Method for detecting and treating plants and plant treatment device

Abstract

The invention relates to a method for detecting and processing plants by means of a plant processing device, said plant processing device having at least one camera module (1) and at least one processing module (2) and an electronic control unit (3), at least one image of at least one or more individual plants (7) being detected by means of the camera module (1), the individual detected individual plants are then distinguished in the electronic control unit (3) by stored plant information on the basis of the image of the at least one individual plant (7), whether the individual plant is a planted plant or a non-cultivated plant is determined, and wherein at least one piece of position information is assigned to the individual plant (7), the liquid (5) is then fed and / or sprayed onto the non-cultivated plants by means of the processing module (2) via at least one nozzle of the processing module (2) when the individual non-cultivated plants have been identified.

Description

Technical Field

[0001] The invention relates to a method according to the preamble of claim 1 and a plant treatment device. Summary of the Invention

[0002] The object of the present invention is to provide a relatively environmentally friendly and / or cost-effective and / or highly automated and / or precise method for removing or suppressing weeds.

[0003] According to the invention, this object is achieved by a method according to claim 1 and a plant treatment device according to claim 12 .

[0004] Non-cultivated plants are preferably understood to be weed plants.

[0005] Preferably, the liquid has or is water at a temperature of at least 90° C., in particular at least 100° C. Particularly preferably, the liquid and / or water is sprayed and / or conveyed onto the detected and evaluated / identified non-cultivated plants, in particular via one or more nozzles, at a pressure of 0.5 bar to 5 bar.

[0006] The liquid preferably also has a foam which is particularly biodegradable and / or substantially non-toxic. Particularly preferably, the foam is sprayed or delivered after the water is sprayed or delivered.

[0007] Preferably, the detected position information of each individual plant includes two-dimensional position information and additional height information or three-dimensional position information of the processing module from the ground where the plant is located.

[0008] Conveniently, the processing module has a nozzle matrix.

[0009] The plant treatment device preferably detects movement information relative to the ground, in particular by means of a camera module and / or a satellite navigation system and / or an additional speed sensor and / or at least one inertial sensor. The speed sensor is particularly preferably designed on / in a support wheel of the treatment module, which supports the plant treatment device, or in this case, the support wheel rolls on the ground and simultaneously detects the speed of the plant treatment device over the ground via at least one sensor element.

[0010] The plant treatment device preferably has at least one active lighting unit, in particular for a camera, which particularly preferably comprises an LED.

[0011] The camera module advantageously comprises two or three or more cameras, which are particularly arranged side by side, wherein the cameras detect plants using different wavelengths and / or spectra. Particularly preferably, at least two of the cameras are oriented at different angles relative to the ground.

[0012] The treatment module preferably has additional nozzles for delivering and / or spraying the foam.

[0013] Preferably, the treatment module has at least one chopping device which, in addition to the detected plant rows, is also capable of mechanically treating the ground, in particular of weeding and / or scraping and / or digging it.

[0014] The plant treatment device is preferably arranged on or at a vehicle, in particular on / at a trailer which can be towed by a tractor or can be fastened to a tractor.

[0015] The method expediently comprises software or a computer program product, the computer program product being executed in particular on an electronic control unit ECU.

[0016] Preferably, the position of individual plants at their roots is identified, or the roots are located two-dimensionally on the ground or field.

[0017] Preferably, whether the detected individual plants are cultivated crops or non-cultivated plants is evaluated or differentiated based on stored plant differentiation parameters or plant information, in particular by an electronic control unit, conveniently based on the shape and / or structure and / or color of the corresponding plant.

[0018] Along the moving direction of the plant processing device above the ground, the camera module is preferably moved first to above the plants to be inspected, and then the processing module is moved to above the plants.

[0019] Preferably, the at least one camera is arranged more than 0.4 m or approximately 1 m from the ground, and the nozzle of the processing module is arranged more than 0.05 m, in particular between 0.08 m and 0.1 m from the ground.

[0020] The at least one nozzle of the processing module conveniently has a triangular outlet opening.

[0021] A vehicle is preferably to be understood as an independent vehicle or, alternatively, as a vehicle trailer.

[0022] The camera module is expediently designed and used in such a way that it detects one or more plant rows and in particular also fallow paths beside and / or between the plant rows.

[0023] Preferably, the method is further developed so that in the event that a particular individual plant cannot be identified, positive selection is performed on it as a plant crop. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1An exemplary embodiment of a plant treatment device is schematically shown, which comprises at least one camera module 1 and at least one processing module 2 as well as an electronic control unit 3 . DETAILED DESCRIPTION

[0025] Here, the plant treatment device has a fastening frame 4 to which the treatment module 2 and the camera module 1 are fastened.

[0026] Camera module 1 includes multiple cameras 13 and lighting units 12, such as LEDs. At least two of these cameras have different orientations relative to the ground 8, over which the plant treatment device moves in a direction v. For example, cameras 13 detect different light spectra / wavelengths. The cameras are exemplarily mounted or positioned at a height c, 6 of approximately 1 meter above ground 8. The cameras detect individual plants 7. Processing module 2 is positioned behind camera module 1 at a distance d relative to the direction of movement v. The nozzles of the nozzle matrix of processing module 2 are arranged at a height b above ground 8, for example, 8 cm. If an individual plant 7 is identified and assessed as non-cultivated, water 5 at a temperature exceeding 100°C is sprayed onto the non-cultivated plant using these nozzles at a pressure exceeding 1 bar.

Claims

1. A method for detecting and treating plants by means of a plant treatment device, The plant treatment device comprises at least one camera module (1), at least one processing module (2) and an electronic control unit (3). It is characterized in that detecting at least one image of at least one or more individual plants (7) by means of the camera module (1), Then, based on the image of the at least one individual plant (7), the detected individual plants are distinguished in the electronic control unit (3) by means of the stored plant information, determining whether the single plant is a cultivated crop or a non-cultivated plant, and wherein at least one position information is assigned to the individual plant (7), After the individual non-cultivated plants have been identified, the treatment module (2) then delivers and / or sprays the liquid (5) onto the non-cultivated plants via at least one nozzle of the treatment module (2).

2. The method according to claim 1, characterized in that The liquid (5) is water having a temperature of at least 90°C, in particular at least 100°C.

3. The method according to claim 2, characterized in that The liquid (5) also includes foams, which are particularly biodegradable.

4. The method according to at least one of the preceding claims, characterized in that The detected position information of each individual plant (7) includes two-dimensional position information and additional height information (b) or three-dimensional position information of the processing module (2) from the ground (8) where the plant (7) is located.

5. The method according to at least one of the preceding claims, characterized in that The processing module (2) has a nozzle matrix.

6. The method according to at least one of the preceding claims, characterized in that The plant treatment device detects movement information (v) relative to the ground (8), in particular by means of the camera module (1) and / or a satellite navigation system and / or an additional speed sensor and / or at least one inertial sensor.

7. The method according to at least one of the preceding claims, characterized in that The plant treatment device has at least one active lighting unit (12), in particular for a camera.

8. The method according to at least one of the preceding claims, characterized in that The camera module (1) has two or three or more cameras (13), which are in particular arranged next to one another, wherein the cameras (13) detect the plants (7) using different wavelengths and / or spectra.

9. The method according to at least one of the preceding claims, characterized in that The treatment module (2) has additional nozzles for delivering and / or spraying foam.

10. The method according to at least one of the preceding claims, characterized in that The processing module (2) has at least one chopping device which, in addition to the detected plant rows, is also capable of mechanically processing the ground (8), in particular weeding and / or scraping it.

11. The method according to at least one of the preceding claims, characterized in that The plant treatment device is arranged on or at a vehicle.

12. A plant treatment device, comprising at least one camera module (1), at least one processing module (2) and an electronic control unit (3), characterized in that: The plant treatment device is designed to carry out the method according to any of the preceding claims.

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