MULTI-RAY MACHINE AND METHOD FOR THE MECHANICAL REGULATION OF WEEDS AND PESTS

Description

[0001] The present invention relates to a multi-row machine for the mechanical control of weeds and pests in gardens or agricultural fields, and to a method for its use. State of the art

[0002] Mechanical weed control is a popular method for managing weed populations in agricultural areas, both in organic and conventional farming. Firstly, chemical herbicides are increasingly being withdrawn from the market due to the revocation or denial of approval. This is due to the risk of unknown long-term effects from the release of these chemicals, particularly their impact on the environment and human health. Secondly, with prolonged use of chemical agents, resistance to certain weeds is increasingly observed. This creates gaps in control that, in conventional farming, can only be addressed through non-chemical methods. In organic farming, chemical weed control is generally prohibited, making mechanical weed control the most widely used method.

[0003] Mechanical weed control distinguishes between broadcast and selective control. Broadcast weed control is carried out without electronic control of the weed control tools, while selective weed control involves activating the tools specifically where weeds are present and deactivating them specifically where crops are located. Consequently, broadcast weed control is only possible in the areas of the field between the crop rows, whereas selective weed control is also possible within the crop rows themselves.

[0004] While a broad market with many suppliers has developed in recent years for area-wide, mechanical weed control between plant rows, especially in combination with camera-guided row control of the machine, selective weed control is still primarily a research topic. Despite high demand, the supply here is essentially limited to a few suppliers who treat the area between plants within the row, again using one or two actuators, in crops with long planting distances within the row. Examples include the Robovator from Kress [NP1] and the RoboCrop from Garford [NP2].

[0005] Weed control systems with manipulator-moved tools or multiple actuators per row, which achieve higher resolution weed control in the field and thus higher selectivity, remain a research topic that is widely discussed in patent and non-patent literature [NP3]. Milling cutters or grippers are regularly mentioned as possible actuators for weed control, for example by DE102018120756 (A1) and DE102011114901 (A1). Langsenkamp et al. [NP4] have demonstrated the effectiveness of mechanical plungers for weed control. DE102013222776 (A1) and US2018139947 (A1) also use plunger-like tools, whereby the plunger is moved to the target position by a manipulator. In DE 102016224733 (A1), the weeds are further damaged by a fluid which is released under pressure through the piston in the extended state.DE102016217816 (A1) deals with the maintenance of cleanliness of the tine actuators during field use. Strothmann et al. [NP5] propose a system in which tines are arranged in a row behind an imaging sensor and are selectively triggered individually while passing over one or more rows of plants when a weed is detected. This setup offers the advantage of significantly higher resolution and selectivity for weed control in the field compared to systems that operate across the entire area between plants in the row, such as the aforementioned Robovator from Kress [NP1] or RoboCrop from Garford. Furthermore, this setup does not require a manipulator or travel axes to move the actuators to their operating position in the field.

[0006] The outlined research approaches have not yet been implemented in practical application, as a number of practical requirements, particularly in the areas of stability and area performance, have not yet been satisfactorily resolved.

[0007] Another limitation of existing hoeing techniques is that they do not allow for row identification before emergence. Blind hoeing, i.e., hoeing before the crop has emerged, is therefore generally not possible. In such cases, energy-intensive, large-scale flame weeding is a typical method, for example in organic carrot cultivation.

[0008] Another field of application in which the present invention can be used is pest control in agricultural fields. For example, slugs, which regularly cause extensive damage to young rapeseed or cereal crops, can be controlled by using rollers, especially at night. However, this is only possible pre-emergence, as subsequent rolling would likely damage the crop.

[0009] The article "Automatic GPS-based intra-row weed knife control system for transplanted row crops" by Perez-Ruiz et al. describes a carrier vehicle equipped with a weed control device. This carrier vehicle travels along a predefined GPS map. A similar method is also known from WO 2016 / 191825 A1. US 6,199,000 B1 describes the application of crop-specific fertilizers and pesticides using a "real-time kinematic (RTK) global positioning system (GPS)." Task

[0010] The object of the present invention is to provide a powerful, multi-row machine for the mechanical control of weeds and pests in gardens or agricultural fields, which can be implemented cost-effectively with few redundant components and overcomes various bottlenecks of previously known technology. Solution

[0011] The task is solved by a generic device designed as a multi-row machine for the mechanical control of weeds and pests, which includes: a) a carrier vehicle, b) several selectively operating, mechanical processing units consisting of at least one sensor unit for detecting weeds and / or pests and at least one arrangement of several individually controlled tool actuator units, which are connected to the frame of the carrier vehicle and are driven by it over the area to be processed, and whose actuators, by means of at least partially vertical strokes controlled in synchronization with the sensor unit and the travel path of the carrier vehicle, move at least one tool from a rest position to a working position, wherein the tool is moved into the working position at least when the sensor unit has detected one or more objects, wholly or partially, as to be processed at the location of the field where the tool is situated, c) and several area-working processing units, wherein the area-working processing units operate between the rows of crop plants and the selectively working processing units operate in the area of ​​the rows of crop plants, and wherein the sensor unit of one or more of the selectively working processing units is configured to determine, based on the acquired sensor raw data, both signals for the control of the respective coupled arrangement of several individually controlled tool actuator units and guidance signals.

[0012] This design combines the advantages of established series solutions for hoeing technology with the latest research findings. It enables efficient cultivation of the fields with precise control. Redundant sensors – one for controlling the individual processing units and another for guiding the carrier vehicle – are eliminated. Within the plant rows, the machine allows for precise cultivation in sub-areas with grid sizes of, for example, approximately 0.3 to 2.5 cm.

[0013] The machine is suitable for weed control. In this case, it works across the area between the rows of crops, selectively destroying only the weeds within the rows. Weed control can be carried out post-emergence, that is, after the crop seedlings have broken through the soil surface. Alternatively, pre-emergence weed control is possible. For this, the machine is used in conjunction with a seed placement device or machine that creates furrows, patterns, or similar markings in the soil surface during operation. These furrows or patterns are designed so that the rows and / or the points where the seed or planting material is placed are clearly visible on the surface.These grooves or patterns are detected by the sensor unit(s) of one or more of the processing units and allow precise navigation along the plant rows during pre-emergence. Preferably, the sensor units in this configuration are equipped with precise 3D sensors. If, in addition to the rows of seed or planting material (i.e., along the direction of travel of the seed or planting process), the individual positions (i.e., the points along and across the direction of travel of the seed or planting process) have also been marked accordingly by the machine used in a previous operation, the machine according to the invention can additionally perform "blind" hoeing within the plant rows between the positions where the seedlings are expected during pre-emergence. This method avoids the use of energy-intensive flame weeding technology.Furthermore, it enables the sowing date of slow-growing crops in organic farming to be brought forward. These crops, for example maize or sugar beets, are typically sown later in organic farming than in conventional farming, since hoeing is only technically possible after emergence, and weeds develop faster than the crop plants at low temperatures. To avoid this head start before the first hoeing, the crop plants are therefore sown later, accepting the corresponding reduction in yield. Using the machine according to the invention, particularly in a method according to claim 11, the first hoeing can thus be brought forward, which also allows the sowing date of such crops to be brought forward and thus increases the yield.

[0014] Suitable carrier vehicles for the device according to the invention include, for example, autonomous field robots, combinations of manned or unmanned tractors and agricultural implements that can be pulled or carried by the tractor, or manned or unmanned self-propelled agricultural vehicles.

[0015] The at least one sensor unit required for the device according to the invention comprises one or more imaging or non-imaging sensors. Suitable sensors include, in particular, cameras, 3D measurement systems such as light section or time-of-flight sensors, hyperspectral systems, or radar systems. Auxiliary sensors, such as rotary encoders or brightness sensors, may also be included. Furthermore, the sensor unit may include additional aids such as shading, illumination, or mounting devices. The sensor unit also comprises one or more processing units required for evaluating the sensor data. Depending on the application, the evaluation may include the detection of crops and weeds, the detection of patterns and grooves in the soil profile, the detection of pests, and / or further processing steps. Furthermore, with one or more processing units, the evaluation may include the determination of guidance signals.The computing units comprise standard components such as a processor, main memory, persistent memory, interfaces, etc., as well as one or more computer programs with instructions that implement the detection of weeds or weed components and other control tasks. GPGPUs (General Purpose Graphics Processing Units) or FPGAs (Field-Programmable Gate Arrays) are particularly suitable for image analysis and can be integrated into the computing unit in single or multiple configurations. Any necessary classifiers or data sources for one or more detection or classification tasks can be stored locally on the computing unit(s) or accessed via data interfaces or one or more human-machine interfaces.Furthermore, the sensor unit includes power supply and electrical or logical interfaces for controlling the individual actuators of the arrangement of tool actuator units, for example by controlling hydraulic or pneumatic valves or by controlling motors or electrical switches.

[0016] The at least one arrangement of several individually controlled tool actuator units required for the device according to the invention consists of several tool actuator units connected to the sensor unit by a frame and moved by the carrier vehicle over the surface to be machined. The actuators of the tool actuator units perform at least partially vertical lifting movements in order to move one or more tools from a rest position to a working position. The actuators can be individually controlled by the sensor unit in synchronization with the travel path of the carrier vehicle.

[0017] Pneumatic or hydraulic cylinders or mechanically or electromechanically driven pistons or linear guides are preferably suitable as actuators in the sense of the device according to the invention.

[0018] Suitable tools for the purposes of the device according to the invention include a variety of different means that can damage the weeds and, for their effectiveness, must be moved from a resting position, which is typically above the growth area of ​​the plants, to a working position, which is typically in the growth or root area of ​​the plants. For example, but not exclusively, these tools can be designed as micro-cultivator tines, small goosefoot shares, ripping hooks, tines with differently shaped ends (e.g., flat, round, pointed, profiled), snappers or grippers, rotating milling heads, or similar devices.

[0019] The lane guidance signals can be used, firstly, to directly control the steering of the carrier vehicle. Secondly, the lane guidance signals can be fused with other signals or integrated into controllers before steering commands can be automatically derived from them. Thirdly, the lane guidance signals can be displayed to the driver of a manned carrier vehicle in a visualization to assist with manual steering.

[0020] Surface-working processing units according to the invention can be designed, for example, as goosefoot shares, spring tines, harrows, rotary or finger weeders, milling cutters, or other elements for weed control. For pest control, such as against slugs, the use of narrow rollers between the rows is also possible. Several surface-working processing elements can also be combined into a single unit within an inter-row area.

[0021] Further advantages of the device or method according to the invention arise in further, special embodiments and modifications.

[0022] According to the invention, the multi-row machine is designed such that the sensor unit(s) of one or more processing units is / are configured such that the guidance signals are determined based on the positions of the fully or partially detected crop plants within the scan width of the sensor unit of one or more processing units. This configuration is particularly interesting for post-emergence weed control.

[0023] According to the invention, the multi-row machine can also be designed such that the sensor unit(s) of one or more processing units is / are configured to determine the guidance signals based on the detection of grooves, profiles, or patterns in the soil, which are detected by the sensor unit of one or more processing units. This configuration is particularly relevant for post-emergence weed control.

[0024] According to one embodiment of the device according to the invention, the multi-row machine is designed such that the guidance signals, which were determined by the processing units of several sensor units, are fused before further use. This configuration allows for greater stability of the guidance, particularly in patchy or emerging crop stands.

[0025] According to one embodiment of the device according to the invention, the multi-row machine is designed such that the control of the tool actuator units is based on the presence or complete detection of weeds by the respective sensor unit. This configuration is of interest for use in weed control.

[0026] According to one embodiment of the device according to the invention, the multi-row machine is designed such that the control of the tool actuator units is based on the detection of grooves, profiles, or patterns in the soil by the respective sensor unit. This configuration is of particular interest for use in the pre-emergence of crops.

[0027] According to one embodiment of the device according to the invention, the multi-row machine is designed such that the control of the tool actuator units is based on the detection of pests by the respective sensor unit. This configuration is particularly interesting for use in pest control. These pests can be, for example, slugs found on the ground or on plants close to the ground, which are destroyed by stamps. Furthermore, larger insects on leaves, such as Colorado potato beetles, can also be detected by the system's sensor unit and, for example, in combination with gripper-like tools, selectively crushed.

[0028] The multi-row design serves to increase the area output of the machine according to the invention. Preferably, the selectively working processing units are mounted at intervals that correspond to the spacing between the plant rows, with the area-working processing units positioned between them.

[0029] It is expressly pointed out that the embodiments of the invention described above can be combined with the subject matter of the main claim, both individually and in any combination with each other, provided that there are no compelling technical obstacles to this.

[0030] Further modifications and embodiments of the method according to the invention can be found in the following element-by-element description and the drawings.

[0031] The device according to the invention will now be described in more detail using some exemplary embodiments. The figures show: Figure 1 : a possible tool actuator unit in side view, Figure 2 : a possible selectively operating machining unit in top view, Figure 3 : a possible selectively working processing unit in the side view, Figure 4 : A possible configuration of the multi-row machine in field use, viewed from above. Figure 5 : a possible soil cross-section after seed or planting for the use of the machine according to the invention in the method according to claim 13 Figure 6 : a possible soil surface after sowing of seeds or planting material for the use of the machine according to the invention in the method according to claim 14.

[0032] Figure 1 This shows a possible tool actuator unit in a side view. The actuator can be controlled and moves the tool. 1 the tool 5a,Here implemented as micro-cultivator tines, the tool actuator unit moves from its rest position to its working position along the translational direction of the stroke 6. The tool actuator unit is driven across the field by the carrier vehicle along the direction of travel 7 within its arrangement.

[0033] Figure 2 Shows a possible selectively operating processing unit in a top view. The sensor unit 51 is connected by a frame 53 with the arrangement of tool actuator units 52 connected. Reference mark 54 This marks a single tool actuator unit. Along the direction of travel 7, the processing unit moves across the row of crops. 56 moved.

[0034] Figure 3 Shows a possible selectively operating processing unit in side view. The sensor unit 51 is connected by a frame 53 with the arrangement of tool actuator units52 connected. Reference mark 54 This marks a single tool actuator unit. The processing unit is moved along the direction of travel 7 over the row of crops 56. The tools 5b are designed as rotating milling heads. The tool identified by reference numeral 55 is in the working position. A tool in the rest position 58 is located to the side of it in the direction of travel 7. A tool in the working position 59 is located behind and next to it in the direction of travel 7. All tools can thus be individually controlled and moved from the rest position to the working position. This preferably occurs when at least one object 57 to be processed, such as a weed or a pest, is located wholly or partially at the point below the tool.

[0035] Figure 4The diagram shows a possible configuration of the multi-row machine in field operation, viewed from above. The carrier vehicle 60, here implemented as a combination of manned tractor and implement, connects the working units, which cover a wide area. 63 and the connected selectively working processing units 61 traveled across the field containing crops 56 and objects to be processed 57, such as weeds or pests, along the direction of travel 7. The selectively working processing units traveled over the rows of crops. 62, the surface-working processing units in between.

[0036] Figure 5Figure 1 shows a possible soil surface cross-section after seed or planting for the use of the machine according to the invention in the method according to claim 13. In the area of ​​the seed or planting rows, the soil surface is characterized by defined patterns or grooves. 72. In the area between the rows of seeds or plants, the soil surface is undefined. 71, Alternatively, it could be defined differently here than in the area of ​​the seed or planting rows. The individual seed or planting elements 73, For example, seeds or tubers lie below the surface and are therefore not visible before the seedlings shoot through to the surface.

[0037] Figure 6Figure 1 shows a possible soil surface after sowing of seeds or planting material for the use of the machine according to the invention in the method according to claim 14. In the area of ​​the seed or planting rows, the soil surface is characterized by defined patterns or grooves. 72. In the area between the rows of seeds or plants, the soil surface is undefined. 71, Alternatively, it could be defined differently here than in the area of ​​the seed or planting rows. The individual seed or planting elements 73, For example, seeds or tubers lie below the surface and are therefore not visible before the seedlings emerge. Additionally, markers are used to indicate their position along the direction of travel. 7 beside or above their position further depressions, elevations or patterns 80 introduced into the soil surface.

[0038] The foregoing embodiments serve only to illustrate the invention. The invention is not limited to the embodiments described above. It will be easy for a person skilled in the art to modify the embodiments in a manner deemed suitable to adapt them to a specific application. Reference symbol list

[0039] 1 Actuator 5 Tool 5a Tool, here micro cultivator tine 5b Tool, here rotating milling head 6 Actuator stroke direction 7 Carrier vehicle direction of movement 51 Sensor unit 52 Arrangement of tool actuator units 53 Connecting frame between sensor unit and arrangement of tool actuator units 54 Tool actuator unit 55 Tool in working position 56 Crop 57 Object to be processed, for example weeds or pests 58 Tool in rest position in the direction of travel of the carrier vehicle next to tool in working position 5559 Tool in rest position in the direction of travel of the carrier vehicle behind tool in working position 55 60 Carrier vehicle, here combination of tractor and implement 61 Selectively working cultivation units 62 Planting rows of crops 63 Area-working cultivation units 71 Soil surface between rows 72 Soil surface in the planting row area 73 Seed or planting material element (e.g. seed) 80 Soil profile modification to mark the seed or planting material element in the direction of travel Cited non-patent literature

[0040] [NP1] "Robovator, Mechanical Selective Weeding System" https: / / www.kress-landtech-nik.eu / de / produkte / robovator.php, accessed on March 9, 2020. [NP2] "Robocrop InRow Weeder", https: / / garford.com / de / robocrop-inrow-weeder / , accessed on March 9, 2020. [NP3] DC Slaughter, DK Giles, and D. Downey. "Autonomous robotic weed control systems: A review." Computers and electronics in agriculture, 61(1):63-78, 2008. [NP4] Frederik Langsenkamp, ​​Fabian Sellmann, Maik Kohlbrecher, Arnd Kielhorn, Wolfram Strothmann, Andreas Michaels, Amo Ruckelshausen, and Dieter Trautz. Tube Stamp for mechanical intra-row individual Plant Weed Control, 2014, https: / / www.hsosnabrueck.de / fileadmin / HSOS / Homepages / COALA / Veroeffentlich ungen / 2014-CIGR_2014_Tube_Stamp_for_mechanical_intra-row_individual_Plant_Weed_Control.pdf, accessed on March 9, 2020.[NP5] Wolfram Strothmann, Arno Ruckelshausen, Joachim Hertzberg, Christian Scholz, Frederik Langsenkamp, ​​Plant classification with In-Field-Labeling for crop / weed discrimination using spectral features and 3D surface features from a multi-wavelength laser line profile system, Computers and Electronics in Agriculture, Volume 134, March 2017, Pages 79-93, ISSN 0168-1699, http: / / dx.doi.Org / 10.1016 / j.compag.2017.01.003 . . Cited patent literature

[0041] DE102013222776 (A1) - Device, system and method for damaging a weed DE102016224733 (A1) - Weed damage device DE102016217816 (A1) - Weed damage device with cleaning function DE102018120756 (A1) - Mobile analysis and processing device, method and carrier system DE102011114901 (A1) - Device for the mechanical removal of plants, especially weeds US2018139947 (A1) - Weed control device

Claims

1. A multi-row machine for the mechanical control of weeds and pests, comprising a) a carrier vehicle (60), b) several selectively operating mechanical processing units (61) consisting of at least one sensor unit (51) for detecting weeds and / or pests and at least one arrangement (52) of several individually controlled tool actuator units (54), which are connected to the frame of the carrier vehicle and are moved by it over the surface to be processed and whose actuators, by means of at least partially vertical strokes controlled in synchronization with the sensor unit and the travel path (7) of the carrier vehicle (60), move at least one tool (5) from a rest position into a working position, wherein the tool is moved into the working position at least when the sensor unit (51) has detected, either fully or partially, one or more objects to be processed at the location in the field where the tool is located c) and several area-working processing units (63), wherein the area-working processing units (63) operate between the planting rows of the crop plants (62) and the selectively operating processing units (61) operate in the area of the planting rows of the crop plants (62), wherein the sensor unit (51) of one or more of the selectively operating processing units (61) is configured such that based on the detected raw sensor data it determines signals for the control of the respectively coupled arrangement (52) of several individually controlled tool actuator units (54), characterized in that the sensor unit also determines guidance signals, wherein the guidance signals are determined based on the positions of the fully or partially detected crop plants (56) within the scan width of the sensor unit (51) of one or more of the processing units (61), or the guidance signals are determined based on the detection of grooves, profiles or patterns in the soil (72, 80) which are detected by the sensor unit (51) of one or more processing units (61).

2. The multi-row machine according to claim 1, characterized in that each of the selectively operating mechanical processing units (61) has a plurality of individually controlled tool actuator units (54) of small width, so that a regulating resolution of approximately 0.3 to 2.5 cm grid size is achieved in the working range of the selectively operating mechanical processing units (61).

3. The multi-row machine according to one of the preceding claims, characterized in that the guidance signals, which were determined by the processing units (61) of several sensor units (51), are fused before their further use.

4. The multi-row machine according to one of the preceding claims, characterized in that the control of the tool actuator units (54) is based on weeds detected wholly or partially by the respective sensor unit (51).

5. The multi-row machine according to one of claims 1 to 4, characterized in that the control of the tool actuator units (54) is based on the detection of grooves, profiles or patterns in the soil surface (72, 80) detected by the respective sensor unit (51).

6. The multi-row machine according to one of claims 1 to 4, characterized in that the control of the tool actuator units (54) is based on the detection of pests detected by the respective sensor unit (51).

7. The multi-row machine according to one of the preceding claims, characterized in that the carrier vehicle is an autonomous field robot.

8. The multi-row machine according to one of claims 1 to 6, characterized in that the carrier vehicle (60) is a combination of a tractor and an implement.

9. The multi-row machine according to one of claims 1 to 6, characterized in that the carrier vehicle is an agricultural self-propelled vehicle.

10. A method for weed control, characterized by the use of a machine according to one of the preceding claims.

11. The method for weed control according to claim 10, characterized in that in a preceding work step a seed material depositing device or planting material depositing device or seed material depositing machine or planting material depositing machine creates grooves or patterns in the soil surface (72) during its use, by means of which the depositing rows or depositing points of the seed material or planting material can be identified.

12. The method of pest control, characterized by the use of a machine according to any one of claims 1 to 9, including claim 6.

13. The method according to claim 12, characterized in that the pests are snails.

14. A computer program configured to control a machine according to any one of claims 1 to 9.

15. A machine-readable storage medium on which a computer program according to claim 14 is stored.