Methods, vehicles, and systems for weed control management

Abstract

The invention relates to a method (10) of controlling weeds, comprising the steps of: a) acquiring geographical position information of crop seeds planted on a field and generating a crop seed map, b) acquiring soil elevation data and corresponding geographical position information of soil elevations on the field where crop seeds have been planted or are being planted at at least two different points in time and generating a soil surface profile map of the field, the soil surface profile map showing soil surface profiles at at least two different points in time, c) comparing the soil surface profile map and the crop seed map to identify differences in soil elevation profiles that are not related to seed growth of seeds planted on the field, d) generating a weed control agent spray map based on the differences in soil profiles on the field that are not related to seed growth of crop seeds planted on the field.

Description

Technical Field

[0001] This invention relates to a method for weed control management, one or more vehicles for weed control management, a system for weed control management, and a computer program product. Background Technology

[0002] The general background of this invention is weed control, particularly pre-emergence weed control. Modern agriculture faces many challenges in producing sufficient food in a safe and sustainable manner. One of the challenges affecting the quality and quantity of agricultural products comes from harmful weeds, which can have a significant negative impact on both yield and quality. Solutions to this include spraying farmland with both chemical and biological herbicides before and after weed emergence. However, these methods have the disadvantage of relatively large amounts of product applied, and not always at the optimal time or location. Efficient treatment is performed in the pre-emergence stage, but after germination, i.e., while primary roots are developing. Herbicides that inhibit root growth are very effective at this stage, when the root system is not yet fully developed to overcome the inhibitory effect of the herbicide. However, because the location of weeds is unknown in the pre-emergence stage, herbicides are applied to the entire field, not just where weeds are growing. Summary of the Invention

[0003] It would be advantageous to have improved methods for weed control management (especially pre-emergence weed control management) to allow for the more specific application of chemical and biological weed control products to farmland. The object of the invention is achieved through the subject matter of the independent claims, wherein further embodiments are incorporated in the dependent claims. It should be noted that the aspects and examples described below also apply to methods for weed control, vehicles(s) for weed control, systems for weed control, and computer program products.

[0004] According to the first aspect, a method for controlling weeds is provided, including the following steps:

[0005] a) Obtain the geographic location information of crop seeds planted in farmland and generate a crop seed map; b) At at least two different time points, obtain soil elevation data and corresponding geographic location information of farmland where crop seeds have been planted or are being planted, and generate a soil surface contour map of the farmland, showing the soil surface contour at at least two different time points.

[0006] c) Compare soil surface profile maps and seed maps to identify differences in soil elevation profiles that are unrelated to seed growth of seeds planted in the farmland.

[0007] d) Generate a weed control agent spraying map based on the differences in soil elevation identified in farmland that are unrelated to the seed growth of crop seeds planted in the farmland.

[0008] Therefore, the geographical location of crop seeds in the soil of farmland is recorded during the planting period. A crop seed map is a two-dimensional or three-dimensional display of the geographical distribution of crop seeds in the farmland after planting. The soil elevation profile of the farmland is measured, for example, shortly after planting crop seeds, and then at a second time point, when weeds begin to germinate but have not yet emerged or have just emerged. By comparing the data, the difference in soil elevation profile at the two different time points indicates where weeds are likely to grow. Before weeds emerge, the soil is displaced as the growing branches push upwards. This soil displacement can be detected by appropriate sensors. Machine learning algorithms support the differentiation of soil displacement caused by reasons unrelated to weed germination, such as, for example, due to weather events, soil erosion, bird and animal tracks, etc. Since it is crucial that the emerged crop seeds have not been sprayed and that soil displacement caused by weeds and crops may be similar, it is necessary to identify the geographical location of crop seeds during the planting period and to consider the geographical location of crop seeds when generating weed control agent spraying maps. A weed control spray map refers to (at least one) two-dimensional (or three-dimensional) display of the geographical distribution of weeds (germination and emergence) in a farmland, where weed control agents can be applied to appropriately control the weeds in the field. In this way, weeds can be identified at very early points in time, thus allowing for precision tillage weed control applications in the pre-emergence stage.

[0009] In the example, data for both the crop seed map and the soil surface contour map, which displays the soil surface contour at the first time point, are acquired simultaneously on the farmland using agricultural vehicles.

[0010] In other words, data on crop seed maps and soil surface contours are acquired at a single point in time during the planting process. For example, a seeding vehicle is sowing crop seeds in a field. The geographical location of the crop seeds is recorded during the planting process, for example, using a seed metering system with sensors that detect passing seeds, and a timer timestamps the time when a seed passes the sensor; all of this is synchronized with the GPS system of the seeding vehicle. Simultaneously, sensors on the seeding vehicle can acquire data on soil elevation contours at that initial point in time. The advantage of this combined operation is that it acquires the necessary data about the farmland without the need for additional ground vehicle operations, thus reducing CO2 emissions and preventing soil compaction damage.

[0011] In the example, the method includes an additional step e), in which the weed control agent is applied to the farmland according to the weed control agent spraying map.

[0012] In other words, vehicles can use weed control spray maps to apply herbicides in a precision farming manner during the early stages of weed growth. The advantage of doing this is that not only is less herbicide sprayed due to the precision application method, but also because weeds in the early stages of growth are easier to control than weeds in the later stages of growth, thus requiring less herbicide.

[0013] In the example, steps a) through e) of the method are performed before and / or during the emergence of multiple shoots of crop seeds and / or weeds in the farmland.

[0014] Therefore, weed control management methods are particularly useful in the early growth stages after crop seed planting, when competition for nutrient resources between crop seed plants and weeds is very intense.

[0015] In the example, the geographic location information of crop seeds planted on farmland is acquired by at least one sensor, which is configured to record the geographic location information of crop seeds hitting the soil during planting.

[0016] Therefore, various known detection techniques can be used to obtain information about the geographical location of seeds in farmland. As mentioned above, sensors that sense passing seeds, timers that record timestamps when seeds pass the sensors, and metering systems synchronized with GPS systems can be used to assess the geographical location of crop seeds in farmland. Alternative techniques include, for example, image analysis of images acquired by cameras from seeds impacting the soil during the planting process, along with GPS data.

[0017] In the example, soil elevation data and corresponding geographic location information for the farmland are acquired using a sensor configured to generate light pulses toward the soil surface and measure the time of any reflections and location determination devices.

[0018] In this way, soil elevation data can be obtained using known sensors such as high-resolution lidar sensors (also known as LIDAR and LiDAR) combined with GPS systems.

[0019] According to a second aspect of the invention, a vehicle for weed control management is provided, comprising a plurality of sensors, a control and processing unit, and a seed planting unit. The plurality of sensors include at least one seed location sensor and at least one soil elevation sensor. The vehicle is configured to plant crop seeds in a field using the seed planting unit. At least one seed location sensor is configured to collect seed geographic location data of crop seeds impacting the soil surface from the seed planting unit during planting. The control and processing unit is configured to receive the seed geographic location data from the at least one seed location sensor to generate a crop seed map of the field. At least one soil elevation sensor of the vehicle is configured to collect soil elevation data, including elevation measurements on the field and corresponding geographic location information of the soil elevation. The control and processing unit is configured to receive the soil elevation data from the at least one soil elevation sensor to generate a soil surface contour map of the field, wherein the soil surface contour map shows the soil surface contour at a first time point. When crop seeds are planted in the field using the seed planting unit of the vehicle, the seed location data and soil elevation data are acquired simultaneously.

[0020] In other words, the vehicles used for weed control management can be seeding vehicles equipped with appropriate sensor devices to measure the geographical location of crop seeds in the soil and the surface structure of the farmland (with high resolution) shortly after the planting process (e.g., shortly after the wheels of the seeding vehicle have passed). In this way, data useful for weed control management can be obtained during the planting process.

[0021] In the example, the vehicle used for weed control management includes an output unit. The output unit is configured to receive a crop seed map and a soil surface contour map of the farmland from the control and processing unit. The output unit is also configured to output the crop seed map and the soil surface contour map of the farmland.

[0022] In other words, crop seed maps and soil surface contour maps can be displayed to farmers, for example, on monitors, handheld devices, printers, screens, or any other information monitoring devices / media.

[0023] According to a third aspect of the invention, a (second) vehicle for weed control management is provided, comprising at least one soil elevation sensor, a control and processing unit, and a transceiver. The at least one soil elevation sensor is configured to collect soil elevation data, including elevation measurements on farmland at a first time point and corresponding geographic location information of the soil elevation. The at least one soil elevation sensor is also configured to collect soil elevation data, including elevation measurements on farmland at a second time point after the first time point and corresponding geographic location information of the soil elevation. The control and processing unit is configured to receive soil elevation data from the at least one soil elevation sensor and generate a soil surface contour map of the farmland at at least two different time points. The control and processing unit is configured to use the transceiver to receive a crop seed map of the farmland. The control and processing unit is configured to compare the soil surface contour map and the crop seed map to identify differences in soil elevation contours unrelated to seed growth of seeds planted on the farmland, and to generate a weed control agent spraying map.

[0024] In other words, the vehicle acquires soil elevation data at both a first and a second time point (e.g., a few days / weeks later than the first time point). The vehicle also receives information about crop seed maps generated at the earlier time point. The vehicle's control and processing unit uses the generated and received information to generate a weed control agent spraying map. The calculation and generation of the crop seed map, multiple soil surface contour maps, and / or weed control agent spraying map can also be performed on an external processing unit, and the information / analysis can be sent to the vehicle that requires the information / analysis.

[0025] In the example, the control and processing unit of the (second) vehicle is configured to receive soil elevation data using a transceiver, the soil elevation data including elevation measurements on farmland at a first time point and corresponding geographic location information of the soil elevation and / or a soil surface contour map of the farmland at the first time point.

[0026] In this way, the second vehicle only needs to acquire soil elevation data at a second point in time, and can use soil elevation data generated by the first vehicle (e.g., a seeding vehicle during seeding) or other vehicles. For example, the second vehicle receives data via wireless communication and uses this information to generate a weed control spray map. Therefore, it is possible for the second vehicle to actually generate a weed control spray map while it is in the field, which allows the vehicle to directly initiate weed control measurements when needed.

[0027] In the example, the (second) vehicle used for weed control management includes an output unit. The output unit is configured to receive a weed control agent spraying map of the farmland from the control and processing unit. The output unit is also configured to output the weed control agent spraying map of the farmland.

[0028] In the example, the (second) vehicle for weed control management includes at least one weed control agent spraying unit. The at least one weed control agent spraying unit is configured to spray weed control agent. The control and treatment unit is configured to control the at least one weed control agent spraying unit according to a weed control agent spraying map.

[0029] Therefore, the second vehicle acquiring soil elevation data at the second time point possesses all the data needed to generate a weed control agent spraying map. For this purpose, the vehicle can also utilize external processing capabilities. However, while acquiring soil elevation data for the second time point in the farmland, the vehicle can simultaneously analyze the data and begin weed control, for example, by spraying appropriate herbicides if necessary. This continuous process improves effectiveness.

[0030] In a fourth aspect of the invention, a weed control agent spraying map generated by the method discussed in the first aspect of the invention is provided.

[0031] In a fifth aspect of the invention, a system for weed control management is provided, comprising a first vehicle and a second vehicle for weed control management. The first vehicle includes at least one seed location sensor, a control and processing unit, a seed planting unit, and a transceiver. The second vehicle includes at least one soil elevation sensor, a control and processing unit, and a transceiver. The first vehicle is configured to plant crop seeds in a field using the seed planting unit. At least one seed location sensor of the first vehicle is configured to collect seed geographic location data of crop seeds impacting the soil surface from the seed planting unit during planting. The control and processing unit of the first vehicle is configured to receive seed location data from the at least one seed location sensor to generate a crop seed map of the field. At least one soil elevation sensor from the second vehicle is configured to collect soil elevation data, including elevation values ​​on the field at a first time point and a second time point later than the first time point, and corresponding geographic location information of the soil elevation. The control and processing unit of the second vehicle is configured to receive soil elevation data from the at least one soil elevation sensor and generate a soil contour map of the field at at least two different time points. The control and processing unit of the first vehicle is configured to transmit a crop seed map of the farmland to the second vehicle using a transceiver. The control and processing unit of the second vehicle is configured to receive the crop seed map of the farmland from the first vehicle using a transceiver. The control and processing unit of the second vehicle is configured to compare the soil surface contour map and the seed map to identify differences in soil elevation contours unrelated to seed growth of the seeds planted in the farmland, and to generate a weed control agent spraying map.

[0032] In the example, the system for weed control management includes a first vehicle, which also includes at least one soil elevation sensor. The at least one soil elevation sensor of the first vehicle is configured to collect soil elevation data, including the elevation of the farmland at a first time point and corresponding geographical location information. A control and processing unit of the first vehicle is configured to receive the soil elevation data from the at least one soil elevation sensor to generate a soil surface contour map of the farmland at the first time point. The control and processing unit of the first vehicle is configured to transmit the soil surface contour map of the farmland at the first time point to a second vehicle using a transceiver. The control and processing unit of the second vehicle is configured to receive the soil surface contour map of the farmland at the first time point from the first vehicle using a transceiver.

[0033] In the example, the system for weed control management includes a second vehicle that also includes at least one weed control agent spraying unit. The at least one weed control agent spraying unit is configured to spray a weed control agent. The control and processing unit of the second vehicle is configured to control the at least one weed control agent spraying unit according to a weed control agent spraying map.

[0034] According to another aspect, a computer program product is provided, which, when executed by a processor, is configured to perform the method of the first aspect.

[0035] Advantageously, the benefits provided by any of the above aspects also apply to all other aspects, and vice versa.

[0036] The above aspects and examples will become clear and illustrated with reference to the embodiments described below. Attached Figure Description

[0037] Exemplary embodiments will now be described with reference to the following figures:

[0038] Figure 1 A schematic example of generating a weed control agent spraying map is shown;

[0039] Figure 2a )and Figure 2b The diagram shows a schematic example of the weed germination process (from a side view) and a soil elevation pattern generated by the weed germination process (from a top view);

[0040] Figure 3 A schematic setup of an example vehicle (100) for weed control management is shown;

[0041] Figure 4 A schematic setup of an example vehicle (200) for weed control management is shown;

[0042] Figure 5 A schematic setup of an example system (300) for weed control management is shown;

[0043] Figure 6 A schematic setup (from side view) shows a detailed example of a vehicle (100) used for weed control management;

[0044] Figure 7 A schematic setup (from side view) showing a detailed example of a vehicle (200) for weed control management; and

[0045] Figure 8 A schematic setup of an example of a computer program product (400) for weed control management is shown. Detailed Implementation

[0046] In a first embodiment, the present invention relates to a method 10 for weed control and management. The method includes the following steps:

[0047] a) Obtain the geographic location information of crop seeds planted in farmland and generate a crop seed map; b) At at least two different time points, obtain soil elevation data and corresponding geographic location information of farmland where crop seeds have been planted or are being planted, and generate a soil surface contour map of the farmland, showing the soil surface contour at at least two different time points.

[0048] c) Compare soil surface profile maps and seed maps to identify differences in soil elevation profiles that are unrelated to seed growth of seeds planted in the farmland.

[0049] d) Generate a weed control agent spraying map based on the differences in soil elevation identified in farmland that are unrelated to the seed growth of crop seeds planted in the farmland.

[0050] In the example, the term "geographic location information" refers to a real-world geographic location, such as a geographic location represented by geographic coordinates.

[0051] In the example, the term "where crop seeds have been planted or are being planted" refers to a point in time shortly after planting. For example, when the seeds have been planted using a vehicle equipped with planting equipment at the front, and soil elevation data can be acquired using sensors at the rear of the same vehicle during the same operation. The time point could also be later, such as a few days after planting. Data could also be acquired using a different vehicle than the one used for planting.

[0052] In the example, the resolution of the geographic location information is ±10cm, more preferably ±5cm, and even more preferably ±2cm, which can be obtained by a seed location sensor and a location determination device system such as a GPS-real-time dynamics (RTK) system.

[0053] In the example, information about the geographic location of crop seeds planted in farmland can be obtained using a camera, a laser scanner, a one-dimensional line sensor for detecting seeds, a light beam, a thermal sensor for detecting heated seeds, and a location determination system. US2014 / 0076216A1 discusses a method for accurately drilling seed particles and registering seed locations on a chart.

[0054] In the example, a crop seed map refers to a chart that records the location of seeds, particularly in a form that shows the geographical distribution of crop seeds on farmland after planting in at least two dimensions (or alternatively, three dimensions).

[0055] In the example, LiDAR sensors, parallax laser rangefinders, stereo vision sensors, infrared reflection sensors, time-of-flight sensors, ultrasonic sensors, and radar sensors are used to obtain soil elevation data and corresponding geographical location information of farmland.

[0056] In the example, a lidar sensor was used.

[0057] In the example, a 3D LiDAR sensor was used.

[0058] In the example, a lidar sensor and a camera were used. The camera can, for example, identify the green parts of emerging weeds, and this information can be taken into account when generating a weed control spray map.

[0059] In the example, the camera is configured to operate in the visible wavelength range. In the example, the camera is configured to operate in the near-infrared range. In the example, the camera is monochrome. In the example, the camera is configured to acquire color information such as RGB. In the example, the camera is configured to acquire hyperspectral information.

[0060] In the example, multiple LiDAR scans are acquired at various locations across the entire farmland. This is done to provide a highly consistent LiDAR point density (digital optical detection and ranging measurement points per unit area on a given target). One issue to consider with ground-based and / or near-ground-based LiDAR sensing is the potential non-uniformity of point density in scenarios where the soil closer to the scanner is more densely covered than further away. This can be addressed in various ways, such as, for example, by increasing the pulse repetition rate, changing the scan mode, and / or the scan rate.

[0061] In the example, LiDAR sensors and location determination systems such as GPS-Real-Time Dynamics (RTK) are used to obtain soil elevation data and corresponding geographic location information for farmland.

[0062] In the example, at least two different time points refer to measurements of soil elevation data and corresponding geographical location information of soil elevation at two different times with time lags of, for example, one day, one week, two weeks, and three weeks.

[0063] In this example, soil elevation data is acquired at multiple different time points, and the data at each time point is compared with previous soil elevation data. As an example, soil elevation data is acquired daily.

[0064] In the example, a soil surface contour map refers to at least a two-dimensional (or three-dimensional) display of the geographic coordinates of farmland, wherein for each geographic coordinate, a soil elevation measurement (at the time of measurement) is indicated. The data resolution of the geographic (horizontal) coordinates depends on the lidar and location determination device used, and is preferably at least 2 cm, more preferably 1 cm, and even more preferably less than 1 cm. Regarding the measurement of soil elevation, modern lidar sensors have millimeter-level resolution to detect vertical differences, which is sufficient to detect changes in soil elevation contours, indicating weed germination and growth.

[0065] In the example, an algorithm is applied to correct small geographic offsets between two or more soil surface contour maps.

[0066] In the example, soil surface contour maps from at least two different time points are compared (see [reference]). Figure 1 (a and b in the text). This comparison reveals the change in soil elevation over time at the same geographical location in farmland (see also a). Figure 1 (d) These differences can be further analyzed using machine learning algorithms to obtain patterns associated with weed germination activity. When weeds germinate, the shoots push against the soil above them. The soil is higher than the shoots (see d). Figure 2a (Side view). Analysis of the weed germination process from above reveals patterns that can be distinguished from other soil elevation change events (see...). Figure 2b (A schematic diagram of potential patterns from a top-down view), such as, for example, weather activity. Other soil elevation changes not caused by weed germination can also be analyzed in a similar way, for example, by classification using machine learning algorithms. This can be achieved by overlaying crop seed maps with soil contour maps at at least two different time points (see...). Figure 1 In section d), germinating weeds can be identified and distinguished from planted crop seeds and soil elevation changes caused by weather events or other factors. Weed control agent spraying maps can then be generated (see section d). Figure 1 (e) A weed control spray map is a (at least) two-dimensional (or three-dimensional) display of the geographic distribution of weeds (germination and emergence) in a field, where weed control agents can be applied to appropriately control the weeds in the field.

[0067] In the example, the analysis of soil elevation data / soil contour maps involves the use of machine learning algorithms.

[0068] In the example, the machine learning algorithm includes the decision tree algorithm.

[0069] In the example, the machine learning algorithm includes an artificial neural network.

[0070] In the example, the machine learning algorithm has been taught based on multiple soil elevation profile maps. These maps contain soil elevation patterns resulting from at least one type of weed, various soil types, and various soil moisture levels. The machine learning algorithm has been taught based on soil elevation patterns from multiple soil elevation profile maps containing multiple weeds, various soil types, and various soil moisture levels.

[0071] In the example, a machine learning algorithm similar to that discussed above is used to identify weeds that have already sprouted, the type of weed (at least monocotyledonous / dicotyledonous), the growing area / size, and the geographical location.

[0072] In the example, data on emerging weeds is used to generate a weed control spraying map.

[0073] In the example, on the weed control agent spraying map, a radius of 20 cm, preferably 10 cm, more preferably 5 cm, or even more preferably 3 cm around a single crop seed is marked as no weed control agent is sprayed.

[0074] As an example, agricultural vehicles simultaneously acquire data on crop seed maps and soil surface contour maps showing the contours of the soil surface at a first point in time in farmland.

[0075] In the example, the crop seed map data for a specific geographic location was acquired before (however, using the same means of transportation) the soil surface profile data for the same geographic location at a first point in time. As an example, Figure 6 A means of transportation is shown, wherein at the first point in time (see...) Figure 6 (The movement directions of vehicles 112 and 100) were obtained prior to the acquisition of soil surface contour data for a specific location, along with crop seed maps (e.g., cameras, see [reference]). Figure 6 The data is from 111). In sowing vehicles, after the crop seeds are placed in the furrow, there is usually a furrow closure device 133 that presses down on the soil and closes the furrow. Therefore, it is necessary to obtain soil elevation data after sowing operations.

[0076] In the example, the term "simultaneously" refers to a series of operations on farmland using the same means of transport.

[0077] In the example, the "first point in time" is shortly after the crop seeds are sown.

[0078] According to the example, the method for weed control management also includes step e) applying the weed control agent to the farmland according to the weed control agent spraying map.

[0079] In the example, the weed control agent is a selective and / or non-selective weed control agent. Therefore, non-selective herbicides can also be used due to precise weed control management methods.

[0080] In the example, the weed control agent is a pre-emergence and / or early post-emergence weed control agent.

[0081] According to the example, steps a) to e) of the method for weed control management are carried out before and / or during the emergence of crop seeds and / or multiple branches of weeds in the field.

[0082] In the example, the method for weed control management is applied within the first two months, preferably the first four weeks, after crop seeds are planted on the farmland.

[0083] According to the example, the method for weed control management uses at least one sensor to acquire geographic location information of crop seeds planted on farmland, the at least one sensor being configured to record geographic location information of crop seeds hitting the soil during the planting process.

[0084] In the example, at least one sensor configured to record geolocation information of crop seeds impacting the soil during crop seed planting is selected from a group consisting of a camera, a laser scanner, a one-dimensional line sensor for detecting seeds, a light beam, and / or a thermal sensor for detecting heated seeds; all are used in conjunction with (and synchronized with) the location determination device.

[0085] In the example, the location determination device includes one or more of GPS, inertial navigation systems, or image-based positioning systems. The GPS system is preferably a GPS-Real-Time Dynamics (RTK) system. The location can be a geographic location relative to a precise location on the ground, or it can be a location on the ground referencing one or more other locations on the ground, such as the boundary of farmland. In other words, an absolute geographic location can be used, or a location on the ground that does not need to be known in an absolute sense but refers to a known location can be used.

[0086] In the example, the location is an absolute geographic location.

[0087] In the example, if a camera is used, the location is determined by referencing a known location or multiple known locations. In other words, it can be determined that an image is associated with a specific location on the ground without knowing its precise geographic location, but rather by knowing the location of the image acquisition relative to (multiple) known locations on the ground, and the location of the image acquisition can be recorded. In other words, the absolute GPS-derived location of the vehicle acquiring the ground image can be provided, and / or the location of the image acquisition relative to a known location (such as a site boundary) can be provided, which again enables the control and processing units to determine the exact location of the image acquisition because they will know the absolute location of the site boundary.

[0088] In the example, the GPS unit is used to determine and / or to determine location, such as the location of the camera when acquiring a particular image.

[0089] In the example, the inertial navigation unit is used alone or in combination with a GPS unit to determine location, such as the location of the camera when acquiring a particular image.

[0090] According to the example, the method for weed control management acquires soil elevation data and uses a sensor to acquire corresponding geographic location information of the soil elevation on the farmland. The sensor is configured to generate light pulses toward the soil surface and, together with a location determination device, measure the time of any reflection.

[0091] In the example, the sensor configured to generate light pulses toward the soil surface and measure the time of any reflection is selected from the group consisting of lidar sensors, parallax laser rangefinder sensors, stereo vision sensors, IR reflection sensors, time-of-flight sensors, ultrasonic sensors, and radar sensors.

[0092] In the example, a lidar sensor was used.

[0093] In the example, a 3D LiDAR sensor was used.

[0094] In the example, a lidar sensor and a camera were used. The camera can, for example, identify the green parts of emerging weeds, and this information can be taken into account when generating a weed control spray map.

[0095] In the example, a lidar sensor and / or camera can acquire soil data / images close to the lowest point (directly downwards) to obtain optimal resolution.

[0096] In the example, lidar sensors and / or cameras can acquire soil data / images that are closer to the horizontal plane (approximately 20-40° from the horizontal plane).

[0097] In the example, data / images of the same geographical location on the farmland were acquired from different angles, such as near the lowest point and at an angle of approximately 20-40° to the horizontal plane. For weeds that have already emerged, imaging near the lowest point will be most effective for dicotyledonous plants, while imaging near the horizontal plane will be most effective for monocotyledonous plants.

[0098] In the example, the location determination device includes one or more of GPS, inertial navigation systems, or image-based positioning systems (similar to those described above in the context of crop seed location sensors). It is also possible to use multiple sensors together with a single location determination device to synchronize geographic location information with the data from each individual sensor.

[0099] Figure 3 A schematic example of a vehicle 100 for weed control management is shown. The vehicle 100 includes a plurality of sensors 110, including at least one seed location sensor 111 and at least one soil elevation sensor 112; a control and processing unit 120; and a seed planting unit 130. The vehicle 100 is configured to plant crop seeds in a field using the seed planting unit 130. At least one seed location sensor 111 is configured to collect seed geographic location data of crop seeds impacting the soil surface from the seeding unit 130 during sowing. The control and processing unit 120 is configured to receive the seed geographic location data from at least one seed location sensor 111 to generate a crop seed map of the field. At least one soil elevation sensor 112 of the vehicle is configured to collect soil elevation data, including elevation measurements on the field and corresponding geographic location information for the soil elevation. The control and processing unit 120 is configured to receive soil elevation data from at least one soil elevation sensor 112 to generate a soil surface contour map of the farmland, wherein the soil surface contour map shows the soil surface contour at a first time point. Seed location data and soil elevation data are acquired simultaneously when plant crop seeds are planted in the farmland using a seed planting unit on a vehicle.

[0100] In the example, vehicle 100 is an unmanned ground vehicle (UGV), a tractor, a seeding vehicle, or an unmanned aerial vehicle (UAV), preferably an UGV, a tractor, or a seeding vehicle.

[0101] In the example, at least one seed position sensor 111 (as described above with respect to the method) is preferably selected from the group consisting of a camera, a laser scanner, a one-dimensional line sensor for detecting seeds, a light beam, and / or a thermal sensor for detecting heated seeds; all of these are used in conjunction with a position determination device. Suitable position determination devices are discussed in the context of this method.

[0102] In the example, at least one soil elevation sensor 112 (as described above for the method) is preferably selected from the group consisting of lidar sensors, parallax laser rangefinder sensors, stereo vision sensors, IR reflection sensors, time-of-flight sensors, ultrasonic sensors, and radar sensors.

[0103] In the example, a lidar sensor was used.

[0104] In the example, a 3D LiDAR sensor was used.

[0105] The example uses a LiDAR sensor and a camera.

[0106] In the example, the control and processing unit 120 may be an integral part of the vehicle, or it may have at least one additional external processing unit externally, and the control and processing unit 120 communicates with the external processing unit (which may be an external computer, cloud, etc.) via wireless data transmission.

[0107] In the example, the seed planting unit 130 includes at least one seed feeding system 132 configured to deposit crop seeds onto the soil.

[0108] In the example, the seed planting unit 130 also includes at least one furrow opener 131, which is configured to open furrows in the soil.

[0109] In the example, the seed planting unit 130 also includes at least one furrow closure 133, which is configured to close the furrow.

[0110] In the example, the furrow closure 133 is a wheel.

[0111] In the example, seeds are deposited by seed feeding system 132 into furrows generated by at least one furrow opener 131.

[0112] In the example, the seed planting unit 130 and at least one seed position sensor 111 are attached / positioned near the front of the vehicle, while at least one soil elevation sensor 112 is attached / positioned near the rear of the vehicle and preferably behind the rear wheels of the vehicle.

[0113] According to the example, the vehicle 100 for weed control management also includes an output unit 140. The output unit 140 is configured to receive a crop seed map and a soil surface contour map of the farmland from the control and processing unit 120. The output unit 140 is configured to output the crop seed map and the soil surface contour map of the farmland.

[0114] In the example, the output unit includes a monitor, printer, screen, information monitoring equipment, and / or any other information monitoring medium.

[0115] Figure 4A schematic example of a vehicle (200) for weed control management is shown. The vehicle 200 for weed control management includes at least one soil elevation sensor 210, a control and processing unit 220, and a transceiver 230. The at least one soil elevation sensor 210 is configured to collect soil elevation data of farmland at a first time point, including elevation measurements and corresponding geographic location information of the soil elevation. The at least one soil elevation sensor 210 is configured to collect soil elevation data of farmland at a second time point after the first time point, including elevation measurements and corresponding geographic location information of the soil elevation. The control and processing unit 220 is configured to receive soil elevation data from the at least one soil elevation sensor 210 and generate a soil surface contour map of the farmland at at least two different time points. The control and processing unit 220 is configured to receive a crop seed map of the farmland using the transceiver 230. The control and processing unit 220 is configured to compare a soil surface contour map and a crop seed map to identify differences in soil elevation contours that are unrelated to seed growth of seeds planted in the field, and to generate a weed control agent spraying map.

[0116] In the example, vehicle 200 is an unmanned ground vehicle (UGV), a tractor, an unmanned aerial vehicle (UAV), preferably a UAV or a tractor.

[0117] In the example, at least one soil elevation sensor 210 is a sensor similar to the sensor described in the context of at least one soil elevation sensor 112.

[0118] In the example, a crop seed map of the farmland has been generated by the first vehicle 100. This information about the crop seed map is transmitted to the second vehicle 200 (e.g., directly from the first vehicle to the second vehicle or via a data cloud or external processing unit, preferably via wireless communication).

[0119] According to the example, the vehicle 200 for weed control management includes a control and processing unit 220, which is configured to receive soil elevation data including elevation and soil elevation corresponding geographic location information on farmland at a first time point and / or a soil surface contour map of farmland at the first time point using a transceiver 230.

[0120] In the example, the second vehicle 200 acquires soil elevation data, including elevation measurements and corresponding geographic location information, of the farmland at a second time point (rather than a first time point). Similar to crop seed mapping, the second vehicle 200 receives soil elevation data and / or soil surface contour maps of the first time point directly or via a data cloud or external processing unit from the first vehicle 100 (or another vehicle). When the second vehicle 200 includes a weed control spraying unit 250, the vehicle may acquire the soil elevation data of the second time point, receive all other data required to generate a weed control spraying map using its transceiver, generate the weed control spraying map, and begin controlling weeds on the farmland using its weed control spraying unit—all within a single operation on the farmland.

[0121] According to another example, a vehicle 200 for weed control management includes an output unit 240. The output unit 240 is configured to receive a weed control agent spraying map of the farmland from a control and processing unit 220. The output unit 240 is configured to output a weed control agent spraying map of the farmland.

[0122] In the example, output unit 240 includes a monitor, printer, screen, information monitoring equipment, and / or any other information monitoring medium. The output unit may also be another vehicle that receives a spray map for spraying operations.

[0123] In the example, vehicle 200 is a UAV, and information about the weed control agent spraying map of the farmland is sent to the output unit via wireless communication.

[0124] According to another example, a vehicle 200 for weed control management includes at least one weed control agent spraying unit 250. The at least one weed control agent spraying unit 250 is configured to spray a weed control agent. A control and processing unit 220 is configured to control the at least one weed control agent spraying unit 250 according to a weed control agent spraying map.

[0125] In the example, the weed control spraying unit 250 includes at least one spraying unit. The at least one spraying unit is configured to spray liquid.

[0126] In the example, the spraying unit is, for example, a boom sprayer.

[0127] In the example, in the context of a spraying unit, the term "controlling at least one weed control agent spraying unit" refers to controlling the start of the spraying process and controlling the stop of the spraying process.

[0128] In the example, the spraying unit includes at least one liquid atomizer, such as a hydraulic nozzle, and / or at least one atomizing disc, such as a rotary disc.

[0129] In the example, at least one weed control agent spraying unit includes a liquid atomizer, a liquid tank, and at least one feed pipe. The liquid tank is configured to contain liquid. The feed pipe is configured to deliver liquid from the liquid tank to the liquid atomizer. The liquid atomizer is configured to spray the liquid.

[0130] In the example, the term "(multiple) liquids" refers to (multiple) liquids that include chemically and / or biologically based herbicidal active ingredients (such as weed control agents discussed earlier in this document).

[0131] In the example, the control and processing unit is configured to control at least one spraying unit to apply liquid as a spray of fine droplets, a single spray, a single droplet, or a combination thereof, depending on the preferred type of deposit.

[0132] According to another example, another embodiment of the invention relates to a weed control agent spraying map generated according to the weed control management method described herein.

[0133] In the example, the weed control spray map is (at least) a two-dimensional (or three-dimensional) display of the geographical distribution of weeds (germination and emergence) on the farmland, where weed control agents can be applied to appropriately control weeds in the field (see [link]). Figure 1 (d)

[0134] In the example, information about the weed control spray map can be sent to multiple other vehicles (such as UAVs) that include spraying units and are configured to apply herbicides at various locations in the farmland according to the spray map.

[0135] Figure 5A schematic example of a system 300 for weed control management is shown. The system 300 includes a first vehicle 100 and a second vehicle 200 for weed control management. The first vehicle includes at least one seed location sensor 111, a control and processing unit 120, a seed planting unit 130, and a transceiver 140. The second vehicle includes at least one soil elevation sensor 210, a control and processing unit 220, and a transceiver 230. The first vehicle 100 is configured to plant crop seeds in a field using the seed planting unit 130. At least one seed location sensor 111 of the first vehicle is configured to collect seed geographic location data of crop seeds impacting the soil surface from the seed planting unit 130 during planting. The control and processing unit 120 of the first vehicle is configured to receive seed location data from at least one seed location sensor 111 to generate a crop seed map of the field. At least one soil elevation sensor 210 from the second vehicle 200 is configured to collect soil elevation data on the farmland at a first time point and a second time point (later than the first time point), the soil elevation data including elevation measurements and corresponding geographic location information. The control and processing unit 220 of the second vehicle 200 is configured to receive soil elevation data from the at least one soil elevation sensor 210 and generate a soil contour map of the farmland at at least two different time points. The control and processing unit 120 of the first vehicle is configured to transmit a crop seed map of the farmland to the second vehicle 200 using a transceiver 140. The control and processing unit 220 of the second vehicle 200 is configured to receive the crop seed map of the farmland from the first vehicle 100 using a transceiver 230. The control and processing unit 220 of the second vehicle 200 is configured to compare the soil surface contour map and the seed map to identify differences in the soil elevation contour unrelated to seed growth of the seeds planted on the farmland, and to generate a weed control agent spraying map.

[0136] According to an example, a system 300 for weed control management includes a first vehicle that includes at least one soil elevation sensor 112. The soil elevation sensor 112 of the first vehicle is configured to collect soil elevation data of farmland at a first time point, the soil elevation data including elevation measurements and corresponding geographic location information. A control and processing unit 120 of the first vehicle is configured to receive soil elevation data from the at least one soil elevation sensor 112 to generate a soil surface contour map of the farmland at the first time point. The control and processing unit 120 of the first vehicle is configured to transmit the soil surface contour map of the farmland at the first time point to a second vehicle 200 using a transceiver 140. A control and processing unit 220 of the second vehicle 200 is configured to receive the soil surface contour map of the farmland at the first time point from the first vehicle 100 using a transceiver 230.

[0137] In the example, the second vehicle 200 does not need to generate a soil surface contour map of the farmland at the first time point, but instead receives the information from the first vehicle 100 or other vehicles.

[0138] According to an example, a system 300 for weed control management includes a second vehicle 200, which includes at least one weed control agent spraying unit 250. The at least one weed control agent spraying unit 250 is configured to spray a weed control agent. A control and processing unit 220 of the second vehicle 200 is configured to control the at least one weed control agent spraying unit 250 according to a weed control agent spraying map.

[0139] Figure 6 A schematic setup of a vehicle 100 for weed control management is shown, representing a detailed example. The vehicle is a ground vehicle such as a tractor and includes a seed planting unit 130 with a furrow opener 132, a seed feeding system 132, and a furrow closure device 133. A crop seed location sensor 111 is a camera that records the geographical location of crop seeds in the soil. The camera is synchronized with a GPS system. The vehicle includes a soil elevation sensor 112, such as a lidar scanner, located at the rear of the vehicle. Soil elevation is scanned using the lidar sensor (for a first time point) after the planting process with the planting unit 130 has ended.

[0140] Figure 7 A schematic setup illustrating a detailed example of a vehicle 200 for weed control management is shown. In this example, the vehicle 200 is a UAV. The UAV flies over the farmland and scans the ground below using a soil elevation sensor 210 (such as a 3D lidar sensor). Figure 7(a) Multiple sensors on the UAV continuously record the position, elevation, height above ground, and orientation of the lidar sensor to incorporate accurate location information into the lidar image, which will be a detailed 3D map of the soil surface. The UAV uses transceiver 230 to receive crop seed map data and soil elevation data from another earlier time point. A control and processing unit (not shown) uses the received information, along with information from the soil elevation sensor 210, to assess the amount of herbicide active ingredient that needs to be applied to the soil (thus generating a spray map). Therefore, comparing and analyzing two or more lidar images acquired from the same farmland over one or more days will reveal any discrepancies with local variations in soil height. The control and processing unit will analyze changes in subsurface growth indicating germinating seeds and record the location of these seeds. Algorithms can be applied to correct for small geographic offsets between the two or more soil surface contour maps. The control and processing unit will also analyze growing plants, identify plant species, and classify weeds by species, size, and location if identified as unwanted weeds. Algorithms can be applied to identify and eliminate false detections. The UAV 200 can also send the acquired soil elevation data to an external processing unit, which generates a spray map and sends it back to the UAV 200 for spraying or other purposes. Figure 7 Another dedicated spraying UAV is shown in c. Figure 7 The 'b' indicates that the same UAV can use the spray map to directly control weeds via its weed control unit 250. Alternatively, another UAV specifically designed for applying weed control agents can receive the spray map from UAV 200 and apply the weed control agent to the soil (see [link to UAV 200]). Figure 7 (c) in the middle.

[0141] In another exemplary embodiment, a computer program or computer program product is provided, characterized in that it is configured to perform method steps of a method according to an embodiment of the foregoing embodiments on a suitable system.

[0142] Figure 8 A schematic setup of an example of a computer program product 400 for weed control management is shown. The computer program product 400 for weed control management, when executed by a processor, is configured to perform the following steps:

[0143] a) Receive the geographic location information of crop seeds planted on 410 farmlands.

[0144] b) Generate a 420 crop seed map based on the information received in step a).

[0145] c) Receive soil elevation data and corresponding geographic location information for 430 farmlands where crop seeds have been planted or are being planted at at least two different time points.

[0146] d) Based on the information received in step c), generate a soil surface contour map of 440 farmlands, showing the soil surface contours at at least two different time points.

[0147] e) Compare the 450 soil surface contour map with the crop seed map.

[0148] f) Identify differences in soil elevation profiles that are unrelated to seed growth of seeds planted in farmland.

[0149] g) Generate 470 weed control agent spraying maps based on differences in soil elevation identified in farmland that are unrelated to seed growth of crop seeds planted in the farmland.

[0150] According to the example, computer program product 400 for weed control management includes additional steps:

[0151] e) Instruct 480 vehicles to apply weed control agents to farmland according to the weed control agent spraying map.

[0152] The computer program product can be stored on a computer unit, which may also be part of the embodiments. The computing unit can be configured to execute or trigger steps of the methods described above. Furthermore, it can be configured to operate components of the aforementioned vehicles and / or systems. The computing unit can be configured to automatically operate and / or execute user commands. The computer program can be loaded into the working memory of a data processor. The data processor can therefore be equipped to execute the method according to one embodiment of the foregoing embodiments.

[0153] This exemplary embodiment of the invention covers both computer programs that use the invention from the outset and computer programs that convert existing programs into programs using the invention through updates. Furthermore, computer program products may be able to provide all the necessary steps to accomplish the exemplary embodiment of the method described above.

[0154] According to another exemplary embodiment of the present invention, a computer-readable medium, such as a CD-ROM, a USB stick, etc., is provided, wherein the computer-readable medium has a computer program product stored thereon, the computer program product being / may be the computer program product described in the preceding section. The computer program may be stored and / or distributed on a suitable medium, such as an optical storage medium or a solid-state medium provided together with or as part of other hardware, but may also be distributed in other forms, such as via the Internet or other wired or wireless telecommunications systems.

[0155] However, computer programs can also be presented through networks like the World Wide Web and can be downloaded from such networks into the working memory of a data processor.

[0156] According to another exemplary embodiment of the present invention, a medium is provided for making a computer program product available for download, the computer program product being configured to perform a method according to an embodiment of the foregoing embodiments of the present invention.

[0157] It should be noted that embodiments of the present invention are described with reference to different subjects. In particular, some embodiments are described with reference to method-type claims, while other embodiments are described with reference to vehicle, spray map, and / or system-type claims. However, those skilled in the art will understand from the above and below description that, unless otherwise stated, any combination of features related to different subjects, in addition to any combination of features belonging to one subject, is also considered to be disclosed in this application.

[0158] Although the invention has been described and illustrated in detail with reference to the accompanying drawings and the foregoing description, such description and illustration should be considered illustrative or exemplary rather than restrictive. The invention is not limited to the disclosed embodiments. Other variations to the disclosed embodiments will be understood and implemented by those skilled in the art in practicing the claimed invention through study of the drawings, the disclosure, and the dependent claims.

[0159] In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite articles "a" or "an" do not exclude multiple. A single processor or other unit can perform the functions of multiple items referenced in the claims. The fact that certain measures are referenced in mutually different dependent claims does not indicate that a combination of these measures cannot be used advantageously. Any reference signs in the claims should not be construed as limiting the scope.

Claims

1. A method for controlling weeds (10), comprising the following steps: a) Obtain the geographical location information of crop seeds planted on farmland and generate a crop seed map. (b) Obtain soil elevation data and corresponding geographical location information for the farmland where the crop seeds have been planted or are being planted at at least two different time points, and generate a soil surface contour map of the farmland, the soil surface contour map showing the soil surface contour at the at least two different time points. c) Compare the soil surface contour map and the crop seed map to identify differences in soil elevation contours that are unrelated to seed growth of the seeds planted in the farmland. d) Generate a weed control agent spraying map based on the differences in the identified soil elevations on the farmland that are unrelated to the seed growth of the crop seeds planted on the farmland.

2. The method of claim 1, wherein data for the crop seed map and data for the soil surface contour map showing the soil surface contour at a first of the at least two different time points are simultaneously acquired on the farmland using agricultural vehicles.

3. The method according to any one of claims 1 to 2, comprising step e) applying the weed control agent to the farmland according to the weed control agent spraying map.

4. The method according to claim 3, wherein steps a) to e) are performed before and / or during the emergence of the crop seeds and / or multiple branches of weeds in the farmland.

5. The method according to any one of claims 1 to 2, wherein the geographic location information of the crop seeds planted on the farmland is acquired by at least one sensor, the at least one sensor being configured to record geographic location information of the crop seeds impacting the soil during the planting of the crop seeds.

6. The method according to any one of claims 1 to 2, wherein the soil elevation data on the farmland and the corresponding geographic location information of the soil elevation are acquired using a sensor configured to generate light pulses toward the soil surface and measure the time for any reflection and location determination device.

7. A vehicle (100) for weed control management, comprising: Multiple sensors (110), including at least one seed location sensor (111) and at least one soil elevation sensor (112). Control and processing unit (120). Seed planting unit (130). The vehicle (100) is configured to plant crop seeds in farmland using the seed planting unit (130). The at least one seed location sensor (111) is configured to collect seed geographic location data of the crop seeds impacting the soil surface from the seed planting unit (130) during planting. The control and processing unit (120) is configured to receive seed geographic location data from the at least one seed location sensor (111) to generate a crop seed map of the farmland. The at least one soil elevation sensor (112) of the vehicle is configured to collect soil elevation data, which includes elevation measurements on the farmland and corresponding geographic location information of the soil elevation. The control and processing unit (120) is configured to receive soil elevation data from the at least one soil elevation sensor (112) to generate a soil surface contour map of the farmland, wherein the soil surface contour map shows the soil surface contour at a first time point. When the crop seeds are planted on the farmland using the seed planting unit of the vehicle, the seed geographical location data and the soil elevation data are acquired simultaneously.

8. The vehicle for weed control management according to claim 7, comprising: Output unit (140). The output unit (140) is configured to receive, from the control and processing unit (120) a crop seed map of the farmland and a soil surface contour map of the farmland. The output unit (140) is configured to output the crop seed map of the farmland and the soil surface contour map of the farmland.

9. A vehicle (200) for weed control management, comprising: At least one soil elevation sensor (210). Control and processing unit (220). Transceiver (230). The at least one soil elevation sensor (210) is configured to collect soil elevation data, which includes the elevation of the farmland at a first time point and the corresponding geographical location information of the soil elevation. The at least one soil elevation sensor (210) is configured to collect soil elevation data, which includes elevation measurements on the farmland at a second time point after the first time point and the corresponding geographic location information of the soil elevation. The control and processing unit (220) is configured to receive soil elevation data from the at least one soil elevation sensor (210) and generate a soil surface contour map of the farmland at at least two different time points. The control and processing unit (220) is configured to receive a crop seed map of the farmland using the transceiver (230). The control and processing unit (220) is configured to compare the soil surface contour map and the crop seed map to identify differences in soil elevation contours that are unrelated to seed growth of the seeds planted on the farmland, and to generate a weed control agent spraying map.

10. The vehicle (200) for weed control management according to claim 9, wherein the control and processing unit (220) is configured to receive the soil elevation data using the transceiver (230), the soil elevation data including elevation measurements on the farmland at the first time point and the corresponding geographic location information of the soil elevation and / or the soil surface contour map of the farmland at the first time point.

11. The vehicle (200) for weed control management according to any one of claims 9 and 10, comprising: Output unit (240). The output unit (240) is configured to receive a weed control agent spraying map of the farmland from the control and processing unit (220). The output unit (240) is configured to output a weed control agent spraying map for the farmland.

12. The vehicle (200) for weed control management according to any one of claims 9 to 10, wherein the vehicle further comprises: At least one weed control agent spraying unit (250). The at least one weed control agent spraying unit (250) is configured to spray weed control agent. The control and processing unit (220) is configured to control the at least one weed control agent spraying unit (250) according to the weed control agent spraying map.

13. A weed control agent spray map generated by any one of the methods according to claims 1 to 2.

14. A system (300) for weed control management, comprising a first vehicle (100) for weed control management and a second vehicle (200) for weed control management, wherein the first vehicle comprises: At least one seed position sensor (111). Control and processing unit (120). Seed planting unit (130). Transceiver (140), and The second means of transport includes: At least one soil elevation sensor (210). Control and processing unit (220). Transceiver (230). The first vehicle (100) is configured to plant crop seeds in farmland using the seed planting unit (130). The at least one seed location sensor (111) of the first vehicle is configured to collect seed geographic location data of the crop seeds impacting the soil surface from the seed planting unit (130) during planting. The control and processing unit (120) of the first vehicle is configured to receive seed geographic location data from the at least one seed location sensor (111) to generate a crop seed map of the farmland. The at least one soil elevation sensor (210) from the second vehicle (200) is configured to collect soil elevation data, which includes elevation measurements on the farmland at a first time point and a second time point later than the first time point, and corresponding geographic location information of the soil elevation. The control and processing unit (220) of the second vehicle (200) is configured to receive soil elevation data from the at least one soil elevation sensor (210) and generate a soil surface contour map of the farmland at at least two different time points. The control and processing unit (120) of the first vehicle is configured to transmit the crop seed map of the farmland to the second vehicle (200) using the transceiver (140). The control and processing unit (220) of the second vehicle (200) is configured to receive the crop seed map of the farmland from the first vehicle (100) using the transceiver (230). The control and processing unit (220) of the second vehicle (200) is configured to compare the soil surface contour map and the seed map to identify differences in soil elevation contours unrelated to seed growth of the seeds planted on the farmland and to generate a weed control agent spraying map.

15. The system (300) for weed control management according to claim 14, wherein the first vehicle further comprises at least one soil elevation sensor (112). The at least one soil elevation sensor (112) of the first vehicle is configured to collect soil elevation data, which includes the elevation measurement on the farmland at the first time point and the corresponding geographical location information of the soil elevation. The control and processing unit (120) of the first vehicle is configured to receive soil elevation data from the at least one soil elevation sensor (112) to generate a soil surface contour map of the farmland at a first time point. The control and processing unit (120) of the first vehicle is configured to transmit the soil surface contour map of the farmland at a first time point to the second vehicle (200) using the transceiver (140). The control and processing unit (220) of the second vehicle (200) is configured to receive, using the transceiver (230), the soil surface contour map of the farmland at a first time point from the first vehicle (100).

16. The system (300) according to any one of claims 14 and 15, wherein the second vehicle (200) comprises: At least one weed control agent spraying unit (250). The at least one weed control agent spraying unit (250) is configured to spray weed control agent. The control and processing unit (220) of the second vehicle (200) is configured to control the at least one weed control agent spraying unit (250) according to the weed control agent spraying map.

17. A computer program product (400) for weed control management, said computer program product (400) being configured, when executed by a processor, to perform the following steps: a) Receive (410) geographic location information of crop seeds planted on farmland, b) Generate a (420) crop seed map based on the information received in step a). c) Receive (430) soil elevation data and corresponding geographic location information of the farmland where the crop seeds have been planted or are being planted at at least two different time points. d) Based on the information received in step c), generate (440) a soil surface contour map of the farmland, the soil surface contour map showing the soil surface contour at the at least two different time points. e) Compare the soil surface contour map with the crop seed map (450). f) Identify (460) differences in soil elevation profiles that are unrelated to seed growth of the seeds planted on the farmland. g) Generate (470) a weed control agent spraying map based on the differences in soil elevation identified in the farmland that are unrelated to the seed growth of the crop seeds planted in the farmland.

18. The computer program product (400) for weed control management according to claim 17, comprising the additional step: e) Instruct (480) vehicles to apply the weed control agent to the farmland according to the weed control agent spraying map.

Images