Device and method for needs-based plant treatment

Abstract

The invention relates to an agricultural machine and a method for needs-based plant treatment, comprising several treatment organs arranged laterally to a direction of advance, at least one detection device for detecting an area of ​​land located in the direction of advance in front of the treatment organs, an evaluation device for evaluating data detected by the at least one detection device, and a control device for controlling the treatment organs.In order to supply a recognized treatment need to a control unit controlling treatment organs in an economical and resource-saving manner, it is provided that the evaluation unit is configured to divide the area detected by the detection unit into sub-areas, to identify at least one sub-area in which control of at least one treatment organ is required, starting from a starting point, preferably for each sub-area, particularly preferably for each identified sub-area, to determine a temporal and / or spatial distance to a point at which control of the at least one treatment organ is to be carried out.

Description

[0001] The invention relates to an agricultural machine for needs-based plant treatment according to the preamble of the patent claim. 1 as well as a method according to the preamble of claim 10.

[0002] Maintaining a crop stand on agricultural land requires plant treatment. This can involve treating unwanted plants as well as the crops themselves. Unwanted plants can be controlled mechanically or thermally by applying a plant-damaging agent, such as a herbicide. Crops can be treated by applying a plant-growth-promoting agent, such as a fertilizer, fungicide, or insecticide.

[0003] Often, such treatment is carried out across the entire area, resulting in large areas being treated unnecessarily. This leads to time-consuming and / or costly overtreatment and, particularly when applying active ingredients, to significant and avoidable environmental pollution.

[0004] To avoid these disadvantages, the state of the art proposes a needs-based treatment.

[0005] DE 10 2016 005 023 A1 describes the recording of the subsurface using a camera. If a need is detected by this camera, the application of an active ingredient is initiated via an evaluation unit at the corresponding location.

[0006] A similar procedure is disclosed in DE 41 32 637 C2. Using optical sensors and a spectral analysis of the recorded data, a weed cover level is determined as the basis for treatment. Treatment is then triggered based on threshold values.

[0007] The state of the art therefore only indicates that the need for treatment can be detected visually.

[0008] The present invention is therefore based on the objective of supplying a recognized treatment need to a control device controlling treatment organs in an economical and resource-saving manner.

[0009] The object of the invention is achieved by the characterizing features of claim 1. Advantageous embodiments are described in the dependent claims.

[0010] According to the invention, the evaluation unit is configured as follows: - to subdivide the area covered by the detection device into sub-areas, - to identify at least one sub-area in which the control of at least one treatment organ is required, - starting from a starting point, preferably for each sub-area, particularly preferably for each identified sub-area, to determine a temporal and / or spatial distance to a point at which the control of the at least one treatment organ is to be carried out.

[0011] An agricultural machine according to the invention can be designed for the mechanical or thermal treatment of plants, in particular as a hoeing machine. In such a case, the treatment elements are designed as tools for the mechanical or thermal treatment of plants, in particular as hoeing tools.

[0012] An agricultural machine according to the invention can be configured as an application machine for dispensing active ingredients. The active ingredients can be in solid, for example granular, or liquid form and contain at least one active ingredient. In the case of an application machine, the treatment components are configured as dispensing components. Preferably, the agricultural machine is configured as a field sprayer.

[0013] If the agricultural machine is designed as an application machine, particularly a field sprayer, the application elements can each comprise one or – as a multi-nozzle – several nozzles. The nozzles are designed for the atomizing application of liquid active ingredients. The nozzles can have identical properties or – particularly as nozzles of multi-nozzles – different properties. Several nozzles or multi-nozzles can also be combined into a single boom section; in this case, the boom sections can be considered application elements.

[0014] Furthermore, a combination of the aforementioned machine types may fall under the scope of the present invention. A machine may also comprise several types of treatment elements.

[0015] The treatment elements are mounted on a frame or linkage of the machine and, at least in the working position, are arranged laterally to one direction of travel of the machine. The treatment elements are arranged at fixed, preferably uniform, intervals from one another.

[0016] The machine comprises at least one sensing device, which is arranged at a defined position on the frame or linkage. The at least one sensing device has a defined position and / or orientation relative to the area of ​​the agricultural land located in front of the treatment components. The at least one sensing device is configured to detect an area of ​​the agricultural land located in the direction of travel in front of the treatment components. The at least one sensing device generates a data set, preferably two-dimensional, which includes properties of the area located in front of the treatment components. All imaging properties of the sensing device are known.

[0017] The machine comprises an evaluation unit for evaluating the data acquired by the at least one acquisition unit. According to the invention, the evaluation unit is configured to subdivide the acquired area into sub-areas. Furthermore, according to the invention, the evaluation unit identifies at least one sub-area in which the activation of a treatment element is required.

[0018] Controlling a treatment element, for example in mechanical crop treatment machines, can involve the appropriate positioning of a tool. In application machines, controlling a treatment element can include activating, deactivating, adjusting the application rate, and / or adjusting the application characteristics. A treatment element can therefore be in various control states.

[0019] The need for control arises from an evaluation of the properties of the monitored area. The evaluation unit is designed to derive the presence and / or position of plants to be treated from these properties within the monitored area. Species, quantity, density, distribution, or other relevant parameters relating to the plants to be treated can be derived. This can be achieved through spectral analysis, pattern recognition, the use of one or more threshold values, or other known methods.

[0020] Due to the defined position and / or orientation, as well as the known imaging characteristics of the detection device, and given the known height and / or orientation of the machine's frame or linkage or the detection device relative to the usable area, the dimensions of the detected area are known. This means that the identified sub-areas correspond to actual areas of the detected usable area.

[0021] Thus, a control requirement can be assigned both a point in the data set and a location on the usable area.

[0022] The time and / or location of data collection forms the starting point for subsequent analysis of the collected data by an evaluation unit. This starting point is transmitted to the evaluation unit along with the data set. Based on this starting point, the evaluation unit determines a temporal and / or spatial distance to a point at which at least one treatment organ is to be activated.

[0023] The point at which the at least one treatment element is to be activated can coincide with the point at which activation of the at least one treatment element is required. However, it can also be stipulated that the point at which activation of the at least one treatment element is to be performed differs from the point at which activation of the at least one treatment element is required. This is advantageous, for example, to compensate for machine inertia and to ensure that activation is performed—i.e., triggered—at a suitable point, so that activation actually occurs at the point of requirement. In this way, the precision of a treatment can be significantly increased.

[0024] All defined points, i.e., the starting point as well as points of a control requirement or the execution of a control, can be synchronized with an internal system time of the acquisition device, the evaluation device, and / or the control device. Thus, a unique timestamp can be advantageously assigned to each point. This timestamp is synchronized with the system time available to every signal-connected device of the machine, in particular the acquisition device, the evaluation device, and the control device.

[0025] The evaluation unit determines the distance between the starting point and the point of a control requirement. This distance can initially be determined within the two-dimensional data set. For example, if the data set is in the form of an image, this distance can be measured in pixels.

[0026] Based on the known dimensions of the scanned area and the machine's known forward speed, the evaluation unit converts spatial distances into temporal intervals. The calculated distance, measured in pixels, within the data set can then be correlated with the actual dimensions of the scanned area and the forward speed. Thus, once the temporal interval has elapsed, at least one treatment element can be activated at the corresponding location within the usable area.

[0027] Alternatively or additionally, a spatial distance can be determined using the evaluation device based on the known dimensions of the detected area, which is then related to the usable area by means of a position detection system of the machine in order to carry out control at the corresponding location of the usable area.

[0028] It may be possible to use both the temporal and spatial distance to increase the accuracy of the determination through combination.

[0029] Identifying sub-areas of the recorded area where control of at least one treatment organ is required is advantageous because it reduces the amount of data to be processed.

[0030] The plan is to generate control commands based on the described evaluation, which a control unit then uses to actuate at least one treatment element. Generating and transmitting control commands only for identified sub-areas saves resources, as only those treatment elements whose activation is actually required are actuated. The evaluation unit, the control unit, and the bus system that connects them and the treatment elements are not unnecessarily burdened. In particular, the bandwidth of known bus systems is limited, thus advantageously leaving a larger portion available for other control commands, such as those relevant to safety.

[0031] Preferably, a temporal and / or spatial distance from a starting point to a point where control of at least one treatment organ is to be carried out is determined for each sub-area.

[0032] Particularly preferred is a temporal and / or spatial distance from a starting point to a point where control of at least one treatment organ is to be carried out for each identified sub-area.

[0033] It can be advantageous if the activation of at least one treatment organ and / or the need for activation depends on the current activation state of that at least one treatment organ. For example, it can be provided that activation only occurs and / or the need for activation is only recognized if the required target activation state differs from the current actual activation state.

[0034] For example, if the presence of plants requiring treatment is detected and at least one of the corresponding treatment devices is deactivated (actual control state), a requirement is recognized and a control signal is triggered to activate that at least one treatment device (target control state). The same principle applies to other previously described control states.

[0035] For example, if the presence of plants requiring treatment is detected and at least one treatment device is activated (actual control state), no requirement is recognized and no control action is performed, because the target control state already corresponds to the actual control state. The same applies analogously to other previously described control states.

[0036] This approach advantageously leads to a further reduction in the amount of data to be processed.

[0037] It is further advantageous that the sub-areas are arranged laterally to the direction of advance and / or assigned to one or more treatment elements. This allows for the simple determination of the temporal and / or spatial distance for the corresponding treatment elements assigned to the identified sub-areas, as described above. These treatment elements can then be targeted precisely.

[0038] The sub-areas preferably cover the entire area being surveyed. It is particularly preferred that the sub-areas have the same dimensions, at least in the lateral direction.

[0039] Preferably, the number and / or lateral dimensions of the sub-areas into which the measured area of ​​the cultivated land is divided by the evaluation unit correspond to a working area and / or a working width of a treatment element with respect to the cultivated area. This advantageously establishes a clear assignment between the treatment elements, their working areas and / or working widths, and the sub-areas. This enables very precise plant treatment.

[0040] Particularly preferably, the evaluation unit is configured to adapt the dimensions – especially the lateral dimensions – of the sub-areas to the working ranges and / or working widths of the treatment elements used. This allows for easy adaptation to changing properties of the treatment elements. Changing properties of treatment elements occur, for example, when the treatment elements are designed as multiple nozzles whose nozzles have different properties and the controlled nozzle is changed in a manner known per se.

[0041] It is further advantageous that at least one detection device is designed as an optical detection device, in particular as a camera, and preferably operates in the infrared, visible, or ultraviolet spectral range. Such a detection device is cost-effective and allows for a particularly simple application of the described procedure.

[0042] In particular, the properties of the surveyed area of ​​the cultivated land can be evaluated simply and reliably in the infrared, visible, or ultraviolet spectral ranges. Using methods known per se, the presence and / or position of other relevant parameters concerning the plants to be treated can be derived in these spectral ranges using the procedures described above.

[0043] Preferably, the data set generated by the at least one recording device is in the form of a two-dimensional image.

[0044] The recording of the area in front of the treatment components and / or the generation of the data set can preferably be carried out periodically. This advantageously enables the recording of the usable area along the entire travel path of the agricultural machine. The recording and / or data set generation is renewed whenever the agricultural machine has traveled a distance that, in the direction of travel, corresponds to the dimensions of the previously recorded area. This ensures comprehensive recording of the usable area.

[0045] Preferably, the frequency of data acquisition and / or data generation is linked to the machine's forward speed. At higher speeds, for example, a distance corresponding to the dimensions of the surveyed area is covered in a shorter time. Data acquisition then occurs at a higher frequency. This ensures precise and complete coverage of the usable area.

[0046] Given known imaging characteristics of at least one detection device, the dimensions of the detected area depend on the position and / or orientation of the detection device relative to the usable area. For example, if the position and / or orientation of the detection device relative to the usable area changes due to a change in the orientation of the frame or linkage supporting the detection device, this must be taken into account by the evaluation unit in the procedure described above. In particular, a new detection process must then be performed. This ensures that the specified temporal and / or spatial distances always correspond correctly to the actual usable area. In this way, the control of at least one treatment element is always implemented at the correct location within the usable area.

[0047] Advantageously, the starting point defines the time or place at which the area in front of the treatment organs is measured. This allows for the straightforward implementation of the previously described procedure. In particular, the temporal and / or spatial distances can be determined reliably and precisely.

[0048] It is advantageous that the evaluation device is configured to divide the area detected by the detection device into intervals, with the intervals being arranged in the direction of advance.

[0049] The intervals preferably cover the entire surveyed area. Preferably, the intervals have the same dimensions, at least in the direction of advance. In this way, the surveyed area is divided evenly in the direction of travel. Points in the dataset as well as locations on the working area can be assigned to the interval boundaries located in the direction of advance.

[0050] The interval boundaries are preferably aligned with the internal system time of the acquisition device, the evaluation device, and / or the control device. This advantageously assigns each boundary a unique timestamp. This timestamp is aligned with the system time available to each signal-connected device of the machine, in particular the acquisition device, the evaluation device, and the control device.

[0051] It is advantageous that the area detected by the detection device is divided into a grid of uniform grid fields by means of sub-areas arranged laterally to the direction of advance and by means of intervals arranged in the direction of advance, wherein the grid fields are limited laterally to the direction of advance by the boundaries of the sub-areas and in the direction of advance by the boundaries of the intervals.

[0052] Furthermore, it is advantageous that the evaluation unit is configured to identify at least one grid field in which control of at least one treatment element is required, and to determine, starting from a starting point, a temporal and / or spatial distance to the boundaries of the at least one grid field located in the direction of advance.

[0053] Grid cells with the same lateral position are assigned to the treatment organ(s) corresponding to that lateral position – analogous to the sub-areas. In particular, grid cells with the same lateral position are sub-areas of a sub-area; all grid cells with the same lateral position together form a sub-area.

[0054] The grid cells are assigned to one or more treatment organs, analogous to the sub-areas. In particular, grid cells in the same lateral position are assigned to the same treatment organ.

[0055] In this way, the amount of data to be processed can be further reduced and the evaluation of the captured area standardized. Advantageously, all grid cells of the captured area are evaluated uniformly. The requirement to activate at least one treatment element is determined analogously to the method described above. However, only the data relating to the identified grid cells need to be processed further.

[0056] Additionally, the boundaries of the evaluation unit's grid cells located in the direction of advance are already known. Therefore, it is not necessary to determine a temporal and / or spatial distance to a requirement for controlling at least one treatment element. In a significantly simplified manner, it is simply determined in which grid cell(s) such a requirement is met. The temporal and / or spatial distance to its boundaries or to the timestamps of the boundaries can then be easily determined.

[0057] The point at which the control of at least one treatment element is to be carried out lies on a boundary of such an identified grid field located in the direction of advance. This advantageously ensures that plant treatment is carried out according to the needs of the identified grid field.

[0058] Due to the dependence of the control of the at least one treatment organ on the current control state of the at least one treatment organ described above, a further simplification and reduction of the amount of data to be processed can be advantageously achieved.

[0059] For example, application is activated at the first boundary of the identified grid cell when viewed in the direction of advance. If, for instance, the presence of plants requiring treatment is inferred from the surveyed area for several grid cells of the same lateral position, the presence of these plants may extend beyond the second boundary of the grid cell when viewed in the direction of advance. In this case, application is not deactivated at this second boundary, as the presence of plants requiring treatment is also detected in the following grid cell. Control—that is, deactivation of the activated application—only occurs when a change from the presence to the absence of plants requiring treatment is detected within a grid cell.

[0060] In such a case, the point at which a treatment element is activated coincides with the first boundary of an identified grid cell (viewed in the direction of advance). The treatment is activated. Another point at which the treatment element is activated coincides with the second boundary of an identified grid cell of the same lateral position (viewed in the direction of advance). The treatment is deactivated. The two grid cells in question do not need to be adjacent. If the presence of plants to be treated extends across several adjacent grid cells of the same lateral position, the current activation state is maintained at the boundaries of adjacent grid cells.

[0061] Therefore, it is only necessary to process the temporal and / or spatial intervals and / or timestamps of the relevant boundaries of the grid fields and to transmit control commands based on these to a control device where control is actually carried out.

[0062] Alternatively or additionally, each grid cell can be assigned a unique identifier. Advantageously, the data can then be processed based on this unique identifier of the grid cells. If a grid cell is identified in the manner described above in which the control of at least one treatment element is required, the boundaries of this grid cell can be identified using its unique identifier. The control of the at least one treatment element is carried out analogously to the manner described above.

[0063] In a particularly simple way, only the identifier of an identified grid field needs to be processed, on the basis of which the control unit controls at least one treatment organ.

[0064] A particularly advantageous method is to generate a control data record via the identifier, which is always generated and processed in the same way. Each grid cell is assigned an indication of whether the treatment element associated with that grid cell requires activation. Such an assignment can, for example, be in the form of switching states "0" or "1".

[0065] In the manner described above, the evaluation unit and / or the control unit can then determine at which grid cells an activation action is to be performed. The determination of the temporal and / or spatial intervals is then also carried out in the manner described above.

[0066] In this way, a very resource-efficient tax data set can be generated from a very data-intensive data set from the data collection device.

[0067] A control data record of this kind is generated for each data record produced by the data acquisition device. The control data record can be in the form of a matrix or a string. In the case of a matrix, the identifier of a grid cell is encoded in its position within the matrix. In the case of a string, the identifier of a grid cell is encoded in its position within the string.

[0068] By performing the treatment as described above, between the first boundary of a first grid element (located in the direction of advance) for which a control requirement is detected, and the second boundary of a second grid element (also located in the direction of advance) for which a control requirement is detected, an area slightly larger than the extent of the plants to be treated is treated. While the data processing effort is minimal, complete treatment of the plants to be treated is ensured. This results in a particularly reliable treatment.

[0069] Advantageously, the control unit is configured to control at least one treatment organ from the starting point based on at least one of the following parameters: - temporal and / or spatial distance to the point at which control of at least one treatment organ is to be carried out; - temporal and / or spatial distance to the boundaries located in the direction of advance of at least one grid field in which control of at least one treatment element is required.

[0070] The control unit is thus provided with a unique criterion for controlling at least one treatment organ. This criterion can be given by at least one of the following parameters, as described above: - Waiting times and / or waiting distances until the control operation is carried out, - absolute times and / or timestamps and / or locations of the execution of the control - defined points within the recorded data set.

[0071] Based on the data transmitted by the evaluation unit, the control unit generates commands for suitable actuators to control the treatment organs.

[0072] In this proposed way, large data sets encompassing the properties of the area in front of the treatment organs are evaluated in a structured, resource-saving manner, and commands are generated for a control device to actuate the treatment organs.

[0073] It is essential that the evaluation unit takes into account the imaging characteristics of at least one detection device, as well as the position and / or orientation of at least one detection device relative to the working area, and the machine's current forward speed. All of these parameters influence the determination of the dimensions of the detected area, as well as the determination of the dimensions of sub-areas, intervals, and / or grid fields.

[0074] Therefore, it is particularly advantageous that the evaluation unit is configured to perform a calibration in order to change operating parameters of the evaluation unit and / or the control unit, whereby the calibration is triggered when at least one of the following parameters changes beyond a specified level: - relative position and / or orientation of the treatment organs relative to the area of ​​the body located in front of the treatment organs; - relative position and / or orientation of at least one detection device relative to the area of ​​the body located in front of the treatment organs; - Properties of the treatment organs used; - Propulsion speed and / or direction of movement of the treatment organs and / or the at least one detection device; - Rotation rates and / or orbital velocities of the treatment organs and / or the at least one detection device.

[0075] Such calibration, taking into account the imaging characteristics of at least one detection device, establishes a relationship between the dimensions of the detected area and the dimensions of the data set, sub-areas, intervals, and / or grid fields. This ensures that the usable area is always captured precisely and completely. Furthermore, it ensures that the specified temporal and / or spatial distances always correspond correctly to the actual usable area. In this way, the activation of at least one treatment device is always implemented at the correct location within the usable area.

[0076] It is advantageous that whenever any of the previously described parameters are changed beyond a defined threshold and / or after each calibration, a new data set is generated. This ensures that the evaluation is always based on the correct parameters.

[0077] The defined limit up to which a change in the parameters is accepted is chosen in such a way as to achieve the fastest possible adjustment and at the same time ensure a constant operating mode between calibrations, so that the calibration does not negate the advantages of the resource-saving evaluation.

[0078] Changes to the aforementioned parameters can occur at any time during operation of the agricultural machine. For example, the position and / or orientation of the frame and / or boom supporting the collection device and / or treatment elements may change relative to the field. This could be caused, for instance, by a planned adjustment of the frame's or boom's orientation and / or position to the field's contours to improve treatment quality. Changes in the properties of the treatment elements can also be a cause, as different treatment elements may be available for different treatment requirements. For example, treatment elements designed as nozzles may have different application characteristics for different application situations.

[0079] The machine's direction and speed of travel can also change. Turning maneuvers or curved track guidance can be the cause. If the machine's frame or linkage has a significant lateral extension, the treatment elements arranged laterally will reach different path speeds. For particularly precise treatment, such relative movement must be taken into account in the procedure described above. In particular, the boundaries of corresponding intervals in the direction of travel may then differ in the lateral direction.

[0080] Alternatively or additionally, a laterally extended frame or linkage can be set into vibration by the drive over an uneven surface. This leads to a relative movement of the collection device and / or treatment elements with respect to the agricultural machine. For particularly precise treatment, such relative movement must be taken into account in the procedure described above.

[0081] It is therefore particularly advantageous if such parameters influencing the dimensions of the sub-areas, intervals, and / or grid fields are taken into account and are known to the evaluation unit at all times. This ensures an exact determination of the temporal and / or spatial distances at all times. A particularly precise and reliable treatment of the plants to be treated can then be carried out.

[0082] The invention further extends to a method according to claim 10. Advantageous embodiments are described in the dependent claims. For the advantages of the method, reference is made to the preceding explanations.

[0083] Further details of the invention can be found in the description of the example and the drawings. The drawings show Fig. 1. An agricultural machine designed as a field sprayer, viewed from the rear. Fig. 2 a recorded area subdivided into sub-areas, Fig. 3 a recorded area divided into grid fields.

[0084] For the needs-based treatment of plants on agricultural land 1 can various agricultural machines 2 be provided for. In the exemplary embodiment of the Fig. Figure 1 shows an application machine designed as a field sprayer.

[0085] The present invention is not limited to such an application machine; analogously, the invention is also applicable to machines for mechanical or thermal plant treatment and / or other types of application machines.

[0086] The in Fig. 1. Spreading machine shown 2 includes a framework 3 on which a rod 4 is attached. The frame 4 is in relation to the frame 3 and / or the usable area 1 Adjustable in tilt and / or height. The frame 4 encompasses a wide variety of treatment organs 5 The treatment organs 5 In the present example, the Fig. 1. Designed as nozzles. The treatment organs 5 are evenly spaced in the lateral direction L on the linkage 4 arranged.

[0087] The spreading machine 2During an excavation process, it moves across the usable area at a forward speed in a forward direction V. 1 In Fig. 1 corresponds to the direction of advance V, which is the direction of view into the plane of the drawing.

[0088] The agricultural machine 2 It includes at least one recording device not shown. The recording device is attached to the frame. 3 or on the pole 4 the agricultural machine in a known position and with a known orientation relative to the frame 3 and / or rods 4 arranged. The detection device is configured to detect a forward movement V in front of the treatment organs. 5 located area 6 to record. The recording of the information before the treatment organs 5 located area 6 This is done in the form of a two-dimensional data set. 7. The data is collected at / from a time and / or place designated as the starting point P.

[0089] In the present embodiment, the detection device is designed as a camera and operates in the infrared, visible, and / or ultraviolet spectral range. The two-dimensional data set 7 lies as an image of the area in front of the treatment organs 5 located, recorded area 6 before. Such a data set presented as an image 7 is in Fig. 2 and Fig. 3 shown.

[0090] Based on known imaging properties of the detection device, known position and / or orientation of the detection device relative to the usable area 1 and known forward speed of the machine 2 , are the dimensions of the recorded area 6 known. The dimensions of the data set. 7 and the recorded area 6are mathematically convertible into one another.

[0091] The agricultural machine 2 It also includes an evaluation unit (not shown). The evaluation unit is configured to measure the recorded area. 6 the usable area 1 or the two-dimensional dataset 7 to be divided into sub-areas U. In Fig. 2 shows eight sub-areas U1,...,U8. Any other number of such sub-areas U is possible.

[0092] Fig. 2 shows that the sub-areas U are arranged in the lateral direction L and cover the captured area 6 or the two-dimensional dataset 7 to cover the entire surface. In the present embodiment, each of the sub-areas U is a treatment organ. 5 assigned so that a clear assignment of the sub-areas U,U1,...,U8 to the treatment organs 5 ,B1,...,B8 exists.

[0093] The evaluation unit is configured to process the data set. 7 regarding the properties of the recorded area 6 to evaluate. It is intended that, based on these properties, the presence of plants to be treated can be determined using the evaluation device. 8 to be deduced from the presence of plants to be treated 8 This necessitates the control of at least one treatment organ. 5 A point in the data set corresponds to such a requirement. 7 assigned. Such a point can correspond to a pixel. Such a point has a real-world equivalent in the usable area. 1 .

[0094] Furthermore, the evaluation unit identifies at least one sub-area U in which such a requirement for control arises. In the example of the Fig. 2. These are the sub-areas U5, U6 and U7, whereby the following explanations refer to sub-area U5 by way of example but are not limited to it.

[0095] The starting point P, which corresponds to the time and / or location of the recording of the area 6 If the signal corresponds to a certain value, a timestamp t0 is assigned by the acquisition device and / or the evaluation device. This timestamp t0 is synchronized with a system time that is assigned to each signal-connected device of the machine. 2 , in particular the recording device, the evaluation device and the control device.

[0096] Starting from the starting point P or its timestamp t0, a distance A is determined to meet the requirement of controlling at least one treatment organ. 5 or determined to the point in the data set assigned to this requirement.

[0097] The distance A can be a temporal and / or spatial distance. As a spatial distance, it can, for example, be measured in pixels. This is achieved through the described mutual convertibility of the dataset dimensions. 7 and the recorded area 6 This can also be done using the evaluation unit within the data set. 7 determined distances in the usable area 1 convert.

[0098] By taking into account the current forward speed of the machine 2 Alternatively or additionally, time intervals can be defined.

[0099] In sub-area U5 of the example of Fig. 2 For example, starting from the starting point P or its timestamp t0, a first distance A1 becomes a requirement for controlling the treatment organ B5, which results from the derived presence of plants to be treated. 8in sub-area U5. Furthermore, a second distance A2 is determined analogously to a requirement for controlling the treatment organ B5, which results from the inferred absence of plants to be treated. 8 results.

[0100] Starting from point P, in this example the treatment of the plants to be treated 8 to activate by means of treatment organ B5 at distance A1 and to deactivate at distance A2.

[0101] The control of the treatment organs 5 This is carried out by means of a control device (not shown). The distance A can be defined as a time interval. In this case, the control is initiated after this time interval has elapsed, taking into account the current forward speed.

[0102] The distance A can be a spatial distance. In this case, the control is carried out taking the machine's position into account. 2on the usable area 1 This is carried out after bridging the spatial distance. The machine is equipped for this purpose. 2 via a position detection system that is not shown.

[0103] Fig. Figure 3 shows a recorded area 6 or a two-dimensional dataset 7 , which is subdivided by a suitably configured evaluation unit into both sub-areas U and intervals I. The intervals I are arranged in the direction of advance V and cover the surveyed area. 6 or the two-dimensional dataset 7 full surface.

[0104] Sub-areas U and intervals I form a multitude of grid fields R whose lateral boundaries L are defined by the boundaries of the sub-areas U and whose boundaries in the direction of advance V are defined by the boundaries of the intervals I. Each grid field R can be assigned a unique identifier K.

[0105] In the present embodiment of the Fig. 3 form eight sub-areas U with eight intervals I, by way of example and not limiting, 64 uniform grid fields R. Each of the grid fields R is assigned to a treatment organ. 5 assigned so that a unique assignment of the grid fields R1,...,R64 to the treatment organs 5 ,B1,...,B8 exists.

[0106] The boundaries of the grid fields R located in the direction of advance V can be defined by points in the data set. 7 be assigned.

[0107] The boundaries of the grid fields R located in the direction of advance V, or the points in the data set corresponding to these boundaries. 7 Timestamps t, t0, ..., t8 are assigned analogously to the starting point P. The starting point P coincides with the first timestamp t0.

[0108] In the already for Fig. In the manner described in section 2, the properties of the recorded area are used to determine 6 the presence of plants to be treated 8 derived from the presence of plants to be treated. 8 This necessitates the control of at least one treatment organ. 5 .

[0109] Furthermore, the evaluation unit identifies at least one grid cell R in which such a requirement for control arises. In the example of the Fig. 3. These are the grid fields R35 to R38, R43 to R46 and / or R53 to R54, whereby the following explanations refer by way of example but not exclusively to the grid fields R35 to R38.

[0110] Starting from the point P, or its timestamp t0, a distance T is determined to the boundaries of the previously identified grid cells located in the direction of advance V, or their timestamps t. Distance T can be temporal and / or spatial, analogous to distance A. Distance T has the same properties as distance A, but is not defined to an arbitrary point, but only between the point P, or its timestamp t0, and a boundary of a grid cell R located in the direction of advance V, or its timestamp t.

[0111] Starting from point P, in the example the Fig. 3. The treatment of the plants to be treated 8 to activate treatment organ B5 at distance T1 and deactivate it at distance T2. Thus, in the course of discretizing the recorded area, 6 or the data set 7an area treated that is slightly larger than the area of ​​the plants to be treated 8 is.

[0112] The control of the treatment organs 5 is achieved by means of a control device not shown, analogous to the one already used Fig. carried out in the manner described in section 2.

[0113] Control can also be performed based on the timestamps t assigned to the boundaries of the grid fields R. These have a direct relationship to the system time, which is known to the acquisition unit, the evaluation unit, and the control unit alike. Thus, the control unit is only informed of the timestamp t at which control of which treatment organ is to be performed. 5 to be carried out.

[0114] Control is also possible based on the identifier K of the identified grid cell R. The control unit is thus only informed which grid cells have been identified, their corresponding temporal and / or spatial intervals T, and / or the timestamps t assigned to the boundaries, as well as the treatment organs assigned to the grid cells R. 5 are then known to the system, so that control is possible.

[0115] A suitable control data set can be passed to the control unit, particularly in the form of a matrix or a string. Such a control data set contains a switching state "0" or "1" for each grid cell R. The identifier K of the grid element R is encoded in this case in its position within the matrix or in its position within the string. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] DE 102016005023 A1

[0005] DE 4132637 C2

[0006]

Claims

[1] Agricultural machine for needs-based plant treatment, comprising - several treatment organs arranged laterally to a direction of propulsion, - at least one detection device for detecting an area of ​​land located in the direction of advance in front of the treatment organs, - an evaluation unit for evaluating data recorded by at least one data collection unit, - a control device for controlling the treatment organs, preferably based on the data recorded by the acquisition device, characterized by that the evaluation unit is configured, - to subdivide the area covered by the detection device into sub-areas, - to identify at least one sub-area where control of at least one treatment organ is required, - starting from a starting point, preferably for each sub-area, particularly preferably for each identified sub-area, to determine a temporal and / or spatial distance to a point at which the control of at least one treatment organ is to be carried out. [2] Machine according to claim 1, characterized by that the sub-areas are arranged laterally to the direction of advance and / or are assigned to one or more treatment organs. [3] Machine according to claim 1 or 2, characterized by that at least one detection device is designed as an optical detection device, in particular as a camera, and preferably operates in the infrared, visible or ultraviolet spectral range. [4] Machine according to any of the preceding claims, characterized by , that the starting point denotes the time or place at which the area of ​​land in front of the treatment organs is captured. [5] Machine according to any one of the preceding claims, characterized by , that the evaluation device is configured to divide the area detected by the detection device into intervals, with the intervals arranged in the direction of advance. [6] Machine according to any of the preceding claims, characterized by , that the area detected by the detection device is divided into a grid of uniform grid fields by means of sub-areas arranged laterally to the direction of advance and by means of intervals arranged in the direction of advance, wherein the grid fields are bounded laterally to the direction of advance by the boundaries of the sub-areas and in the direction of advance by the boundaries of the intervals. [7] Machine according to any of the preceding claims, characterized by, that the evaluation unit is configured to identify at least one grid field in which control of at least one treatment element is required, and to determine, starting from a starting point, a temporal and / or spatial distance to the boundaries of the at least one grid field located in the direction of advance. [8] Machine according to any one of the preceding claims characterized by , that the control unit is configured to target at least one treatment organ from the starting point based on at least one of the following parameters: - temporal and / or spatial distance to the point at which control of at least one treatment organ is to be carried out; - temporal and / or spatial distance to the boundaries located in the direction of advance of at least one grid field in which control of at least one treatment element is required. [9] Machine according to any of the preceding claims, characterized by , that the evaluation unit is configured to perform a calibration in order to change operating parameters of the evaluation unit and / or the control unit, whereby the calibration is triggered when at least one of the following parameters changes beyond a specified level: - relative position and / or orientation of the treatment organs relative to the area of ​​the body located in front of the treatment organs; - relative position and / or orientation of at least one detection device relative to the area of ​​the body located in front of the treatment organs; - Properties of the treatment organs used; - Propulsion speed and / or direction of movement of the treatment organs and / or the at least one detection device; - Rotation rates and / or path speed of the treatment organs and / or the at least one detection device. [10] Method for demand-based plant treatment using an agricultural machine, comprising - several treatment organs arranged laterally to a direction of propulsion, - at least one detection device for detecting an area of ​​land located in the direction of advance in front of the treatment organs, - an evaluation unit for evaluating data recorded by at least one data collection unit, - a control device for controlling the treatment organs, preferably based on the data recorded by the acquisition device, characterized by , that - the area covered by the detection device is subdivided into sub-areas, - at least one sub-area is identified in which the control of at least one treatment organ is required, - starting from a starting point, preferably for each sub-area, particularly preferably for each identified sub-area, a temporal and / or spatial distance to a point is determined at which the control of the at least one treatment organ is to be carried out. [11] Method according to claim 10, characterized by that the sub-areas are arranged laterally to the direction of advance and / or are assigned to one or more treatment organs. [12] Method according to claim 10 or 11, characterized by that at least one detection device is designed as an optical detection device, in particular as a camera, and generates a two-dimensional image of the surface area located in the direction of advance in front of the treatment organs. [13] Method according to any one of claims 10 to 12 above, characterized by , that the starting point denotes the time or place at which the area of ​​land in front of the treatment organs is captured. [14] Method according to any one of the preceding claims 10 to 13, characterized by , that the area detected by the detection device is divided into intervals, the intervals being arranged in the direction of advance. [15] Method according to any one of the preceding claims 10 to 14, characterized by , that the area detected by the detection device is divided into a grid of uniform grid fields by means of sub-areas arranged laterally to the direction of advance and by means of intervals arranged in the direction of advance, wherein the grid fields are bounded laterally to the direction of advance by the boundaries of the sub-areas and in the direction of advance by the boundaries of the intervals. [16] Method according to any one of the preceding claims 10 to 15, characterized by , that at least one grid field is identified in which control of at least one treatment element is required, and starting from a starting point a temporal and / or spatial distance to the boundaries of the at least one grid field located in the direction of advance is determined. [17] Method according to any one of claims 10 to 16 above characterized by , that starting from the starting point, at least one treatment organ is targeted based on at least one of the following parameters: - temporal and / or spatial distance to the point at which control of at least one treatment organ is to be carried out; - temporal and / or spatial distance to the boundaries located in the direction of advance of at least one grid field in which control of at least one treatment element is required. [18] Method according to any one of the preceding claims 10 to 17, characterized by , that a calibration is performed to change operating parameters of the evaluation unit and / or the control unit, whereby the calibration is triggered if at least one of the following parameters changes beyond a specified level: - relative position and / or orientation of the treatment organs relative to the area of ​​the body located in front of the treatment organs; - relative position and / or orientation of at least one detection device relative to the area of ​​the body located in front of the treatment organs; - Properties of the treatment organs used; - Propulsion speed and / or direction of movement of the treatment organs and / or the at least one detection device; - Rotation rates and / or path speed of the treatment organs and / or the at least one detection device.

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