Method for detecting and processing a plant using a plant identification device and plant
By using a plant identification device with a multi-frequency range camera and electronic control unit to identify weeds, the environmental harm caused by herbicides is solved, and efficient and precise weed control is achieved, thus protecting crops.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-19
- Publication Date
- 2026-04-17
AI Technical Summary
In the existing technology, the use of herbicides and pesticides is harmful to the environment and makes it difficult to efficiently and accurately distinguish and treat weeds and crops.
The device employs a plant identification system that uses a camera module with multiple frequency ranges and spectrums to capture plant images. It combines an electronic control unit and a neural network to identify crops or weeds, and then uses a processing module to spray liquid or laser to treat weeds.
It achieves environmentally friendly weed removal, improves the accuracy and automation of distinguishing between crops and weeds, and reduces the impact on crops.
Smart Images
Figure CN121889028A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to a method for capturing and processing plants by means of a plant identification device, and a plant identification device of this type. Background Technology
[0002] Cultivated plants are typically sown across large fields using agricultural machinery and harvested after reaching maturity. Between sowing and harvesting, the plants are in a growth phase and require nutrients, which they absorb from the soil. To ensure maximum nutrient supply during this phase, one measure is to remove unwanted plants (also known as weeds) so that they do not additionally absorb sunlight and / or deprive the cultivated plants of nutrients. The conventional method used for this is to apply herbicides or pesticides to the field and thus to the cultivated plants. However, this method has been criticized due to increased social environmental awareness, as it can damage the environment and may be absorbed by humans through the cultivated plants. Summary of the Invention
[0003] The purpose of this invention is to provide a relatively environmentally friendly and / or cost-effective and / or highly automated and / or precise method and apparatus for removing or suppressing weeds.
[0004] According to the present invention, this objective is achieved by a method for capturing and processing plants using a plant identification device, and a plant identification device of this type. The plant identification device has at least one camera module and an electronic control unit. The at least one camera module captures at least one image of at least one individual plant. Based on the image of the at least one individual plant, the electronic control unit, using stored plant information, distinguishes each captured individual plant as a crop or a weed. The at least one camera module records the image of the at least one individual plant at at least two different frequency ranges and / or spectra.
[0005] The camera module enables the creation of images of individual plants across multiple frequency ranges or spectra. Crops and weeds that are indistinguishable or difficult to distinguish in one frequency range and / or spectrum can be more easily distinguished in another. Recording individual plants with different frequency ranges or spectra has the advantage of providing higher-level information that can be used to evaluate individual plants.
[0006] Images can be viewed individually. Alternatively, these individual images of the same single plant can be combined or integrated to form a single image. This results in a single image with high information content, which is evaluated by the control unit, and based on the evaluation result, the nozzle of the processing module is actuated to apply liquid to the identified weed.
[0007] The control unit makes an independent decision about the presence of crops or weeds. The electronic control unit can be connected to a neural network that has been trained to identify weeds.
[0008] If weeds are identified, they can be removed using a treatment module. For example, for each type of weed identified, the treatment module can be used to apply and / or spray liquid onto the weeds or weeds using at least one nozzle of the treatment module.
[0009] The applied liquid is preferably water, especially water heated to a high temperature. This also provides an ecologically sustainable form of weed killer that protects crops and their environment from pesticide effects.
[0010] However, liquids are not limited to water. Instead, they can include all common agricultural liquids and weed control methods.
[0011] Alternatively, other means or methods suitable for killing weeds, especially ecologically killing weeds, can be used, such as applying high heat, for example by means of laser.
[0012] This method and apparatus ensure that weeds growing near a crop can be clearly distinguished from the crop. The weeds can then be treated to kill them in a desired manner, thus preventing them from drawing nutrients from the crop.
[0013] The frequency range preferably includes the RGB spectrum or the infrared spectrum, particularly the near-infrared spectrum, especially the frequency range of 790 nm and / or 690 nm. This enables the analysis of individual plants with high information content and the making of decisions about them.
[0014] The camera module preferably includes at least one illuminator. This illuminator can illuminate individual plants to capture images. This allows for better image illumination, especially under changing light conditions, and thus improves image quality.
[0015] The illuminator is simultaneously actuated or activated during the capture of an image of at least one individual plant. In this context, "simultaneously" means actuating both the camera and the illuminator at the same time. This can reduce the energy consumption of the illuminator or allow the illumination to be matched to a corresponding frequency range and / or spectrum.
[0016] The illuminator can preferably be an LED, which has the advantage of low energy consumption. Alternatively, the illuminator can be any light source, such as an incandescent lamp or a gas discharge lamp. An incandescent lamp can be a general-purpose lamp, a halogen lamp, or a projection lamp. A gas discharge lamp can be a low-pressure or high-pressure gas discharge lamp or an induction lamp. In this case, the individual plant is continuously illuminated during image recording (i.e., both before and after image recording).
[0017] Furthermore, the frequency range / spectrum of the illuminator can be matched with the frequency range / spectrum of the camera module; in particular, the frequency range / spectrum of the illuminator essentially corresponds to the frequency range / spectrum of the camera module. Matching the frequency ranges of the illuminator and the camera module allows for the production of exceptionally high-quality images, thereby enabling the acquisition of even better information about the individual plant being recorded.
[0018] The illumination module is preferably actuated to illuminate the individual plant in a substantially uniform manner. This can be accomplished by comparing images of the individual plant recorded consecutively at two different times. For example, if the later recorded image is darker, the time for activating the illumination can be chosen earlier, or the intensity of the light source can be increased to achieve constant exposure again. Alternatively, the exposure time of the illumination module can be manually set or determined by the operator.
[0019] The camera module preferably has at least two cameras. Each camera captures images within a specific frequency range or spectrum. By taking multiple images at different frequency ranges, different information about the plant, such as its condition and / or size, can be determined. Each camera can be optimized for its corresponding frequency range and / or spectrum to produce better image quality.
[0020] The recording times of individual plant images from cameras of at least one camera module are preferably synchronized with each other. In this context, synchronization means recording images at the same time (i.e., simultaneously or substantially simultaneously). This ensures that individual plants appear identical or at least similar in all synchronously recorded images.
[0021] At least two cameras are preferably arranged such that the images from the cameras have maximum overlap. This is advantageous because it creates images that can be combined without any further significant effort to form a single image composed of multiple individual images. This can be achieved, in particular, by overlaying individual images.
[0022] Furthermore, the camera module, particularly at least one camera, is oriented substantially vertically downwards. This has the advantage that the height of the processing module relative to the agricultural land is irrelevant when determining the location of weeds, because the coordinate systems of the camera and the processing module are the same. Therefore, when the camera records an image at an angle offset from the vertical direction of the processing module, the location of the weeds can be determined without any complex calculations.
[0023] Alternatively, a camera module may have only one camera that records images at different frequency ranges or spectrums. This can have the advantage of allowing the camera module to be designed to be more compact.
[0024] At least one camera module preferably records at least 10 photos per second or records images of the at least one individual plant at a cycle frequency of 10 Hz.
[0025] Images from a single camera are preferably recorded in at least three different frequency ranges. These ranges are preferably in the RGB spectrum and two infrared spectra in order to obtain appropriate information for determining whether it is a crop or a weed.
[0026] The frequency range of the lighting device preferably corresponds substantially to the frequency range and / or spectrum of the camera module. This enables the generation of highly informative recorded content, and makes it easier to identify weeds.
[0027] Furthermore, the illumination device has multiple illuminators. The frequency range of each illuminator corresponds to one of the frequency ranges of the camera module in its respective case. Therefore, each camera or camera module has an illumination device that emits light within the frequency range or spectrum of the image recorded by the camera. For example, the camera records images with a frequency range of 690 nm. For this camera, there is an illuminator that emits light with a frequency range of 690 nm.
[0028] The location of individual plants is preferably captured and output, particularly to a processing module connected to a plant identification device for weed control. A camera is used to capture the images. The images are then analyzed and evaluated using software or a computer-aided program, and the coordinates of the plants are determined. The processing module can be any type of component or device for removing / combating weeds, such as a device for spraying or delivering hot water to weeds, or a laser device for combating or destroying weeds using a laser beam.
[0029] For example, the nozzle is permanently installed, and the coordinates of the individual plants identified as weeds are compared with the coordinates of the nozzle. When the coordinates of the weed and the coordinates of the nozzle substantially correspond, the nozzle is turned on and liquid is sprayed onto the weed, causing the weed to die.
[0030] Preferably, a controller is provided that synchronizes the lighting module, particularly the illuminator, with the camera module, particularly the camera, in a timely manner. For example, the controller can be used to variably actuate the power supply of the lighting module. The exposure of individual plants can be adjusted according to the current and duration, allowing the exposure to respond to changing external influences (such as weather changes) to ensure consistent recording quality and thus consistent quality of information about individual plants. This control can be implemented, for example, by means of a circuit board and associated electronic components.
[0031] Furthermore, the processing module has a housing, particularly a waterproof housing, which includes a light-transmitting area for the camera module and lighting device. This protects the camera module and lighting device from environmental factors such as dirt and / or water, enabling both a longer component lifespan and consistent image quality. The light-transmitting area is preferably made of plastic. Alternatively, it may be made of glass.
[0032] For example, separate light-transmitting areas are provided for the camera module and the lighting device. This prevents the light from the lighting device from reflecting or refracting on the glass. This allows for high-quality recording and thus enables highly informative content about individual plants.
[0033] The light-transmitting area is preferably matched to, and optimized for, the frequency range of the processing module and the lighting device. This allows for the creation of images with high content information about individual plants. Attached Figure Description
[0034] Further advantages and features will become clear from the following description taken in conjunction with the accompanying drawings. In the drawings:
[0035] Figure 1 A schematic structure of a plant identification device with two separate cameras is shown.
[0036] Figure 2 As shown Figure 1 The schematic structure of the plant identification device with a camera module is shown.
[0037] Figure 3 A schematic structure of a plant identification device is shown when fluid is sprayed onto weeds. Detailed Implementation
[0038] Figure 1 A plant treatment device 10 is shown. The plant treatment device 10 is located, for example, on agricultural machinery, such as a tractor (not shown), and moves at a certain speed over an agricultural cultivated area 12. Crops 14 are planted on this cultivated area 12, and will grow for several months and be harvested when they reach the correct maturity. Weeds 16 also grow naturally among these crops, especially weeds that take nutrients from adjacent crops 14, resulting in crops 14 receiving less nutrition and thus providing lower crop yields.
[0039] The plant treatment device 10 has a plant identification device 18 and a treatment module 20.
[0040] The plant identification device 18 has a camera module 22, which in this exemplary embodiment has two cameras 24. Each camera 24 picks up a specific frequency range or spectrum and is a fixed component of the camera module 22, and is not a separate unit in this exemplary embodiment. The camera module 22 is connected to an electronic control unit 26 for signal transmission purposes. The connection can be wired or wireless.
[0041] The plant identification device 18 is housed within a housing 34. This protects the components of the plant identification device 18 from external environmental influences, thereby extending its lifespan. A light-transmitting area (not shown) is located within the housing 34 so that recording can still be performed by means of at least one camera module 22. This allows at least one camera to capture images. Similarly, at least one illuminator 32 can illuminate at least one individual plant 14, 16 through the light-transmitting area for capture purposes.
[0042] The processing module 20 consists of multiple nozzles 28 and a piping system (not shown) and is connected to an electronic control unit for signal transmission purposes. The nozzles 28 of the processing module 20 are arranged in parallel (i.e., side-by-side) rows in the direction of travel FR, forming multiple (e.g., four) nozzle rows. Alternatively, such nozzle rows can be arranged in series (i.e., sequentially) rows in the direction of travel FR. This allows the agricultural machine to move across the cultivated land area 12 at a limited speed, and, through proper nozzle design, ensures that weeds 16 can be sprayed multiple times and thus eradicated.
[0043] The supply and discharge lines (not shown) of the processing module 20 extend parallel to each other in the direction of travel FR. A plurality of nozzles 28 arranged perpendicular to the direction of travel FR are positioned between the supply and discharge lines.
[0044] Figure 2 It shows having with Figure 1 The plant identification device 10 explained herein is a plant identification device with a substantially similar design. In this exemplary embodiment, the difference lies in the camera module 22 of the plant identification device 18. Instead of two cameras 24 each analyzing a specific frequency range or spectrum, module 22 includes only a single camera 24 that simultaneously records multiple frequency ranges or spectra.
[0045] exist Figure 3The process of spraying weeds 16 using the plant identification device 10 is shown and explained in more detail below. The plant identification device 10 moves across the agricultural cultivated area 12 using agricultural machinery. Here, both crops 14 and weeds 16 move through the fields of view (dashed arrows) of two cameras 24. The fields of view of the cameras 24 point downwards perpendicular to the direction of travel FR in the direction of individual plants 14, 16, resulting in the indifference of height above the ground when determining the position of individual plants.
[0046] Two cameras 24 each record images within different frequency ranges, which yields higher information about individual plants 14 and 16 located within the field of view. The more cameras used with different frequency ranges or spectra, the higher the information content about individual plants.
[0047] The two cameras 24 have almost identical fields of view. The two images captured by the cameras 24 are transmitted to the electronic control unit 26 for signal transmission purposes and are thus processed.
[0048] If the electronic control unit 26 identifies a single plant as a weed 16, it stores its location. If the nozzle 28 of the processing module 20 is then located at or near the storage location of the weed 16, the nozzle is activated and the weed 16 is sprayed with heated liquid 30.
[0049] As the processing module 20 continues to move due to the speed of the agricultural machine, the nozzles 28 in the next row of nozzles are actuated once they are above or near the weeds 16, and the heated liquid 30 is sprayed onto the weeds 16 again. This continues until all the nozzle rows of the processing module 20 have moved past the identified weeds 16.
[0050] If it is a large weed, then activate several nozzles 28 located in the nozzle row.
[0051] If weed 16 is too close to crop 14 and spraying the crop cannot be avoided, the nozzle 28 is not activated when it is above the identified weed 16.
[0052] In agriculture, work occasionally takes place on farmland 12 until dusk, late at night, or even in inclement weather. To enable the use of the plant identification device 10 even under these conditions, an illuminator 32 is attached to the camera module 22. This ensures optimal lighting conditions for capturing individual plants. For example, a separate illuminator 32 is provided for each camera 24 of the camera module 22. The corresponding illuminator 32 for each camera 24 is advantageously matched to the frequency range or spectrum of that camera 24. However, it is also conceivable to attach only a single illuminator, such as an LED strip.
[0053] The electronic control unit 26 adjusts the exposure time or intensity of the illuminator 32 based on existing environmental influences. For example, for this purpose, two images recorded consecutively at different times are compared. If the latter image appears darker due to changes in environmental influences, the current or exposure time can be increased so that the recording quality and therefore the information content about the individual plants 14, 16 are essentially the same again. If the latter image is too bright, the current or exposure time can be decreased so that the recording quality is again essentially the same.
[0054] To reduce power consumption, the illuminator 32 is enabled only during the recording time of either the camera module 22 or the individual camera 24.
[0055] The statements made above also apply to Figure 1 Exemplary embodiments are shown below.
[0056] List of reference numerals
[0057] 10 Plant Identification Devices
[0058] 12 agricultural arable land
[0059] 14 crops
[0060] 16 Weeds
[0061] 18 Plant Identification Devices
[0062] 20 processing modules
[0063] 22 camera modules
[0064] 24 cameras
[0065] 26 Electronic Control Units
[0066] 28 nozzles
[0067] 30 Heated liquids
[0068] 32 illuminators
[0069] 34 housing
[0070] FR direction of travel.
Claims
1. A method for capturing a plant by means of a plant recognition device (18), wherein, The plant identification device (18) has at least one camera module (22) and a control unit (26), wherein at least one image of at least one individual plant (14, 16) is captured by means of the at least one camera module (22), and according to the method, based on the image of the at least one individual plant (14, 16), the electronic control unit (26) distinguishes each captured individual plant (14, 16) as a crop (14) or a weed (16) by means of stored plant information, characterized in that the at least one camera module (22) records the image of the at least one individual plant (14, 16) at at least two different frequency ranges / spectrums.
2. The method of claim 1, wherein, The frequency range includes the RGB spectrum or infrared spectrum, especially the near-infrared spectrum, and particularly the frequency range of 790 nm and / or 690 nm.
3. The method of any one of claims 1 and 2, wherein, The camera module (22) includes at least one lighting module (32), wherein the individual plant (14, 16) can be illuminated by means of the at least one lighting module (32) to record the image.
4. The method of claim 3, wherein, The illuminator (32) is simultaneously actuated / enabled during the capture of an image of at least one individual plant (14, 16).
5. The method of any one of claims 3 and 4, wherein, The frequency range / spectrum of the illuminator matches the frequency range / spectrum of the camera module; in particular, the frequency range / spectrum of the illuminator substantially corresponds to the frequency range / spectrum of the camera module.
6. The method of any one of claims 3 to 5, wherein, The lighting module is activated to illuminate the individual plants in a substantially uniform manner (14, 16).
7. The method as described in any one of the preceding claims, characterized in that, The camera module (22) has at least two cameras (24), each of which captures an image within a frequency range / spectrum.
8. The method of claims 1 to 3, wherein, The recording times of individual images of the plants (14, 16) of the at least one camera module (22) are synchronized with each other.
9. The method of any one of claims 1 to 6, wherein, The camera module (22) has a camera (24) that records images at different frequency ranges / spectrums.
10. The method of any of the preceding claims, wherein, The at least one camera module (22) records at least 10 photos per second or records images of the at least one individual plant (14, 16) at a cycle frequency of 10 Hz.
11. The method as described in any one of the preceding claims, characterized in that, Images from these individual cameras (24) were recorded in at least three different frequency ranges.
12. The method of any of the preceding claims, wherein, The location of the individual plant (14, 16) is captured and output, in particular, to the processing module (20), which is connected to the plant identification device (10) for processing the weeds (16).
13. A plant recognition device (18) for capturing and processing plants by means of a plant recognition device (18), wherein The plant identification device (18) has at least one camera module (22) and an electronic control unit (26), wherein it is capable of capturing at least one image of at least one individual plant (14, 16) by means of the at least one camera module (22), and according to the method, based on the image of the at least one individual plant (14, 16), it is possible to distinguish whether the individual plant (14, 16) is a crop (14) or a weed (16) in the electronic control unit (26) by means of stored plant information, characterized in that the at least one camera module (22) records the image of the at least one individual plant (14, 16) at at least two different frequency ranges / spectrums.
14. The plant recognition apparatus according to claim 13, wherein The camera module (22) has at least two cameras (24), each of which captures images in a frequency range / spectrum.
15. The plant recognition apparatus according to claim 14, wherein The at least two cameras (24) are arranged such that the images from these cameras (24) have maximum overlap.
16. The plant recognition apparatus according to claim 15, wherein The camera module (22) has a camera (24) that records images at different frequency ranges / spectrums.
17. The plant identification device as described in any one of claims 13 to 16, characterized in that, The camera module, in particular the at least one camera, is oriented substantially vertically downwards.
18. The plant identification device as claimed in any one of claims 13 to 17, characterized in that, The camera module (22) includes at least one lighting device (32), wherein the individual plant (14, 16) can be illuminated by means of the at least one lighting device (32) to record the image.
19. The plant identification device as described in claim 18, characterized in that, The frequency range of the lighting device substantially corresponds to the frequency range and / or spectrum of the camera module.
20. The plant identification device as claimed in any one of claims 18 and 19, characterized in that, The lighting device has multiple illuminators, wherein the frequency range of each illuminator corresponds to one of the frequency ranges of the camera module in each case.
21. The plant identification device as described in claim 20, characterized in that, The illuminator is an LED.
22. The plant identification device as described in any one of claims 19 to 21, characterized in that, A controller is provided that enables timely synchronization between the lighting module, particularly the lighting body, and the camera module, particularly the camera.
23. The plant identification device as described in any one of claims 13 to 22, characterized in that, The processing module has a housing, particularly a waterproof housing, wherein the housing has a light-transmitting area for the camera module and the lighting device.
24. The plant identification device as described in claim 23, characterized in that, These light-transmitting areas are matched to the frequency range of the processing module and the lighting device, and are specifically optimized for these frequency ranges.