WO2024028522A1 - Système de dosage de précision en continu (on-the-go), de produits phytosanitaires et fertilisants liquides, pour pulvérisation, ou nébulisation foliaire du vignoble - Google Patents

Système de dosage de précision en continu (on-the-go), de produits phytosanitaires et fertilisants liquides, pour pulvérisation, ou nébulisation foliaire du vignoble Download PDF

Info

Publication number
WO2024028522A1
WO2024028522A1 PCT/ES2022/070523 ES2022070523W WO2024028522A1 WO 2024028522 A1 WO2024028522 A1 WO 2024028522A1 ES 2022070523 W ES2022070523 W ES 2022070523W WO 2024028522 A1 WO2024028522 A1 WO 2024028522A1
Authority
WO
WIPO (PCT)
Prior art keywords
dose
vine
vineyard
leaf
product
Prior art date
Application number
PCT/ES2022/070523
Other languages
English (en)
Spanish (es)
Inventor
Juan Carlos SÁENZ-DÍEZ MURO
Manuel Javier TARDÁGUILA LASO
Emilio JIMÉNEZ MACÍAS
Julio BLANCO FERNÁNDEZ
Eduardo MARTÍNEZ CÁMARA
Daniel NIÑO MARTIN
Original Assignee
Altavitis Technologies, S.L.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Altavitis Technologies, S.L. filed Critical Altavitis Technologies, S.L.
Priority to PCT/ES2022/070523 priority Critical patent/WO2024028522A1/fr
Publication of WO2024028522A1 publication Critical patent/WO2024028522A1/fr

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
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G03B15/02—Illuminating scene
    • G03B15/03—Combinations of cameras with lighting apparatus; Flash units
    • 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
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
    • G01N21/27—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands using photo-electric detection ; circuits for computing concentration

Definitions

  • the invention particularly refers to a precision dosing system for special application in the field of agricultural machinery, such as sprayers or nebulizers.
  • the application sectors will be those likely to use said invention, such as the viticulture sector.
  • the vineyard is one of the most intensified extensive crops, which requires a large amount of inputs, being a crop very suitable for the application of precision agriculture techniques (Arnó et al., 2012).
  • Arthropods There are numerous species of mites and insects that cause damage to the vine, although it is the phylloxera Dactylosphaera vitifoliae Fitch, a hemipteran insect, that caused the greatest damage to the vine crop (Granett et al., 2001; Powell et al. ., 2013).
  • Virus obligate intracellular parasites.
  • the infectious short internode virus (GFLV) is the most important viral disease of the grapevine (Royal Decree 208, 2003).
  • Phytoplasmas They are single-celled organisms of the class Mullicutes, obligate parasites, that reside in phloem cells. Of the vine phytoplasmosis, “Golden Flavescence” is the best known and has the greatest economic impact (Nazaré-Pereira, nd) since it can kill the vines quickly and spread to other areas. Bacteria. The species of Agrobacterium spp., are very polyphagous, produce the disease known as bacterial tumor, tuberculosis, scab or galls and is characterized by the formation of more or less voluminous protuberances that develop at the base of the plant and roots or at the height of the graft (Abelleira et al., 2009).
  • Nematodes of edaphic origin, cause hypertrophy and lesions in the root system, in addition to facilitating the entry of other pathogens.
  • the species that affect the vineyard belong to the genera Xiphinema and Meloidogyne (Abelleira et al., 2009).
  • Fungi and Oomycetes There are a large number of pathogens that affect this crop, depending on the plant part it affects: aerial “fungi” (mildew and powdery mildew, which attack all the green parts of the plant), vascular, wood or root rot. , mildew, powdery mildew (Abelleira et al., 2009). They are one of the most relevant phytosanitary problems affecting the vineyard today and, therefore, some authors consider them to be the phylloxera of the 21st century. This syndrome includes a total of 7 pathologies that include more than 133 species of fungi.
  • tinder is the most used to refer to them.
  • Escudo ® is available, which is a fungicide composed of 5g/l of flusilazole and 10g/l of carbendazamide from the commercial company DuPont ®, being capable of effectively controlling Phaemoniella chlamydospora and Phaeoacremonium aleophilum is also capable of controlling Eutypa lata (Marquez, 2003).
  • Fungicides are the “most demanding” products; They normally require that the largest possible surface of the leaf be treated and nebulizers are the best there. In general, fungicides are broad spectrum. In any case, these statements are generic as it would also be necessary to consider whether you are treating with a contact or systemic product.
  • Contact fungicides are those that remain on the outside of the plant, covering the leaves. These fungicides are preventive since they prevent fungal spores from germinating and penetrating the crop cells. The main problem with these fungicides is that, since they are on the leaves, they only act where the drop of fungicide falls. Furthermore, with time and rain they will wash away and, therefore, lose effectiveness.
  • Systemic fungicides are absorbed by the plant through the stomata of the leaves or through the roots.
  • the limbic system is responsible for distributing the active compounds of these fungicides throughout the plant, until they reach the stems and leaves.
  • Systemic fungicides are intended as a treatment when the first symptoms of disease are observed in the plant, or when it is detected that the conditions will favor its spread. Through the plant they pass to the pathogenic fungus, causing biochemical damage that kills it. Furthermore, upon entering the interior of the plant they have a long period of permanence within it.
  • Phenology is the science that studies the relationship between climatic factors and the cycles of living beings. Baggiolini (1952) defined 14 phenological stages of the vine. Subsequently, Peterson included 5 more phases to complete leaf fall, being:
  • Phenological stage A winter bud.
  • Phenological state B1 I cry.
  • Phenolic state B2 swollen yolk.
  • Phenological stage K pea-sized grain.
  • Computer vision is a scientific discipline that includes methods to acquire, process and analyze images of the real world in order to produce information that can be processed by artificial intelligence.
  • a spectral image is one that reproduces the figure of an object depending on the wavelength that the object in question is reflecting (or emitting); or, in other words, it is a set of images of the same object each represented with different wavelengths;
  • the number of spectral bands being the main difference between a multispectral image and a hyperspectral image.
  • Multispectral images are made up of relatively few bands (normally between 2 and 10) and are bands that are not necessarily contiguous to each other, while hyperspectral images are normally made up of a greater number of bands (greater than 10) and these are always contiguous. .
  • hyperspectral images we can obtain the intensity values at the discrete wavelengths in which the system captures radiation, while with a hyperspectral image what we obtain is the continuous spectrum or spectral signature of the object of analysis (W01 ).
  • RGB cameras red, green and blue. They are digital cameras that allow you to obtain RGB images.
  • the technical parameters taken into account in this type of device are the light sensitivity of the sensor, spatial resolution or optical focus.
  • pattern recognition Through digital image analysis, applying pattern recognition, one can e.g. For example, identifying diseases in vegetation from RGB images.
  • the difficulty in detection and low precision of this technique is usually the result of low image quality.
  • Multispectral or visible spectrum cameras are frame-type cameras, equipped with spectral filters to be able to filter the electromagnetic emission according to its spectrum. They are multi-CCD and CMOS types, and with a Bayer ® mask it is possible to assign colors in RGB, or directly 3 separate RGB systems. They normally filter 4 different bands: near infrared (757.5-782.5 nm), red (637.5-662.5 nm), green (537.5-562.5 nm) and blue (437.5-462 .5 nm) (Hall et al., 2003). Multispectral images are made up of relatively few bands (usually between 2 and 10) and they are bands that are not necessarily contiguous to each other. Multispectral images are 2 spatial dimensions (X, Y). Multispectral images are very useful when we know the wavelengths that differentiate one material or another. Multispectral imaging cameras can provide data on RGB wave bands and an additional near-infrared band; This technique is called near-infrared spectroscopy (NIRS).
  • NIRS near-
  • Hyperspectral cameras are pushbroom type cameras, which are also capable of filtering electromagnetic emission according to their spectrum. Hyperspectral images are normally made up of a high number of bands (greater than 10) and these are always contiguous. Hyperspectral images have 1 spatial dimension and one spectral dimension (X, Z), which would correspond to the left lateral face of a hyperspectral cube. The process to obtain a hyperspectral cube involves scanning the scene to generate the second spatial dimension and this scanning can be done in two ways: moving the object or moving the hyperspectral camera over the scene or over the object of study. Hyperspectral images offer much more quantitative information and are used as spectral differentiation and classification tools (Hall et al., 2003). For example, it is possible to study the characteristics of the soil through its reflectance at different bands, so that it is possible to correlate this reflectance with various characteristics such as organic matter content or mineral composition (Lee et al., 2010).
  • Thermal imaging cameras allow thermal images to be obtained to know the variability of temperature at the leaf level, which can give an idea of its nutritional state and the detection of diseases, since the implementation of the plant's defense mechanisms against the attack of a pathogen, such as senescence of the attacked part, can cause an increase in leaf temperature (Sankaran et al., 2010). In this type of sensors, radiometric calibration and atmospheric correction are necessary.
  • Fluorescence (of chlorophyll). This is a form of spectroscopy in which fluorescence is studied after the application of a beam of light, usually ultraviolet light; We have two types of fluorescence: blue-green (400-600nm) and chlorophyll fluorescence (650-800nm). (Sankaran et al., 2010); It is necessary to determine the florescence by terrestrial means since the sensor must be in the vegetation, continuously measuring its variability in the different study areas (Diago et al., 2013 and 2016). A disadvantage of this system is that plant preparation must follow a strict protocol, which cannot be done in normal agricultural greenhouses or field environments.
  • LIDAR Laser-Based Radar
  • It is a laser system, which operates in the visible and infrared spectrum, which allows the distance to a certain target to be recorded; It is being used in smart agriculture to improve the precision of vehicles, e.g. e.g., the tractor and avoiding edges or obstacles (Lee et al., 2010).
  • New methods based on sensors are known for the detection, identification and quantification of plant diseases. These sensors evaluate the optical properties of plants within different regions of the electromagnetic spectrum and are capable of using information beyond the visible range. Remote sensing is the use of reflected and emitted energy to measure the physical properties of distant objects and their surroundings. In the field of plant sciences, remote sensing is a method used to obtain information about plants or crops without direct contact or invasive manipulation. These sensors can be installed on multiple platforms e.g. e.g., robots, drones, etc. (Trueba, 2017).
  • Optical techniques such as RGB imaging, multispectral and hyperspectral sensors, thermography or chlorophyll fluorescence are used in automated detection systems for the identification of plant diseases in early times. Optical detection techniques are used to identify foci of primary disease and areas that differ in disease severity across fields. These techniques together with advanced data analysis methods are used for specific pest management programs in sustainable crop production (Mahlein, 2016).
  • Vegetation indices are used, which are combinations of the spectral bands recorded by remote sensing satellites, whose function is to enhance the vegetation based on its spectral response and attenuate the details of other elements such as soil, lighting, water, etc. . These are images calculated from algebraic operations between different spectral bands. The result of these operations allows us to obtain a new image where certain pixels related to plant cover parameters are graphically highlighted. Among all, the Normalized Difference Vegetation Index (ND VI) is the most used vegetation index (W04).
  • the first group includes those that deal with image processing systems for multispectral and hyperspectral analysis in precision agriculture (WO 2017/ 105177 Al, 2015; WO 2017/ 099568 Al, 2015; US20150022656A1, 2013; WO 2009/156542 Al, 2008). None of the previous patents are comparable to the present invention, neither in the systems used, nor in their performance.
  • the second group includes agricultural machinery used in precision agriculture (ES 2722352 B2, 2018; ES 2624178 Bl, 2016; ES 2615080 Bl, 2016).
  • agricultural machinery used in precision agriculture ES 2722352 B2, 2018; ES 2624178 Bl, 2016; ES 2615080 Bl, 2016.
  • the invention is capable of automatically applying the ideal dose of each required phytosanitary product (DF) or liquid fertilizer (DA), dosed by a proportional solenoid valve (1EV) connected to the controller ( 200), based on the real-time identification and quantification of the state of the vineyard.
  • DF phytosanitary product
  • DA liquid fertilizer
  • 1EV proportional solenoid valve
  • the systems known in the state of the art present a technical or problematic limitation, which focuses fundamentally on the following aspects:
  • thermal imaging cameras mounted on an aerial or ground vehicle, that apply thermal analysis techniques.
  • X are also known systems that use digital cameras, mounted on an aerial or land vehicle, which apply artificial vision algorithms for RGB image analysis, allow to identify and quantify the symptoms of wood diseases, both at the strain and strain level leaf within the same plant; but it is not known that these systems are capable of applying the ideal dose of continuous precision treatment (on-the-go) with image taking.
  • the invention fully satisfactorily resolves the aforementioned problems, in each and every one of the different aspects discussed and detailed below:
  • the invention claims a system that uses digital cameras, mounted on a land vehicle, that applies vision algorithms. artificial for the analysis of RGB images, for the identification and quantification in real time of the state of the vineyard: a) phenological state; and b) disease symptoms (e.g., tinder), both at the vine and leaf level within the same plant; being able to apply the ideal dose of an optimal precision treatment continuously (on-the-go).
  • Trailed nebulizer trailer (03) Trailed nebulizer trailer; to process entire rows, e.g. e.g., 2 on both sides. Chassis.
  • OBE Ejector nozzle; that ejects air; Normally each arm (0BD) comprises four nozzles.
  • each nozzle (0BE) comprises a deflector.
  • (100) Robust electronic device This is a robust electronic unit, e.g. e.g., a robust workstation for data acquisition and processing in the field; equipped with SCADA (Supervisory Control And Data Acquisition) software that allows controlling and supervising sensors, actuators and instrumentation).
  • OBD fluid distributor arm
  • SFED Leaf area of the right external part of the vine in m 2 .
  • SFEC Leaf area of the upper external part (canopy) of the strain in m 2 .
  • LAI leaf area index dimensionless.
  • Figure 01 (FIG.01).- Shows a vineyard foliar sprayer or nebulizer system (0), any of the prior art; specifically a hauled nebulizer trailer (03).
  • FIG.02 Shows a perspective view of a fluid distributor arm (OBD), any of the prior art, in which an identification and quantification device (10) has been incorporated, object of the present invention.
  • OBD fluid distributor arm
  • Figure 03 (FIG.03).- Represents schematically using a piping and instrumentation diagram (P&ID), in the case of a single fluid distribution arm (OBD), a continuous precision dosing system (on-the-go), phytosanitary products and liquid fertilizers, for foliar spraying or nebulization of the vineyard (1), object of the present invention.
  • Figure 04 (FIG.04).- Represents schematically using a piping and instrumentation diagram (P&ID), for the case of two fluid distributor arms (OBD), generalizable to “n” arms, a continuous precision dosing system (on-the-go), for phytosanitary products and liquid fertilizers, for foliar spraying or nebulization of the vineyard (1), object of the present invention.
  • P&ID piping and instrumentation diagram
  • Figure 05 (FIG.05) Shows a perspective view of a parallelepiped model of the trellised vineyard.
  • FIG.06 Shows a perspective view of the external surfaces involved in the model.
  • Figure 07 Shows a view of an image of a vine segment, acquired in the field, after processing the image using the artificial vision algorithm.
  • the invention advocates a continuous (on-the-go) precision dosing system for phytosanitary and fertilizer foliar spraying, or misting, of the vineyard.
  • cultivation (1) of the type that incorporates, hooked to a tractor vehicle (02), a trailed nebulizer trailer (03) that has a set of fluid distribution arms (OBD), equipped with a plurality of ejector nozzles (OBE). ), (see FIG.01), and which is characterized because it includes:
  • a robust electronic device (100), (see FIG. 03-4), which is a robust electronic unit; p. e.g., a robust workstation for data acquisition and processing in the field; equipped with SCAD A (Supervisory Control And Data Acquisition) software that allows controlling and supervising sensors, actuators and instrumentation).
  • SCAD A Supervisory Control And Data Acquisition
  • a hollow articulated support arm (see FIG. 02), arranged in each fluid distributor arm (OBD), which allows cables to be arranged through its hollow interior, as well as acting as a tube to conduct air, taken from the arm ( OBD), and in which they are mounted forward an adjustable distance (1DBS), distance projected to the vertical plane of advance of the towing vehicle (02), and at a height of h + (H-h)/2, that is, at the midpoint of the lateral vertical plane of the vineyard, the following elements:
  • a concentric light projecting crown (101), synchronized with the camera trigger by means of a programmable logic controller (200); with the functionality to homogenize the light in the scene and try to minimize the effect of changes produced in the natural environment and, on the other hand, obtain the ability to work at night;
  • a digital camera (102) which has a deflector nozzle crown (103), fed with air taken from the arm (OBD), to cause a curtain of pressurized air, in the shape of a funnel, in order to prevent the nebulized products reach the optics of the camera (102), and whose camera is connected to the robust electronic device (100) and synchronized with the progress of the vehicle through an inductive sensor (201), connected to the controller (200) and mounted on the chassis.
  • OBD deflector nozzle crown
  • the digital camera (102) is a vision camera that captures the image projected on the sensor, through the optical system, in order to transfer the image data at high speed to the robust electronic device (100).
  • it is a Genie Nano-CXP C4900 color camera, with 4096x4096 px resolution and 120 fps shooting speed.
  • all the camera parameters are controlled from the robust electronic device (100); the light-projecting concentric crown (101), preferably of the LED (Light-Emitting Diode) type.
  • a digital RGB image of the lateral vertical plane of the vineyard is automatically taken, at intervals of more than two distances between vines (d) and at a height of h + (Hh)/2, that is, at the point middle of the vertical plane;
  • This operation is initially performed by hydraulically adjusting the fluid distributor arm (OBD).
  • the adjustable distance (1DBS) in which the digital camera (102) is mounted forward, is synchronized with the speed of the tractor vehicle (02) so that the treatment of the vineyard is always within the analyzed segment; Tractor speeds are usually less than 10 km/h.
  • Image processing is carried out using artificial vision, which is a field of artificial intelligence, through an image analysis algorithm using the Mahalanobis distance to classify each pixel of an image based on its color, (see FIG.07).
  • the algorithm uses a known sample of color values to classify an unknown batch of pixels into groups or classes based on a feature vector (i.e., the color values of each pixel).
  • the following four functional classes are defined in the images: - SFEESFED: Leaf surface of the healthy left or right external part of the strain; - SFEIA/SFEDA: Leaf surface of the left or right external part affected by the strain; - SMA: Surface of the wood, in m 2 ; - SRA: Area of the bunches, in m 2 .
  • the area of the indicated surfaces is determined from the resolution of the acquired image and a reference distance measure, preferably the distance between strains (d), in m, which is a known and invariant measure for the entire vineyard.
  • a programmable logic controller 200
  • the robust electronic device 100
  • a touch screen HMI display 202
  • a plurality of phytosanitary product tanks (1DPF), each controlled by a proportional ectr ovalve (1EV) connected to the controller (200); whose functionality is to provide the ideal dose of the required phytosanitary product to the suction circuit of the pump (033);
  • liquid fertilizer tanks (1DFL) each controlled by a proportional solenoid valve (1EV) connected to the controller (200); whose functionality is to provide the ideal dose of the required liquid fertilizer to the suction circuit of the pump (033);
  • the present invention recommends that when the towed nebulizer trailer (03) activates the start-up of the centrifugal turbine (034), with the automatic adjustment of the optimal air flow rate depending on the state.
  • air is captured from the environment and its circulation is forced through the central duct (037), until it reaches the set of ejector nozzles (0BE), arranged inside their corresponding deflectors (0D).
  • the captured air is projected into the environment, producing a “Venturi” effect that causes a pressure difference at the outlet of the deflector (0D) that drags the ambient air around it, and with it, the different chemical products in solution with water sprayed.
  • the set of injectors (01) distributed and arranged in the proximity of the deflectors (0D).
  • FIG 3 shows schematically the present invention for the case of a single fluid distributor arm (0BD) and Figure 4 shows schematically the present invention for the case of n” arms (0BD), but for clarity only two arms have been represented (0BD).
  • a towed nebulizer trailer (03) activates the start-up of the single pump (033)
  • a set of pumps (033) will be started, since the present invention requires, for each fluid distribution arm (OBD), a pump (033). with the purpose of supplying each arm (OBD) with different chemical products in solution with water.
  • each pump (033) sucks water from the tank (032) and simultaneously sucks in phytosanitary products from the set of tanks (1DPF) and liquid fertilizers from the set of tanks (1DFL), each one in a manner proportional, within the range of 0 to 100% with respect to the maximum nominal flow, according to the state prescribed by the programmable logic controller (200) for each proportional solenoid valve (1EV) associated with each tank (1DPF, 1DFL).
  • the aspirated products mixed in solution with the aspirated water are propelled by each pump (033) to its corresponding arm (OBD), to be sprayed, or nebulized, in the set of injectors (01).
  • Optimal spraying, or nebulization is obtained when the phytosanitary product, or liquid fertilizer, is managed to reach the leaf mass without deficit or excess, pursuing a lower risk of phytotoxicity and economic savings.
  • the invention recommends a procedure for automatically calculating the ideal dose, for application in foliar mass, as described below. foliage of the strain based on its dimensions and leaf indexes.
  • the vine arranged on a trellis is characterized by having a geometry that can resemble a “parallelepiped”, see FIG.05-6, whose width is that of the upper part of the “canopy” (a), its height (H), the of the height of the vegetation, and its length (d), the distance between strains; It can be considered that the external dimensions of the parallelepiped are independent of the distance that exists between the strains.
  • Planting density e.g. e.g. of 3000 vines/ha, is a function of two parameters: the separation between lines (D), which represents the width of the lane, and the distance between vines within the line (d).
  • the dimensionless leaf area index is defined by the following equation:
  • the dimensionless external leaf surface index is defined by the following equation:
  • the dimensionless leaf index is defined by the following equation:
  • L ⁇ being an estimator of vegetation density that reflects the degree of crowding of the leaf mass
  • a dosing procedure for precision agriculture (Pl) that uses a device (1) for its implementation is described in detail, by enumerating the steps to be executed according to the indicated order.
  • the invention recommends a dosing procedure for precision agriculture Its the type that interacts with a series of actuation, instrumentation and control elements, which uses a continuous precision dosing system (on-the-go), of phytosanitary products and liquid fertilizers, for the vineyard (1), and which includes at least the following stages: , of the number of fluid distributor arms (0BD), has a single (034) centrifugal turbine (034) powered by a variable speed drive (1 VSD).
  • VSD variable speed drive
  • This stage is implemented in a program block (STAGE “a”), in the robust electronic device (100).
  • Stage “a” comprises at least the following substages: a) Using the identification and quantification device (10), the digital camera (102) obtains an RGB image for each unit of vineyard length, preferably at the distance between vines. (d). a.2) Next, applying artificial vision techniques implemented in software installed on the robust electronic device (100), the phenological state of each unit of vineyard length is obtained.
  • the phenological stages in which phytosanitary treatments for the protection of the vineyard are most effective are:
  • the invention recommends that the dragged nebulizer trailer (03) has a pump (033), powered by a speed variator (1VSD), for each fluid distribution arm (0BD), with the purpose of independently supplying each arm the ideal dose of each contact phytosanitary product (PFC), or liquid fertilizer (FL), required.
  • VSD speed variator
  • PFC contact phytosanitary product
  • FL liquid fertilizer
  • This stage is implemented in a program block (STEP “b”), in the robust electronic device (100).
  • the aim is that the ideal dose of contact phytosanitary product (PFC) acts preventively by depositing itself on the outside of the entire leaf mass. In the same way it Treat the liquid fertilizer (FL) so that it is absorbed by the plant through its leaf mass.
  • PFC contact phytosanitary product
  • Stage “b” includes at least the following substages: identification and quantification (10), the e one of the lateral zone of the vineyard, and using artificial vision techniques, digital measurements of the height of the leaf mass (Hh) and the distance between them in m are made, as well as the measurement of the leaf surface of the in m 2 , for the calculation of the bl1) From the digital measurements of the height of the leaf mass (Hh) and the distance between strains (d), in m, the leaf surface of the upper external part (canopy) of the strain is obtained, in m 2 , using the following equation:
  • the total leaf surface of the vine is the area, in m 2 , to which the product must reach, the present invention claiming its actual calculation according to the growth state at each moment of the leaf mass of the vine.
  • b.2 Calculation of the ideal dose of contact or fertilizer dosed by a solenoid valve connected to the controller b.2.1)
  • the value of the product dose is transferred to the programmable logic controller (200), in L/ha, and the volume of broth (VC), in L/ha, prescribed by the product manufacturer.
  • the invention recommends that the trailed nebulizer trailer (03) has a pump (033), powered by a speed variator (1VSD), for each fluid distribution arm (OBD), with the purpose of independently supplying each arm the ideal dose of each contact phytosanitary product required.
  • VSD speed variator
  • OBD fluid distribution arm
  • This stage is implemented in a program block (STEP “c”), in the robust electronic device (100).
  • Stage “c” comprises at least the following substages: c.l.)
  • the SCADA software installed in the robust electronic device (100) the programmable logic controller (200) is transferred.
  • the invention recommends that the trailed nebulizer trailer (03) has a pump (033), powered by a speed variator (1VSD), for each fluid distribution arm (OBD), with the purpose of independently supplying each arm the ideal dose of each systemic phytosanitary product (SPF) required.
  • VSD speed variator
  • OBD fluid distribution arm
  • This stage is implemented in a program block (STEP “d”), in the robust electronic device (100).
  • PFS systemic phytosanitary product
  • Stage “d” includes at least the following substages: of identification and quantification (10), the iion of an i of the lateral zone of the vineyard is carried out, and using artificial vision techniques, digital measurements of the height of the leaf mass (Hh) and the distance between m , as well as the measurement of the leaf ie of the or right, affected the calculation of the
  • SFTA (m 2 ) — • SFEIA (or SFEDA) Eq. (11) IF detecting the affected surface through the symptoms of the disease, e.g. For example, wood disease or tinder due to the change in leaf color (brown), both at the vine and leaf level within the same plant.
  • the total affected leaf surface of the vine is the area, in m 2 , to which the product must reach, the present invention claiming its real calculation according to the growth state at each moment of the leaf mass of the vine. . d.2) Calculation of the ideal dose of each systemic phytosanitary dosed by a ectr ovalve connected to the controller d.2.1)
  • the value of the product dose is transferred to the programmable logic controller (200), in L/ha, and the volume of broth (VC), in L/ha, prescribed by the product manufacturer.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Insects & Arthropods (AREA)
  • Pest Control & Pesticides (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Environmental Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

L'invention concerne un système de dosage de précision en continu (on-the-go), de produits phytosanitaires et fertilisants liquides, pour pulvérisation, ou nébulisation foliaire du vignoble (ou n'importe de quelle autre culture à port ligneux) (1), du type de ceux comprenant, accroché à un véhicule tracteur (02), une remorque de nébulisation entraînée (03) qui présente un ensemble de bras distributeurs de fluides (0BD), pourvus d'une pluralité de buses d'éjection (0BE), qui à travers l'utilisation d'un dispositif d'identification et de quantification (10) en temps réel de l'état du vignoble, peut, au moyen d'un dispositif doseur (20) appliquer la dose appropriée d'un traitement optimal.
PCT/ES2022/070523 2022-08-03 2022-08-03 Système de dosage de précision en continu (on-the-go), de produits phytosanitaires et fertilisants liquides, pour pulvérisation, ou nébulisation foliaire du vignoble WO2024028522A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/ES2022/070523 WO2024028522A1 (fr) 2022-08-03 2022-08-03 Système de dosage de précision en continu (on-the-go), de produits phytosanitaires et fertilisants liquides, pour pulvérisation, ou nébulisation foliaire du vignoble

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/ES2022/070523 WO2024028522A1 (fr) 2022-08-03 2022-08-03 Système de dosage de précision en continu (on-the-go), de produits phytosanitaires et fertilisants liquides, pour pulvérisation, ou nébulisation foliaire du vignoble

Publications (1)

Publication Number Publication Date
WO2024028522A1 true WO2024028522A1 (fr) 2024-02-08

Family

ID=89848577

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/ES2022/070523 WO2024028522A1 (fr) 2022-08-03 2022-08-03 Système de dosage de précision en continu (on-the-go), de produits phytosanitaires et fertilisants liquides, pour pulvérisation, ou nébulisation foliaire du vignoble

Country Status (1)

Country Link
WO (1) WO2024028522A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107646822A (zh) * 2017-11-14 2018-02-02 济南大学 一种新型果园施药机
CN110235882A (zh) * 2019-06-28 2019-09-17 南京农业大学 一种基于多传感器的精准变量果树施药机器人
WO2021167470A1 (fr) * 2020-02-20 2021-08-26 Cropsy Technologies Limited Système de gestion de la santé d'une plante de grande hauteur
EP3991557A1 (fr) * 2020-10-29 2022-05-04 Caffini S.p.A. Atomiseur pour la pulvérisation de produits pour l'agriculture en particulier pour le traitement des plantations

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107646822A (zh) * 2017-11-14 2018-02-02 济南大学 一种新型果园施药机
CN110235882A (zh) * 2019-06-28 2019-09-17 南京农业大学 一种基于多传感器的精准变量果树施药机器人
WO2021167470A1 (fr) * 2020-02-20 2021-08-26 Cropsy Technologies Limited Système de gestion de la santé d'une plante de grande hauteur
EP3991557A1 (fr) * 2020-10-29 2022-05-04 Caffini S.p.A. Atomiseur pour la pulvérisation de produits pour l'agriculture en particulier pour le traitement des plantations

Similar Documents

Publication Publication Date Title
US10993430B2 (en) Robotic plant care systems and methods
Oberti et al. Selective spraying of grapevines for disease control using a modular agricultural robot
US20220117218A1 (en) Autonomous system for light treatment of a plant
Devi et al. Review on application of drones for crop health monitoring and spraying pesticides and fertilizer
US11526997B2 (en) Targeting agricultural objects to apply units of treatment autonomously
US11406052B2 (en) Cartridges to employ an agricultural payload via an agricultural treatment delivery system
US11963473B2 (en) Multiple emitters to treat agricultural objects from multiple payload sources
US11465162B2 (en) Obscurant emission to assist image formation to automate agricultural management and treatment
US20160205917A1 (en) Weed eradication method and apparatus
US20230083872A1 (en) Pixel projectile delivery system to replicate an image on a surface using pixel projectiles
Otto et al. Droplets deposition pattern from a prototype of a fixed spraying system in a sloping vineyard
US20210186006A1 (en) Autonomous agricultural treatment delivery
Cavalaris et al. Efficacy of cotton harvest aids applications with unmanned aerial vehicles (UAV) and ground-based field sprayers–A case study comparison
US20210185942A1 (en) Managing stages of growth of a crop with micro-precision via an agricultural treatment delivery system
US11653590B2 (en) Calibration of systems to deliver agricultural projectiles
WO2024028522A1 (fr) Système de dosage de précision en continu (on-the-go), de produits phytosanitaires et fertilisants liquides, pour pulvérisation, ou nébulisation foliaire du vignoble
Rehna et al. Impact of autonomous drone pollination in date palms
US12004443B2 (en) Payload selection to treat multiple plant objects having different attributes
Balafoutis et al. Advanced Crop Protection Techniques and Technologies
US20230126714A1 (en) Method of spraying small objects
US20230166283A1 (en) Fluid spraying system for targeting small objects
Pereira et al. Aerial images to monitor grapevine vegetative growth
Pagliai Evaluation of proximal sensing techniques and testing of variable-rate kit for sprayers to improve environmental and economic sustainability of crop protection stages
Abinaya et al. Efficiency of IDRONE Technology in Finding Pest-Free Solutions for Tea Farming-Looper Caterpillar and Tea Leaf Hopper
Ranjan Sensing Integrated Automated Solid Set Canopy Delivery System for Crop Loss Management in Deciduous Fruits and Grapevines

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22953894

Country of ref document: EP

Kind code of ref document: A1