluid jet after exiting the fluid

Inhibit liquid delivery unit, so that the kinetic energy of the liquid jet can act on a smaller area than when using Newtonian liquids. The viscosity of the non-Newtonian fluid may also be adjusted such that the non-Newtonian fluid does not become too viscous or solid prior to delivery from the fluid delivery unit and thus compromise the functionality of the device. Further, the exit velocity can be adjusted such that the non-Newtonian liquid has a certain viscosity when hitting the weed to be damaged in order to prevent the

desired damage or destruction effect to achieve. Thus, by this measure, depending on the application, the viscosity, the

Acceleration or the exit speed can be adjusted to achieve the optimum desired effect.

It is also advantageous if the exit velocity of the non-Newtonian liquid in the delivery of the liquid dispensing unit and / or a determined distance a of the liquid dispensing unit is selected to be damaged weeds such that the non-Newtonian liquid is substantially solid at the latest when hitting the weed to be damaged and thus forms a kind of "projectile." The liquid dispensing unit can in this case a nozzle with a variable Nozzle opening and / or a variable

Have nozzle length to adjust the exit velocity or the distance a. By means of this configuration of the nozzle, on the one hand, a strongly focused or focused liquid jet can be generated, which has a high speed and thus a high viscosity. This also increases the kinetic energy and consequently also the damage effect or the destructive effect. On the other hand, by changing the

Nozzle opening, i. the shape and the passage cross section of the nozzle opening also different Ausströmcharakteristiken and sizes of

Achieve processing area. Consequently, for example, the liquid may have means for inhibiting growth or destruction, so that depending on the configuration of the nozzle opening, a targeted microinjection of these agents to the weeds can be achieved. However, the liquid dispensing unit may alternatively or additionally be arranged on a manipulator which adjusts the desired distance a to the weeds. That is, in other words, that by the shear forces occurring for a short time before the non-Newtonian liquid strikes the weeds to be damaged

projectile-like solid is formed, which turns after hitting the damaged weed in peace again in a liquid and infiltrate into the soil. Here, the non-Newtonian liquid may also comprise a substance which can serve as a fertilizer. Here, the

Concentration of the fertilizer may be chosen such that the weed "burns" due to the concentration level, whereby a greater damage to the weeds can be achieved .Thus, by this measure, the damage or destruction effect on weeds can be maximized and possibly

at the same time a fertilizer is provided.

Furthermore, it is advantageous if the non-Newtonian liquid comprises a substance which is selected from the group consisting of starch, sand, clay and mixtures thereof. The starch may in particular be corn starch. That is, in other words, that the non-Newtonian liquid be selected may be selected from the group consisting of starch suspension, sand slurry, clay suspension and mixtures thereof. By this measure, a non-Newtonian liquid can be provided in a very simple and cost-effective manner, which is particularly non-toxic, according to the

Damage to the weeds quickly decomposes and possibly also at the same time

Fertilizer is used.

It is also advantageous if the additional step is provided: mixing at least two substances prior to dispensing non-Newtonian

Liquid to obtain the non-Newtonian liquid. It is particularly advantageous if the mixing ratio of the at least two substances is selected as a function of a temperature of the environment and / or one of the two substances. By this measure, the consistency or concentration and thus the viscosity of the non-Newtonian liquid very easily and precisely, but also during the process of

To control weed control.

It is also advantageous if the additional step is provided: heating or cooling the non-Newtonian liquid and / or the substances which are mixed to the non-Newtonian liquid. When generating pressure or the compression of the non-Newtonian liquid and / or the substances heat is generated, which counteracts the viscosity. The non-Newtonian

Liquid and / or the substances can therefore be cooled down to counteract this. Conversely, heat can be used to ensure that the non-Newtonian fluid and / or substances are better able to "slip through" by heating in the fluid delivery unit, then cool rapidly on exiting and then solidify

Liquid dispensing unit or the nozzle of the liquid dispensing unit are cooled by means of a tempering, so that both the cooling and shear forces due to the nozzle inner wall to the non-Newtonian

Liquid and / or the substances can act. Accordingly, it would be conceivable to build pressure on the non-Newtonian fluid in a heated pressure tank and to cool down the non-Newtonian fluid in the nozzle or to fix it by the shear forces due to the nozzle wall. Through this

Measure may be the temperature-dependent viscosity of non-Newtonian Liquid very easy, but also during the process of

Weed control are set.

Also advantageous is a system with a previously described

A device according to the invention, which further comprises a detection unit, which is designed to detect the weeds and a control unit, which is designed to control the device in dependence on the detection unit determined data such that upon actuation of the device, a discharge of the non-Newtonian liquid to the weeds to damage it. Thus, in such a system, the liquid dispensing unit can be accurately positioned by means of image-based control, so that extremely fast and precise (fully) autonomous

Weed control can be made. This is u.a. achieved in that - in contrast to known methods - not the crop, but rather the weed to be controlled itself specifically detected and selectively damaged, the weed control device or the

Liquid dispensing unit is automatically positioned on the weeds or aligned in the direction of the weeds. Especially in crops with small planting distances (e.g., carrots), the present invention makes it possible to damage the unwanted weeds in close proximity to the crop at a very early stage.

drawings

The invention will now be described by way of example with reference to the accompanying drawings. Show it:

Figure 1 is a schematic representation of an inventive

Weed control device;

Figure 2 is a schematic representation of another embodiment of the weed control device according to the invention with an eddy current actuator; a schematic representation of another embodiment of the weed control device according to the invention with a pressure feed unit; a schematic representation of another embodiment of the weed control device according to the invention with a pressure feed unit;

Figure 5 is a schematic representation of another embodiment of the device according to the invention with a plurality of nozzles; and

Figure 6 is a schematic representation of an inventive

Systems comprising the inventive

Weed control device according to FIG. 2.

In the following description of preferred embodiments of the present invention are for the in the various figures

represented and similar elements acting the same or similar

Reference numeral used, wherein a repeated description of the elements is omitted.

In Fig. 1, a weed control device according to the invention or

Device for damaging weed shown in her

Entity is provided with the reference numeral 10.

The weed control device 10 has a liquid acceleration unit 12 and a liquid discharge unit 14. The weed control device 10 further includes a chamber 16. The chamber 16 may be formed as a pressure accumulator 16. The chamber 16 can be used as part of

Liquid acceleration unit 12 or be formed as part of the liquid discharge unit 14. In the embodiment shown, the chamber 16 is formed as part of the liquid acceleration unit 12. The chamber 16 is also fluidly connected via a pressure line 18 with the

Liquid dispensing unit 14 connected. In order to be able to carry out the weed control method according to the invention, the chamber 16 has a non-Newtonian fluid 20. The non-Newtonian liquid 20 can be accelerated out of the chamber 16 to the liquid discharge unit 14 by means of the liquid accelerating unit 12 and from the liquid discharge unit 14 in the form of a liquid discharge unit 14

Liquid jet 22 are delivered to a weed 24 to damage this. The liquid acceleration unit 12 is hereby referred to as

Pressure tank system 12 is formed. Accordingly, the non-Newtonian stands

Liquid 20 in the chamber 16 under pressure. The liquid dispensing unit 14 is designed as a pressure valve 14 with nozzle. Accordingly, by means of

Liquid acceleration unit 12, i. by means of the pressure tank 16 by operation of the liquid dispensing unit 14, i. By opening the pressure valve 14, the non-Newtonian liquid 20 accelerated and discharged at a certain speed or kinetic energy to the weeds 24.

By using the dilatant non-Newtonian liquid 20, the liquid jet 22 decays later or substantially not at all compared to a Newtonian liquid, so that a considerably higher

Damaging effect or a higher destruction effect in weeds 24 is caused. The distance a between the liquid delivery unit 14 and the weeds 24 is hereby preferably selected or set such that the non-Newtonian liquid 20 is essentially solid at the latest when it strikes the weed 24. As a result, the damage or

Destruction effect to be maximized.

The non-Newtonian liquid 20 is designed to return to the liquid state at rest after hitting the weed 24 to be damaged, and to seep into the soil. The non-Newtonian liquid 20 may further comprise a substance which may serve as a fertilizer to the soil so that an additional function may be provided by the non-Newtonian liquid 20.

The liquid accelerating unit 12 and / or the

Fluid delivery unit 14 can basically also a heating and / or Cooling device to bring the non-Newtonian liquid 20 to a desired temperature and thereby to adjust the viscosity. According to the invention, the device 10 also has a (not shown)

Control unit, which is designed to control the liquid acceleration unit 12 and / or the liquid discharge unit 14 in dependence on the viscosity of the non-Newtonian liquid 20. The control unit can thus obtain and evaluate all the necessary data in order to determine the viscosity of the non-Newtonian fluid 20 or an acceleration and / or acceleration

To determine exit velocity to achieve a desired viscosity of the non-Newtonian liquid 20 or adjust.

In Fig. 2 is another embodiment of the invention a

Weed control device 10 '. Unlike the

Weed control device of Fig. 1 is shown

Liquid acceleration unit 12 'as eddy current actuator 12' is formed. Accordingly, the liquid acceleration unit 12 'has a capacitor 26 for storing energy, wherein a plurality of capacitors 26 are also conceivable. By means of an activation unit 28, which in the embodiment shown as

Switch 28 is formed, the electric charge stored in the capacitor 26 can be discharged quickly. For power transmission, the

Liquid acceleration unit 12, a coil 30 on. Thus, upon activation of the switch 28, the electrical charge can be transferred from the capacitor 26 to the coil 30, whereby due to magnetic forces a

Acceleration of a shock element 32 is generated in a thrust 34. For this power transmission, the impact element 32 has an electrically conductive part 36. In the exemplary embodiment shown, the electrically conductive part 36 is designed as a copper disk 36. In order to achieve an acceleration or impact of the shock element 32, there is an electrical discharge and thus an energy transfer from the (not shown here) capacitor 26 to the coil 30, whereby a current flow is generated at the coil 30. The flowing electrical charge creates a first magnetic field. In the electrically conductive part 36 and the copper disc 36, this in turn generates an eddy current flow. The eddy current flow or the resulting Eddy currents generate even a second magnetic field, the first

Magnetic (due to the current flow in the coil 30) is directed opposite. Accordingly, a repulsive force arises between the first magnetic field and the second magnetic field, which causes an acceleration or pulsed movement of the copper disc 36 and thus of the impact element 32 in the impact direction

34 causes. The electrically conductive part 36 of the impact element 32 is on the one hand designed to be electrically conductive, on the other hand able to absorb the resulting eddy currents to enable the conversion of electrical into mechanical energy described above. That is, with the stronger current, the coil 30 is energized, the higher the generated

Acceleration of the shock element 32 is thus the non-Newtonian liquid 20. Increasing the amplitude of the pressure wave may result in an increase in the exit velocity of non-Newtonian fluid 20.

The liquid dispensing unit 14 'is in this case designed as a kind of shock wave injector 14'. The liquid dispensing unit 14 'has a further dosing chamber 38, a membrane 40 and a valve 42. The metering chamber 38 is connected via the pressure line 18 to the chamber 16 and the pressure tank 16. The metering chamber 38 comprises the non-Newtonian fluid 20, whichever is required

Application may also include a fertilizer. By the fluidic

Connection, the metering chamber 38 is filled as needed from the pressure tank 16 with the non-Newtonian liquid 20. This can be carried out or feasible by means of the control unit.

At the metering chamber 38, the membrane 40 is arranged, which encloses the non-Newtonian liquid 20 together with the metering chamber 38. The membrane 40 is arranged between the impact element 32 and the metering chamber 38. By this arrangement, it is now possible upon actuation of the

Wirbelstromaktors 14 ', the shock element 32, which is here designed as a plunger 32, butt against the membrane 40 and transmit the shock / pulse energy to the non-Newtonian liquid 20, so that a shock wave in shock wave direction 34 is generated. The membrane 40 may be an elastically deformable membrane 40, which is adapted to a one

Deformation of the membrane 40 by the impact element 32 counteracting force exercise. Thus, for example, reducing the volume of the metering chamber 38 by a pulse-shaped moving or pressing the

Impact element 32 against the membrane 40 carried out such that the membrane 40 in the direction of the interior of the metering chamber 38, in particular pulsed or jagged, is bagged. Optionally, the membrane 40 may also be formed so that it provides the restoring force for the return of the shock element 32 due to their elasticity, so that as soon as the

Push member 32 moving force of the Wirbelstromaktors 14 'goes out, the push member 32 is pushed back to its original position. In other words, the membrane 40 not only for the transmission of

Force impulse of the shock element 32 to the non-Newtonian liquid 20 in the metering chamber 38 but also to the provision of the shock element 32 are used. The provision of the shock element 32 on the

However, initial position can also be done by means of a spring. It is

In principle, any device known to the person skilled in the art is conceivable which is suitable for resetting the pushing element 32. The shock wave then propagates in shock wave direction 34 along the metering chamber 38 to the valve 42, thereby accelerating the non-Newtonian fluid 20. As the shock wave reaches the valve 42, a directed mass discharge of the non-Newtonian fluid 20 from the metering chamber 38 occurs By means of a nozzle

44, which is arranged on the valve 42, a bundled or

focused liquid jet 22 are generated, which consists of a

Nozzle opening 46 of the nozzle 44 can escape. The nozzle 44 may be variable in length and / or in diameter to provide a desired, depending on the viscosity of the non-Newtonian liquid 20

To produce exit velocity and / or to change the viscosity of the non-Newtonian liquid 20 or adjust.

In summary, the short-term pulse-shaped

Pressurization of the membrane 38 by means of the impact element 32 or

Plunger 32 in a very simple manner, an energy transfer to the non-Newtonian liquid 20 in which a shock wave is excited. As a result, a defined amount of the liquid per shot or "shot" is delivered, so that the dispensed non-Newtonian liquid 20 can be accurately metered. 3 shows a further weed control device 10 "according to the invention. The weed control device 10" has a fluid acceleration unit 12 "with a pump 48 and a compressed air chamber 50. The pump 48 is fluidically connected to the compressed air chamber 50 and generates a compressed air 52 therein. The compressed air 52 is via a valve 42, which shown in FIG

Embodiment is designed as an electric slide 42, in the nozzle 44 of a liquid dispensing unit 14 "promoted .. Since the nozzle 44 on the

Pressure line 18 is connected to the chamber 16, the chamber 16 fills the nozzle 44 always with the non-Newtonian liquid 20. The nozzle opening 46 may in this case be elastic and closed in the absence of pressure or open when pressurized. However, the nozzle opening 46 can also be controlled by the control unit. The non-Newtonian liquid 20 is accelerated by the pressurized air 52 along the valve 44. The shear forces occurring, which on the one hand by the compressed air 52 and on the other hand by the friction of the non-Newtonian liquid 20 at a

Valve inner wall 54 of the valve 44 arise, the non-Newtonian liquid 20 solidifies so that after the non-Newtonian liquid 20 exits the valve opening 46 for a short time a solidified liquid jet 22 (projectile) is formed, which under the valve 44th Weeds 24 damaged or destroyed.

Alternatively, however, it is also conceivable that the chamber 16 first

is closed, so that the non-Newtonian liquid 20 only at

Outflow of the compressed air 52 can flow into the valve 44. In this case, located in the chamber 16 non-Newtonian liquid 20 can be sucked out of the chamber 16 in the valve 44 due to the accelerated air pressure 52 and the Bernoulli effect caused thereby in order to then from the

Liquid dispensing unit 14 "to be delivered at a certain exit velocity.

4 shows a further weed control device 10 '"according to the invention, in which case the liquid acceleration unit 12'" is designed as a pressure conveying unit 12 ''

Pressure feed unit 12 "'has the chamber 16, in which the non-Newtonian liquid 20 to be delivered is arranged. The unit 12 "'further comprises the pump 48, which is fluidically connected to the chamber 16 via a conduit 16. Furthermore, the liquid accelerating unit 12"' has a pressure accumulator 56. The accumulator 56 is also fluidly connected via the pressure line 18 to the pump 48. The pump 48 is designed to pressurize the non-Newtonian fluid 20 located in the chamber 16 and to provide it in the pressure line 18 or to deliver it to the pressure accumulator 56. The pressure accumulator 56 is again designed to permanently and uniformly forward the pressurized non-Newtonian fluid 20 to the fluid delivery unit 14 '' via the pressure line 18. Accordingly, the non-Newtonian fluid 20 can be pressurized by means of the pressure delivery unit 12 '' and for the

Liquid dispensing unit 14 "'are provided.

The liquid dispensing unit 14 "'has the valve 42. The valve 42 may be a piezoelectric actuator, an electroactive polymer actuator or a

Have magnetoresistive actuator. By operating the valve 42 can thus a certain amount of pressurized non-Newtonian

Liquid 20 are delivered targeted and accurate, so that one

desired focused or bundled liquid jet 22 to produce at a certain exit velocity. By the targeted opening and closing of the valve 42, the mass flow and the

Exit speed can be adjusted and thus the kinetic energy but also the viscosity are changed. It is advantageous, when the pressure conveying unit 12 "'is formed, the non-Newtonian liquid 20 under such high pressure to the

Fluid delivery unit 14 "'forward that the weeds 24 due to the kinetic energy of the non-Newtonian liquid 20 discharged from the liquid dispensing unit 14"' is damaged. In this case, the pressure is preferably in a range of greater than or equal to 500 bar, further preferably in a range of greater than or equal to 500 bar to less than or equal to 4000 bar. The non-Newtonian liquid 20 may preferably have an exit velocity of greater than or equal to 60 m / s and / or a kinetic energy of greater than or equal to 0.03 J upon delivery. In Fig. 5 is an analogous to the embodiment of FIG. 4 constructed

However, it has a multiplicity of valves 42. Each of the valves 42 has a piezoactuator in this case, but the valves 42 can also have different actuators from the group consisting of a piezoactuator, an electroactive polymer actuator and a piezoelectric actuator

Have magnetoresistive actuator. The valves 42 are in this case connected in parallel with the pressure conveying unit 12 "'via a common pressure line 18. Thus, it is possible to machine a larger floor area at the same time, as a result of which a faster weeding control can take place.

In Fig. 6, an inventive system for damaging weeds 24 is shown, which is provided in its entirety by the reference numeral 100.

The system 100 comprises a weed control device 10 'according to the invention or a weed damage device 10' according to the embodiment of FIG. 2 described above. However, it is any weed control device 10 of the present invention; 10 '; 10 ", 10" 'on the system 100 conceivable. The system 100 is designed as a mobile platform. For this purpose, the system 100 has a drive unit 102 with wheels 104. However, it is any conceivable, known to those skilled drive, which the

System 100 can provide mobility.

The system 100 further has a manipulator unit 106, at the lower manipulator section 108 of which the liquid dispensing unit 14 'with the nozzle 44. In this case, the nozzle 44 is arranged between the manipulator unit 106 and the floor and points in the direction of the weed 24. In order to enable image-based control for the exact positioning of the liquid dispensing unit 14 'or the nozzle 44, the system 100 also has a detection unit 110 and a control unit 112. The detection unit 110 has a

Classification unit 114 and a location unit 116.

Here, the classification unit 114 is designed as an imaging system in the form of a camera unit 114. The localization unit 116 is embodied as a visual servoing camera 116 and arranged next to the nozzle 44 to the lower manipulator section 108 of the manipulator unit 106. Consequently, the Visual servoing camera 116 is placed "floating" above the ground and accordingly moved or positioned together with the nozzle 44. With this arrangement, the locating unit 116 or the visual servoing camera 116 in close proximity to the weeds 24 can be extremely precisely determine the relative positions of the nozzle 44 to the weeds 24

Localization unit 116 determines the relative position based on the position data or the recognition data of the classification unit 114,

preferably by means of a (not shown) computer unit.

Without departing from the scope of the present invention, however, it is quite conceivable that the classification unit 114 and the

Localization unit 116 are formed as a unit. Thus, the unit 114, 116 comprising the classification unit 114 and the

Localization unit 116 perform a dual task, namely the classification task described above (detection of the weeds 24) and the determination of the relative positions of the nozzle 44 to the weeds 24 (visual servoing), which serves to guide the nozzle 44.

The control unit 112 receives the determined data of the detection unit 110 or the localization unit 116 and possibly temperature data from the environment or the non-Newtonian liquid 20 and controls accordingly

Manipulator unit 106 and the liquid discharge unit 14 'so that the nozzle 44 is brought into a corresponding position and the

Liquid acceleration unit 12 'together with the

Liquid dispensing unit 14 'at a certain time or when reaching a certain position is actuated such that a desired

Acceleration or exit velocity of the non-Newtonian liquid 20, possibly with a certain viscosity is delivered to the weeds 24.

Claims

Claims 1. Method for damaging weeds (24), comprising the following steps:

- Accelerating a non-Newtonian liquid (20) by means of a

Fluid acceleration unit (12, 12 ', 12 ", 12"'), and

Delivering the accelerated non-Newtonian fluid (20) to the weeds (24) by means of a fluid delivery unit (14; 14 '; 14 "; 14"') to damage the same.

2. The method according to claim 1, characterized in that the non-Newtonian fluid (20) is a dilatant fluid (20). 3. The method according to claim 1 or 2, characterized in that the

Exit velocity and / or the mass of non-Newtonian

Liquid (20) is selected at dispensing from the liquid dispensing unit (14; 14 '; 14 "; 14"') such that damage to the weed (24) occurs due to the kinetic energy of the non-Newtonian liquid (20).

4. The method according to any one of the preceding claims, characterized

characterized in that the acceleration of the non-Newtonian fluid (20) in. by means of the fluid acceleration unit (12; 12 '; 12 "; 12"') and / or the fluid delivery unit (14; 14 '; 14 "; 14"')

Dependence on the viscosity of the non-Newtonian liquid (20) and / or

the viscosity of the non-Newtonian fluid (20) as a function of the acceleration

and or

the exit velocity of the non-Newtonian fluid (20) upon delivery from the fluid delivery unit (14; 14 '; 14 "; 14"') to the weed (24) to be damaged as a function of the viscosity of the non-Newtonian fluid (20)

is set.

5. The method according to any one of the preceding claims, characterized

characterized in that the exit velocity of the non-Newtonian liquid (20) at dispensing from the liquid dispensing unit (14; 14 '; 14 "; 14"') and / or a determined distance a from the liquid dispensing unit (14; 14 '; 14 "; 14 "') to the weed (24) to be damaged is selected such that the non-Newtonian liquid (20) is substantially solid upon impacting the weed (24) to be damaged.

6. The method according to any one of the preceding claims, characterized

characterized in that the non-Newtonian fluid (20) comprises a substance selected from the group consisting of starch, in particular corn starch, sand, clay and mixtures thereof.

7. The method according to any one of the preceding claims, characterized by the additional step:

- Mixing of at least two substances before dispensing the non-Newtonian liquid (20) to obtain the non-Newtonian liquid (20).

A method according to claim 7, characterized in that the

Mixing ratio of at least two substances depending on a temperature of the environment and / or one of the two substances is selected.

Method according to one of the preceding claims, characterized by the additional step:

Heating or cooling the non-Newtonian liquid (20) and / or the substances which are mixed to the non-Newtonian liquid (20).

Use of a non-Newtonian fluid (20) to damage a weed (24), wherein damage to the weed (24) occurs due to the kinetic energy of the non-Newtonian fluid (20).

Device (10, 10 ', 10 ", 10"') for damaging weeds (24), which is in particular adapted to perform the method according to one of the preceding claims, with

a liquid accelerating unit (12; 12 '; 12 "; 12"') which is adapted to incorporate a non-Newtonian liquid (20) into one

to accelerate movement,

a liquid dispensing unit (14, 14 ', 14 ", 14"') configured to deliver the accelerated non-Newtonian liquid (20) to the weeds (24) to damage the same, and

- A control unit (112), which is formed, the

Fluid acceleration unit (12, 12 ', 12 ", 12"') and / or the fluid delivery unit (14, 14 ', 14 ", 14"') depending on the viscosity of the non-Newtonian fluid (20) to control. 12. The device according to claim 11, characterized in that the

Control unit (112) is formed by means of

Fluid acceleration unit (12; 12 '; 12 "; 12"') and / or the fluid delivery unit (14; 14 '; 14 "; 14"')

acceleration of non-Newtonian fluid (20) in

Dependence on the viscosity of the non-Newtonian liquid (20) and / or

the viscosity of the non-Newtonian fluid (20) as a function of the acceleration

and or

the exit velocity of the non-Newtonian fluid (20) at the delivery from the fluid delivery unit (14; 14 '; 14 "; 14"') to the weed (24) to be damaged as a function of the viscosity of the non-Newtonian fluid (20 )

adjust.

13. Device (10) according to claim 11 or 12, characterized in that the liquid dispensing unit (14; 14 '; 14 ";14"') has a nozzle (44) with a variable nozzle opening (46) and / or a variable nozzle length ,

A system (100) for damaging weeds (24) with a device (10; 10 '; 10 "; 10"') for damaging weeds (24) according to any one of claims 11 to 13.

15. System (100) according to claim 14, characterized by a detection unit (110) which is designed to detect the weeds (24) and a

Control unit (112) which is designed to control the device (10; 10 '; 10 "; 10"') in dependence on data determined by the detection unit (110) such that upon actuation of the device (10; 10 '; 10 ", 10" '), the non-Newtonian fluid (20) is delivered to the weeds (24) to damage it.