WO2021213588A1 - Verfahren und vorrichtung zum ausbringen wenigstens eines flüssigen mediums mittels einer spritzdüseneinheit und computerprogrammprodukt - Google Patents
Verfahren und vorrichtung zum ausbringen wenigstens eines flüssigen mediums mittels einer spritzdüseneinheit und computerprogrammprodukt Download PDFInfo
- Publication number
- WO2021213588A1 WO2021213588A1 PCT/DE2021/100356 DE2021100356W WO2021213588A1 WO 2021213588 A1 WO2021213588 A1 WO 2021213588A1 DE 2021100356 W DE2021100356 W DE 2021100356W WO 2021213588 A1 WO2021213588 A1 WO 2021213588A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- biomass
- spray nozzle
- medium
- nozzle unit
- area
- Prior art date
Links
Classifications
-
- 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
-
- 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
Definitions
- the invention relates to a method and a device for applying at least one liquid medium by means of a spray nozzle unit, in particular in connection with weed control for agricultural areas.
- the invention also relates to a computer program product for executing the method according to the invention or as part of a device according to the invention.
- a method for applying at least one liquid medium by means of a spray nozzle unit is known from DE 102017 124934 A1.
- the area is detected for the presence of weeds or biomass by means of an optical sensor device, in particular by means of a camera.
- a spray nozzle of a spray nozzle unit for example, which is arranged on the boom of a tractor or the like, is then controlled in such a way that, for example, weedkillers are sprayed or applied as exclusively as possible in the area of the biomass. This takes place on the one hand against the background of the most economical use of the weed killer or the medium, and on the other hand against the background of the lowest possible pollution from the medium outside the area to be treated. Disclosure of the invention
- the method according to the invention for applying at least one liquid medium by means of a spray nozzle unit with the features of claim 1 has the advantage that it enables optimized metering of the at least one medium with a view to the type of biomass.
- the invention is based on the idea that the target area or the area onto which the at least one medium must be applied in order to achieve an effect optimized for the biomass does not necessarily affect the spatial extent of the biomass, which is determined by the at least one sensor device is limited. In particular, it depends on the propagation mechanism of the biological species of a weed how the area to be treated must be optimally selected in order not only to destroy the recognized weed, but also to prevent or minimize its further spread. In particular, there are two mechanisms of propagation in the case of weeds, a propagation or reproduction due to seeds and, on the other hand, due to the roots of the weeds or the biomass.
- the teaching according to the invention for dosing the at least one liquid medium by means of a spray nozzle unit therefore proposes that, in addition to localizing the biomass, the biological type of the biomass is also recognized by means of an evaluation device connected to the at least one sensor device and having an algorithm and that the shape of a target area, in the area of which the at least one medium is applied or dosed, is adapted to the detected biological type of biomass as a function of the propagation mechanism.
- shape encompasses the general shape, i.e. the external shape, but also the extent, i.e. size, of the target area.
- the target area surrounds the biomass at a distance and, in particular, has a rectangular shape.
- the area on which the at least one medium is applied or dosed depends, of course, on the detected type of biomass and on the detected size of the area on which the biomass is located. For example, with a relatively small area of the detected biomass, a relatively small total area is typically also required on which the at least one medium must be applied. In the case of a spatially extended or larger area on which the biomass was localized, there is typically also a larger area outside the detected biomass, in the area of which the at least one medium must be applied.
- Another preferred embodiment of the method provides that the type of medium is selected as a function of the recognized biological type of biomass.
- Such a variation of the method includes, on the one hand, the possibility of using different weed killers depending, for example, on different weed species, or, with knowledge of the area of spread, of carrying out additional measures, such as the application of a broadly effective herbicide or soil herbicide. With the last-mentioned measure, weeds that have not yet germinated can also be treated effectively.
- the target areas are different for the at least two different media.
- different target areas also include the case that the two target areas for the different media at least partially overlap or overlap.
- a further optimized effect of the method according to the invention is achieved if, at the time of the application of the at least one medium, weather influences, in particular additionally at least the wind direction and wind strength, are taken into account when calculating the target area.
- weather influences in particular additionally at least the wind direction and wind strength
- Such weather or wind influences can occur in real time, for example corresponding sensor means can be determined on the vehicle that is discharging the at least one medium, or on the basis of empirical values from the past.
- the invention includes an evaluation device which is set up to detect a localization of a biomass, in particular weeds, and a biological type of biomass, the biomass using at least one sensor device of a spray nozzle unit with at least one spray nozzle for the application of a liquid medium, in particular for agricultural Purposes, is recognized, and to control the spray nozzle unit in such a way that a shape of a target area, in the area of which the at least one medium is or is to be applied, is adapted to the recognized biological type of biomass as a function of the propagation mechanism.
- the invention also includes a device for applying at least one liquid medium by means of a spray nozzle unit, in particular for agricultural purposes, the spray nozzle unit having at least one spray nozzle and an evaluation device having an algorithm for at least indirect control of the spray nozzle and at least one sensor device for recognizing the biological type of a Having biomass, the algorithm being designed to carry out the method according to the invention described so far.
- the senor device is designed as an optical device, in particular as a camera device.
- a preferred embodiment of the device according to the invention provides that the spray nozzle unit is coupled to different storage containers in which different media can be stored.
- the invention also comprises a computer program product, in particular in the form of a data carrier, which is designed to contain the carry out method according to the invention or is used as part of a device according to the invention.
- FIG. 1 shows, in a simplified representation, an agricultural vehicle provided with a spray nozzle unit
- the spray nozzle unit 12 comprises a support frame 14 which extends transversely to the longitudinal axis 13 of the tractor 10 and on which a plurality of spray nozzles 16 are arranged at a distance from one another.
- the arrangement or design of the spray nozzles 16 is such that when the tractor 10 drives over an area, a medium 1, 2 applied via the spray nozzles 16 can completely treat the area driven over by the support frame 14 with the medium 1, 2.
- the medium 1, 2 is, for example, and not restrictive to different weed killers, growth promoters, herbicides or the like.
- spray nozzles 16 can differ, for example, in different spray patterns, spray angles, etc., as is known per se from the prior art, in order to optimize the application of the respective medium 1, 2.
- the tractor 10 In order to store the media 1, 2, the tractor 10 also has at least one storage container 18, 20 for storing the respective medium 1, 2 at its rear area.
- the spray nozzles 16 are controlled by means of a control unit 22, shown only schematically, which is designed in particular to control or open and close valves assigned to the respective spray nozzles 16.
- the control unit 22 is in turn connected to an evaluation device 25, which in turn has an algorithm 26 in the form of a computer program product.
- the tractor 10 has at least one sensor device 28, preferably in the form of a camera or image recording device 30.
- the image-recording device 30 is arranged in the front region of the tractor 10 and makes it possible, when the tractor 10 is moving, to record or detect the ground in front of the tractor 10.
- the detection area 31 of the image-recording device 30 is such that it corresponds at least to the width b of the spray nozzle unit 12 or of the support frame 14.
- the data or images captured by the image-recording device 30 are fed to the evaluation device 25 as an input variable.
- the evaluation device 25 or its algorithm 26 makes it possible to evaluate the data recorded by the image recording device 30 to determine whether there is a biomass BM in the detection area 31 of the image recording device 30.
- this does not only include a localization of the biomass BM in the detection area 31 of the image-recording device 30, that is to say, for example, the transverse offset and distance from the longitudinal axis 13 of the tractor 10 in which the biomass BM is located, but also the possibility of determining the biological type BA of the biomass BM.
- the algorithm 26 makes it possible to analyze the biological type BA of the biomass BM with a view to its possibilities of reproduction or propagation paths. This is particularly true with regard to different weed species as biological species BA.
- FIG. 2 it is shown that the tractor 10 is traveling in the direction of the arrow 32 over an agricultural cultivation area.
- the image-recording device 30 (not shown) detects four positions with a biomass BM, which is identified by the algorithm 26 as biological species BA1. Furthermore, on the basis of the propagation mechanism of the biological species BA1, the algorithm 26 generates, for example, four rectangular target areas 35a to 35d, which are adapted to the propagation of the biomass BM and surround the biomass BM at a relatively small distance, for treatment with the medium 1 or 2 in order to destroy the biological species To enable BA1.
- FIG. 3 shows that the image recording device 30, not shown, or the algorithm 26 detects a second biological species BA2 or a second type of weed in addition to the first biological species BA1.
- the second biological species BA2 is distinguished by a propagation mechanism that differs from the first biological species BA1.
- the biological species BA2 requires, in addition to the target areas 35a to 35c, to generate a target area 35e that is larger in the area of the biological species BA2 than the target area 35d according to FIG surrounds a greater distance than is the case with the biological species BA1.
- FIG. 4 it is shown that, due to the recognized biological species BA2, provision is additionally made to generate a target area 35f, shown with a dashed border, which has a greater extent than the target area 35e.
- a different medium 1, 2 is used within the target area 35f than within the target area 35e.
- the other is exemplary Medium 1, 2 to a second herbicide, which requires a spatially adapted application window due to the biological species BA2.
- FIG. 5 a variant of FIG. 3 is shown in FIG. 5. It can be seen that a target area 35g was generated which is larger than the target area 35e according to FIG BA2.
- the turning direction is determined either by means of a sensor system arranged on the tractor 10, or on the basis of existing data from the past, or more preferably
- Wind directions In addition to the wind direction, the wind strength is also taken into account in particular in the case of a current measurement by a sensor device.
- Medium 1, 2 by means of a spray nozzle unit 12 can be modified or modified in many ways without deviating from the inventive concept.
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112021002478.7T DE112021002478A5 (de) | 2020-04-22 | 2021-04-19 | Verfahren und Vorrichtung zum Ausbringen wenigstens eines flüssigen Mediumsmittels einer Spritzdüseneinheit und Computerprogrammprodukt |
BR112022021332A BR112022021332A2 (pt) | 2020-04-22 | 2021-04-19 | Método e dispositivo para a dispensa de pelo menos um meio líquido por meio de uma unidade de bicos de pulverização e produto de programa de computador |
CA3180711A CA3180711A1 (en) | 2020-04-22 | 2021-04-19 | Method and apparatus for dispensing at least one liquid medium by means of a spray-nozzle unit, and computer program product |
EP21737338.0A EP4138555A1 (de) | 2020-04-22 | 2021-04-19 | Verfahren und vorrichtung zum ausbringen wenigstens eines flüssigen mediums mittels einer spritzdüseneinheit und computerprogrammprodukt |
US17/915,328 US20230141803A1 (en) | 2020-04-22 | 2021-04-19 | Method and device for dispensing at least one liquid medium with the aid of a spray nozzle unit, and computer program product |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102020205079.1A DE102020205079A1 (de) | 2020-04-22 | 2020-04-22 | Verfahren und Vorrichtung zum Ausbringen wenigstens eines flüssigen Mediums mittels einer Spritzdüseneinheit und Computerprogrammprodukt |
DE102020205079.1 | 2020-04-22 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2021213588A1 true WO2021213588A1 (de) | 2021-10-28 |
Family
ID=76764777
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE2021/100356 WO2021213588A1 (de) | 2020-04-22 | 2021-04-19 | Verfahren und vorrichtung zum ausbringen wenigstens eines flüssigen mediums mittels einer spritzdüseneinheit und computerprogrammprodukt |
Country Status (6)
Country | Link |
---|---|
US (1) | US20230141803A1 (de) |
EP (1) | EP4138555A1 (de) |
BR (1) | BR112022021332A2 (de) |
CA (1) | CA3180711A1 (de) |
DE (2) | DE102020205079A1 (de) |
WO (1) | WO2021213588A1 (de) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP4238415A1 (de) * | 2022-03-03 | 2023-09-06 | Blue River Technology Inc. | Landwirtschaftliche maschinen zur behandlung von pflanzen mit einer kombination aus behandlungsmechanismen |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2023118326A1 (en) * | 2021-12-23 | 2023-06-29 | Basf Se | Targeted weed control spraying |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20170223947A1 (en) * | 2014-08-15 | 2017-08-10 | Monsanto Technology Llc | Apparatus and methods for in-field data collection and sampling |
DE102014226189B4 (de) * | 2014-12-17 | 2017-08-24 | Continental Automotive Gmbh | Verfahren zur Ermittlung eines Unkrautanteils und Landtechnik-Steuereinrichtung |
CN107846848A (zh) * | 2015-07-02 | 2018-03-27 | 益高环保机器人股份公司 | 机器人车辆和使用机器人用于植物生物体的自动处理的方法 |
EP3357332A1 (de) * | 2017-02-06 | 2018-08-08 | Bilberry Sas | Unkrautbekämpfungssysteme und verfahren, feldspritze |
DE102017124934A1 (de) | 2017-10-25 | 2019-04-25 | M-Farms Gmbh | System zur halbautomatischen und/oder automatischen Unkrautentfernung |
WO2019094266A1 (en) * | 2017-11-07 | 2019-05-16 | University Of Florida Research Foundation | Detection and management of target vegetation using machine vision |
WO2019091790A1 (de) * | 2017-11-10 | 2019-05-16 | Robert Bosch Gmbh | Verfahren zur sequenziellen steuerung von spritzdüseneinheiten |
-
2020
- 2020-04-22 DE DE102020205079.1A patent/DE102020205079A1/de not_active Withdrawn
-
2021
- 2021-04-19 EP EP21737338.0A patent/EP4138555A1/de active Pending
- 2021-04-19 WO PCT/DE2021/100356 patent/WO2021213588A1/de unknown
- 2021-04-19 DE DE112021002478.7T patent/DE112021002478A5/de active Pending
- 2021-04-19 US US17/915,328 patent/US20230141803A1/en active Pending
- 2021-04-19 BR BR112022021332A patent/BR112022021332A2/pt unknown
- 2021-04-19 CA CA3180711A patent/CA3180711A1/en active Pending
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20170223947A1 (en) * | 2014-08-15 | 2017-08-10 | Monsanto Technology Llc | Apparatus and methods for in-field data collection and sampling |
DE102014226189B4 (de) * | 2014-12-17 | 2017-08-24 | Continental Automotive Gmbh | Verfahren zur Ermittlung eines Unkrautanteils und Landtechnik-Steuereinrichtung |
CN107846848A (zh) * | 2015-07-02 | 2018-03-27 | 益高环保机器人股份公司 | 机器人车辆和使用机器人用于植物生物体的自动处理的方法 |
EP3357332A1 (de) * | 2017-02-06 | 2018-08-08 | Bilberry Sas | Unkrautbekämpfungssysteme und verfahren, feldspritze |
DE102017124934A1 (de) | 2017-10-25 | 2019-04-25 | M-Farms Gmbh | System zur halbautomatischen und/oder automatischen Unkrautentfernung |
WO2019094266A1 (en) * | 2017-11-07 | 2019-05-16 | University Of Florida Research Foundation | Detection and management of target vegetation using machine vision |
WO2019091790A1 (de) * | 2017-11-10 | 2019-05-16 | Robert Bosch Gmbh | Verfahren zur sequenziellen steuerung von spritzdüseneinheiten |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP4238415A1 (de) * | 2022-03-03 | 2023-09-06 | Blue River Technology Inc. | Landwirtschaftliche maschinen zur behandlung von pflanzen mit einer kombination aus behandlungsmechanismen |
Also Published As
Publication number | Publication date |
---|---|
BR112022021332A2 (pt) | 2022-12-13 |
DE112021002478A5 (de) | 2023-03-23 |
CA3180711A1 (en) | 2021-10-28 |
EP4138555A1 (de) | 2023-03-01 |
DE102020205079A1 (de) | 2021-10-28 |
US20230141803A1 (en) | 2023-05-11 |
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