WO2023046351A1 - Verfahren zum ausbringen zumindest eines spritzmittels auf eine landwirtschaftliche fläche - Google Patents
Verfahren zum ausbringen zumindest eines spritzmittels auf eine landwirtschaftliche fläche Download PDFInfo
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- WO2023046351A1 WO2023046351A1 PCT/EP2022/072086 EP2022072086W WO2023046351A1 WO 2023046351 A1 WO2023046351 A1 WO 2023046351A1 EP 2022072086 W EP2022072086 W EP 2022072086W WO 2023046351 A1 WO2023046351 A1 WO 2023046351A1
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- Prior art keywords
- weed
- spray
- index
- weeds
- ekb
- Prior art date
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- 238000001514 detection method Methods 0.000 claims description 22
- 238000004590 computer program Methods 0.000 claims description 6
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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
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
-
- 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
Definitions
- the invention relates to a method for applying at least one spray to an agricultural area with crop plants and weeds, wherein the crop plants and weeds can be assigned to a cotyledon class of monocots or a cotyledon class of dicots, by means of at least one spray nozzle unit of an agricultural spray device, as well as a control unit and an agricultural Spray device for applying at least one spray agent according to the species of the independent claims.
- the spray liquid consisting of plant protection agents, growth regulators or liquid fertilizer and carrier liquid is applied over the entire surface of a field to be treated. With such a full-surface application, it is not possible to react to the condition of the field and to the actual local need for pesticides and carrier liquid.
- Modern plant protection equipment has the technical prerequisites for site-specific application of spray mixture. These technical requirements include the ability to switch individual nozzles or sections on and off as well as the ability to couple the nozzle or section control with an application map or a suitable sensor system.
- a sensor system can be a weed sensor, for example.
- a part-area-specific application in contrast to a full-area application, not all areas of the field are treated with the target application rate. Due to the process, this application method poses the challenge that the partial areas to be treated must be identified before application.
- weed sensors can be used. Typically, the weeds are always treated in the same way, regardless of their type, size and other characteristics.
- weed composition a basic distinction is made between 2 classes of plants: grasses (monocots, monocots) and weeds (dicots, dicots), which differ in terms of morphology and physiology (uptake of the active substance, transport to the site of action, metabolism/activation of the active substance, site of action of herbicides ) differentiate.
- grasses monocots, monocots
- weeds dicots
- morphology and physiology uptake of the active substance, transport to the site of action, metabolism/activation of the active substance, site of action of herbicides
- different selective herbicides can therefore be used for effective treatment.
- Today, whether a treatment of the respective weed species is carried out depends above all on the so-called economic damage threshold.
- monocotyledonous crop grain
- Attempts are made to circumvent this negative effect of herbicides on the crop (phytotoxicity) by timing (before sowing or before emergence of the crop) and location (deep placement of the herbicide), as well as by adding so-called safeners.
- these measures are limited, so that the treatment of grasses in monocotyledonous crops and weeds in dicotyledonous crops is more difficult (greater risk of phytotoxicity or reduced effectiveness of the measure).
- certain weed compositions can be treated better/more effectively in one crop than in another crop.
- the object of the invention is to adapt the application strategy of the partial area application depending on the respective crop.
- it is the object of the invention not only to limit the economic damage threshold basis for the application decision, but rather the prospect of a high level of effectiveness of the application. This makes it possible to improve the treatment success of a selective application.
- DE 10 2017 210 804 A1 discloses a method for applying a spray to a field, the spray being applied depending on the degree of coverage of an evaluation area.
- the subject matter of the present invention is a method for applying at least one spray to an agricultural area with crop plants and weeds, the crop plants and weeds being assignable to a cotyledon class of monocots or a cotyledon class of dicots, by means of at least one spray nozzle unit of an agricultural spray device, with the steps:
- the subject matter of the present invention is also a control unit that is set up to carry out and/or control the following steps: - receiving or determining a cotyledon class of crop plants, wherein the
- Crop plants can be assigned to a cotyledon class of monocots or a cotyledon class of dicots;
- the subject of the present invention is also an agricultural spray device for applying at least one spray to an agricultural area with crop plants and weeds, with at least one spray nozzle unit, at least one optical detection unit and a control unit as described above.
- the subject matter of the present invention is a computer program that is set up to execute and/or control the steps of an above-described method and/or an above-described control unit when the computer program is executed on a computer, as well as a machine-readable storage medium with the data stored thereon computer program.
- the method according to the invention provides a site-specific application or
- Application strategy at least one spray ready. core of the invention a comparison of the crop plant class with the occurring weed classes and a derivation of the application strategy based on this.
- the background is that monocot weeds can be treated better or more effectively in dicot crops and, conversely, dicot weeds can be treated better or more effectively in monocot crops.
- an agricultural purpose can be understood to mean a purpose which is aimed at the economic cultivation of useful plants.
- the spreading or application of the at least one spray agent takes place here on an agricultural area or an area used for agriculture.
- This can be understood to mean a field or an area under cultivation for plants or also a parcel of such an area under cultivation.
- the agricultural area can thus be arable land, grassland or pasture.
- the plants can include, for example, crop plants, i.e. useful plants, the fruit of which is used agriculturally (e.g. as food, feed or as an energy crop) and weeds, i.e. weeds and grass weeds. Both the crop plants and the weeds can be assigned to either a cotyledon class of monocots or a cotyledon class of dicots.
- All steps of the method are preferably carried out during a movement, in particular a drive or a flight of the agricultural spraying device over the agricultural area.
- the agricultural spraying device is advantageously designed to carry out the method automatically and/or autonomously in order to enable the agricultural area to be treated quickly, reliably and efficiently.
- the agricultural spraying device can in particular be part of an agricultural field sprayer or a crop protection device or be designed as an agricultural field sprayer or a crop protection device.
- the agricultural spraying device can comprise a mobile unit or be arranged on a mobile unit, wherein the mobile unit can be designed in particular as a land vehicle and/or aircraft and/or trailer.
- the mobile unit can in particular be an agricultural working machine, for example a tractor, a tractor, a self-propelled or autonomous field sprayer or a self-propelled or autonomous robot.
- the agricultural spraying device can in particular be a towed field sprayer, a self-propelled field sprayer or a mounted field sprayer.
- the agricultural spray device can also be attached to a hydraulic device of an agricultural working machine. It is also conceivable that the agricultural spraying device is installed on a loading area of an agricultural working machine. Alternatively, the spray device can be attached to the agricultural working machine.
- the agricultural spray device or the field sprayer can have at least one spray agent tank for receiving the spray agent.
- the agricultural spray device or the field sprayer can also have a mixing unit which mixes a spray concentrate with water directly on the agricultural spray device to form the spray to be applied.
- the agricultural spraying device or field sprayer can each have a spraying agent tank for water and various spraying agents or spraying agent concentrates and mix the spraying agent to be applied by means of the mixing unit and apply it via the same or different spraying agent line systems of the agricultural spraying device.
- the at least one spray is in particular a spray liquid.
- the spray can include or be an agricultural preparation or plant protection agent (PPP), in particular a plant protection agent concentrate.
- PPP plant protection agent
- the spray can contain a pesticide, such as a herbicide, fungicide or an insecticide.
- the spray can also contain a fertilizer, in particular a fertilizer concentrate.
- the spray can have a growth regulator.
- the spray may have a granular active agent mixed with a carrier liquid.
- the Spray liquid can be designed, for example, as: liquid, suspension, emulsion, solution or a combination thereof.
- the spray liquid is preferably in the form of a plant protection agent diluted with water or a fertilizer diluted with water.
- the spray liquid can accordingly be a spray mixture, for example.
- the spray nozzle unit preferably has at least one spray nozzle for discharging the spray agent and at least one valve for controlling or regulating the quantity of spray agent that is discharged. Accordingly, the spray nozzle unit is designed to be controllable or operable.
- the valve can be arranged or integrated in the spray nozzle. However, the valve can also be arranged upstream of the spray nozzle, i.e. upstream of the spray nozzle (in the direction of flow of the spray). However, the spray nozzle unit can also have several spray nozzles, each with an upstream valve.
- the spray nozzle unit can also have a plurality of spray nozzles with only one valve connected upstream of the spray nozzles, so that when the valve is actuated, the spray agent is applied by means of all the spray nozzles of the spray nozzle unit.
- the valve can be designed as a pulse width modulated valve (PWM valve) or as a proportional valve.
- PWM valve pulse width modulated valve
- the spray nozzle unit can be used as part width of a nozzle system of the agricultural
- Spray device be formed.
- the spray nozzle units can be controlled individually or separately and/or in defined groups or associations and/or all together.
- the spray nozzles of each spray nozzle unit can be controlled individually or separately and/or in defined groups or associations and/or all together.
- the spray nozzle unit can also have different spray nozzles for applying various spray agents.
- the application of the spray can be carried out in particular by means of a conveyor unit.
- the conveyor unit can be formed, a To promote or direct liquid and / or granules under pressure, in particular to dose.
- the delivery unit can include, for example, one/one or more pumps, delivery pumps, dosing pumps, pressure accumulators, screw conveyors, valves, diaphragms, etc.
- the optical detection unit is preferably arranged on the agricultural spraying device.
- the optical detection unit can have at least one, preferably multiple, cameras.
- the cameras can be selected from the group consisting of: multispectral and/or hyperspectral and/or infrared and/or camera and/or 3D camera.
- the optical detection unit can be designed to detect or record images in the NIR and/or visual range.
- the optical detection unit can have a light unit or lighting unit.
- the optical detection units can be designed to communicate with one another. However, the optical detection units preferably work autonomously, i.e. independently of one another. An optical detection unit can be assigned to each row of field sections. However, it is also conceivable for an optical detection unit to detect two or more rows of field sections.
- the spray nozzle unit or the spray nozzles and the optical detection unit or the cameras are preferably arranged on a spray boom of the agricultural spray device.
- the image information is preferably an image or image of the detected field section or a part of the detected field section. Accordingly, a plurality of items of image information can represent the entire field section together, for example by being lined up and/or overlapping and/or stitching.
- “providing” can include processing and/or input and/or wired or wireless transmission and/or wired or wireless reception of information.
- the cotyledon class of crop plants may be entered or received manually.
- the cotyledon class of the crop plants can also be determined using the image information obtained.
- the step of identifying weeds can include detecting a color component, in particular a green color component and/or an infrared component in the field section or image section. Plants can be detected by means of the optical detection unit, e.g.
- NDVI value Normalized Differenced Vegetation Index, it is formed from reflection values in the near infrared and visible red wavelength range of the light spectrum
- Plants can thus be identified, for example, by recognizing green pixels or connected green pixels in the image information.
- all plants i.e. also the cultivated plants in the entire recorded field section or the entire image information
- Rows of cultivated plants can then be identified in the field section or the image information using the identified plants.
- crop areas are defined according to DE 10 2017 210 804 A1 mentioned in the introduction, with identified plants in the crop areas being rated as crop plants by definition, and weed areas also being defined, with identified plants in the weed areas being rated as weeds by definition.
- the assignment is a classification or classification of the identified weeds into one of the two cotyledon classes by means of the control unit.
- a first weed index for the weeds assigned to the monocots and a second weed index for the weeds assigned to the dicots are determined by means of the control unit.
- the weed indicators preferably represent a number of the respective weeds or a degree of coverage of the recorded field section by plant material of the respective weeds or a quantity of plant material of the respective weeds.
- a step of providing or determining a first application threshold value for the first weed index and a second one is preferred here
- Application threshold value for the second weed index depending on the cotyledon class of the crops provided wherein in the application step the at least one spray agent is also applied as a function of the first application threshold value and/or the second application threshold value.
- the first application threshold value for the first weed index is preferably greater than the second application threshold value for the second weed index if the crop plants are classified as monocots.
- the second application threshold value for the second weed indicator is preferably selected such that if the crop plants are assigned to the monocots and at least one of the identified weeds is assigned to the dicots, at least one spray or at least one of the sprays is applied.
- the preferred first application threshold value for the first weed index is selected such that if the crop plants are assigned to the dicots and at least one of the identified weeds is assigned to the monocots, at least one spray or at least one of the sprays is applied. In other words, when identifying or assigning a single corresponding weed, the spray is applied accordingly, so that a zero-tolerance strategy is applied in this regard.
- the at least one spray agent or at least one of the spray agents is applied to the detected field section of the agricultural area by means of the at least one spray nozzle unit of the agricultural spraying device, depending on the cotyledon class of the crop plants and the first determined weed index and/or the second determined weed index .
- the expression “the at least one spray means” in the case of several spray means includes all spray means or at least one of the spray means, depending on the case.
- the first weed index is preferably compared with the first application threshold value and/or the second weed index is compared with the second application threshold value by means of the control unit, with the at least one spray agent being applied when the first application threshold value or the second application threshold value is reached, fallen below or exceeded.
- the control unit is preferably used to determine whether and/or how much and/or which of the at least one spray agent is being applied.
- the cotyledon class of the crop can first be derived from the crop to be treated.
- an application threshold value can then be determined for the treatment worthiness of the cotyledon classes of the weeds. This differs for both cotyledon classes (monocots, dicots).
- a common first application threshold value e.g. economic damage threshold
- a second “zero tolerance” application threshold value is specified in the monocot crop (and vice versa). for dicotyledonous crops.
- the respective application threshold value is stored in the algorithm for the application strategy.
- the information about the actual weed index or weed population flows via the optical recording unit into the algorithm for the application strategy. If a weed population occurs above the first or second deployment threshold the corresponding spraying agent or spraying agents are used or applied.
- two sprays are applied, with a first spray being applied depending on the first weed index determined and/or a second spraying agent different from the first being applied depending on the second weed index determined.
- the sprays can be provided premixed in separate sprays tanks of the agricultural spraying device or can be mixed by means of a mixing unit of the agricultural spraying device as required during the application step.
- uniform application can be understood as application with the same or constant predefined application quantity per area.
- a predefined application quantity can be understood to mean an application quantity specified in advance or at the beginning of the treatment.
- the defined application rate can be preset or can be entered in advance.
- the method or the method steps are, of course, repeated or carried out cyclically.
- the steps of detecting the field sections are preferably carried out or carried out repeatedly in a defined, in particular fixed time interval or in a time interval that is adapted to the driving speed of the agricultural spraying device. That means, in other words, that the field sections are recorded with a defined or a speed-dependent repetition rate.
- the control unit can comprise a multiplicity of sub-control units.
- the control unit and/or each subordinate control unit can have an arithmetic unit or a large number of arithmetic units for processing signals or data, at least one memory unit for storing signals or data, at least one communication interface for reading in data, in particular for receiving image information and for outputting Data, in particular control signals to a unit, in particular an actuator.
- Each optical detection unit can have a Control unit or subordinate control unit and/or an arithmetic unit can be assigned or each optical detection unit can have its own control unit or subordinate control unit and/or an arithmetic unit.
- the optical detection units can, for example, have their own subordinate control unit and work autonomously, with corresponding data being transmitted to the (superordinate) control unit, which makes the second “spraying decision” and correspondingly controls the tip nozzle units assigned to the adjacent field evaluation areas.
- the arithmetic unit is or the arithmetic units are designed or set up for image processing, so that it can carry out calculation steps or image processing steps for carrying out the method according to the invention. Accordingly, each computing unit has corresponding image processing software.
- the arithmetic unit can be a signal processor, a microcontroller or the like, for example, while the storage unit can be a flash memory, an EPROM or a magnetic storage unit.
- the communication interface can be designed to read in or output data wirelessly and/or by wire, with a communication interface that can read in or output wire-bound data reading this data, for example electrically or optically, from a corresponding data transmission line or outputting it into a corresponding data transmission line.
- the method according to the invention can be implemented, for example, in software or hardware or in a mixed form of software and hardware in the control unit or a control device.
- the control unit can be arranged completely or partially on or integrated into the agricultural spraying device. However, the control unit can also be completely or partially external, for example integrated in a cloud.
- FIG. 1 is a schematic representation of an agricultural item
- Fig. 2 shows a schematic representation of monocotyledonous and dicotyledonous weeds in a monocotyledonous crop
- Crop plant
- FIG. 4 shows a flow chart of a method.
- FIG. 1 shows a schematic representation of an agricultural spraying device, which is provided with the reference number 10 in its entirety.
- the agricultural spraying device 10 is designed as a field sprayer 10 .
- the field sprayer 10 is arranged on a mobile land vehicle 12 which is designed as a towing vehicle 12 or tractor 12 .
- the agricultural spray device 10 has a spray boom 14 .
- Spray nozzle units 16 and optical detection units 18 are arranged on the spray boom 14 .
- the spray nozzle units 16 are designed to apply a spray 20, 20' to crop plants KP or weeds BK on an agricultural area 22.
- the optical detection units 18 are in the form of optical cameras 18 .
- the optical cameras 18 each include a filter unit in order to extract a color component, such as the green color component, of a received or captured image information or a captured image in order to Field section of agricultural area 22 with crops KP and weeds BK.
- the crop plants KP can be assigned either to a cotyledon class of monocots EKB-KP or to a cotyledon class of dicots ZKB-KP.
- the weeds BK can be assigned either to a cotyledon class of monocots EKB-BK or to a cotyledon class of dicots ZKB-BK.
- the agricultural spraying device 10 also has a conveyor unit (not shown), by means of which the application quantity or an active agent quantity in the spray agent 20, 20' to be applied can be adjusted or varied.
- the agricultural sprayer 10 also includes a control unit 24 which is connected to the optical cameras 18 to receive information therefrom.
- the control unit 24 has a computing unit 26 which is designed to carry out calculation steps or image processing steps for carrying out the method according to the invention.
- the control unit 24 is also designed to output a control signal such that the spray 20, 20 'depending on the cotyledon class EKB-KP, ZKB-KP of the crop plants KP and a first weed index for the weeds BK assigned to the monocots EKB-BK and a second weed index for the weeds BK assigned to the dicots ZKB-BK on the recorded field section of agricultural area 22.
- FIG. 2 shows a schematic representation of monocotyledonous and dicotyledonous weeds EKB-BK, ZKB-BK in a monocotyledonous crop plant EKB-KP.
- FIG. 3 shows a field section of the agricultural area 22 with monocotyledonous crop plants EKB-KP and monocotyledonous weeds EKB-BK and dicotyledonous weeds ZKB-BK.
- the crop plant KP to be treated is determined or specified and the cotyledon class of the crop plant EKB-KP is derived therefrom.
- the first application threshold value for the first weed index of the monocot weeds EKB-BK and a second application threshold value for the second weed index of the dicot weeds ZKB-BK are then provided or specified. This differs for both cotyledon classes (EKB, ZKB).
- a common first application threshold value e.g. economic damage threshold
- a second “zero tolerance “ deployment threshold” is set. Therefore, when a single dicot weed ZKB-BK is identified, the spray 20' is spread or applied to the partial area.
- Fig. 4 shows a flowchart of a method 100 for applying at least one spray agent 20, 20 'to an agricultural area 24 with crops KP and weeds BK, the crops KP and weeds BK a cotyledon class of monocots EKB-KP, EKB-BK or a Cotyledon class of dicots ZKB-KP, ZKB-BK can be assigned by means of at least one spray nozzle unit 16 of an agricultural spraying device 10.
- the method 100 comprises a step of providing 102 or determining 102' the cotyledon class EKB-KP, ZKB-KP of the crop plants KP.
- the method 100 also includes a step of detecting 106 a field section of the agricultural area 22 by means of an optical detection unit 18 of the agricultural spraying device 10 in order to obtain image information.
- the method 100 also includes a step of identifying 108 the weeds BK in the recorded field section using the image information by means of the control unit 24 in order to assign them to one of the two cotyledon classes EKB-BK, ZKB-BK.
- the method 100 also includes a step of determining 110 a first weed index for the weeds BK assigned to the monocots EKB-BK and a second weed index for the weeds BK assigned to the dicots ZKB-BK by means of the control unit 24.
- the method 100 also includes a step of Application 112 of the at least one spray agent 20, 20′ depending on the cotyledon class EKB-KP, ZKB-KP of the crop plants KP and the first determined weed index and/or the second determined weed index on the detected field section of the agricultural area 22 by means of the at least one spray nozzle unit 16 of the agricultural spraying device 10. Furthermore, the method 100 includes an optional step of
- Application threshold value and/or the second application threshold value is applied.
- Embodiment according to one embodiment has both the first feature and the second feature and according to a further embodiment either only the first feature or only the second feature.
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Pest Control & Pesticides (AREA)
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- Insects & Arthropods (AREA)
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Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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AU2022351284A AU2022351284A1 (en) | 2021-09-22 | 2022-08-05 | Method for applying at least one spray product to agricultural land |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE102021210510.6A DE102021210510A1 (de) | 2021-09-22 | 2021-09-22 | Verfahren zum Ausbringen zumindest eines Spritzmittels auf eine landwirtschaftliche Fläche |
DE102021210510.6 | 2021-09-22 |
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WO2023046351A1 true WO2023046351A1 (de) | 2023-03-30 |
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PCT/EP2022/072086 WO2023046351A1 (de) | 2021-09-22 | 2022-08-05 | Verfahren zum ausbringen zumindest eines spritzmittels auf eine landwirtschaftliche fläche |
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AU (1) | AU2022351284A1 (de) |
DE (1) | DE102021210510A1 (de) |
WO (1) | WO2023046351A1 (de) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102017210804A1 (de) | 2017-06-27 | 2018-12-27 | Robert Bosch Gmbh | Verfahren Ausbringen eines Spritzmittels auf ein Feld |
DE102017217258A1 (de) * | 2017-09-28 | 2019-03-28 | Robert Bosch Gmbh | Verfahren zum Klassifizieren von Pflanzen |
DE102018217742A1 (de) * | 2018-10-17 | 2020-04-23 | Robert Bosch Gmbh | Verfahren zum Ausbringen eines Spritzmittels auf ein Feld |
DE102018222428A1 (de) * | 2018-12-20 | 2020-06-25 | Robert Bosch Gmbh | Verfahren zum Ausbringen eines Spritzmittels auf eine landwirtschaftliche Fläche |
DE102019211642A1 (de) * | 2019-08-02 | 2021-02-04 | Robert Bosch Gmbh | Verfahren zum Identifizieren von Beikräutern innerhalb einer definierten Pflanzenreihe einer landwirtschaftlichen Fläche |
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2021
- 2021-09-22 DE DE102021210510.6A patent/DE102021210510A1/de active Pending
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2022
- 2022-08-05 AU AU2022351284A patent/AU2022351284A1/en active Pending
- 2022-08-05 WO PCT/EP2022/072086 patent/WO2023046351A1/de active Application Filing
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102017210804A1 (de) | 2017-06-27 | 2018-12-27 | Robert Bosch Gmbh | Verfahren Ausbringen eines Spritzmittels auf ein Feld |
DE102017217258A1 (de) * | 2017-09-28 | 2019-03-28 | Robert Bosch Gmbh | Verfahren zum Klassifizieren von Pflanzen |
DE102018217742A1 (de) * | 2018-10-17 | 2020-04-23 | Robert Bosch Gmbh | Verfahren zum Ausbringen eines Spritzmittels auf ein Feld |
DE102018222428A1 (de) * | 2018-12-20 | 2020-06-25 | Robert Bosch Gmbh | Verfahren zum Ausbringen eines Spritzmittels auf eine landwirtschaftliche Fläche |
DE102019211642A1 (de) * | 2019-08-02 | 2021-02-04 | Robert Bosch Gmbh | Verfahren zum Identifizieren von Beikräutern innerhalb einer definierten Pflanzenreihe einer landwirtschaftlichen Fläche |
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