Device for use on an agricultural area

Abstract

The invention relates to a device (10) for collecting plant data on an agricultural area and optionally for managing an agricultural area (N), comprising at least one sensor apparatus (14), lighting means (18) which are directed at least towards the agricultural area (N), and a control apparatus which is connected for signal transmission to the sensor apparatus (14). A housing (20) is provided which has at least two opposite side limbs (21) and is open at its underside (23) towards the agricultural area (N). At least one side limb (21) of the housing (20) encloses an angle (α) with a vertical (V) in a plane perpendicular to the longitudinal extent (L) of the housing (20) and is thus inclined relative to the vertical (V). The lighting means (18) are attached to the inner side (22) of at least one side limb (21) of the housing (20) and are positioned such that the radiation from said lighting means (18) is directed both directly downwards onto the agricultural area (N) and onto the inner side (22) of the respective other, opposite side limb (21) of the housing (20) and from there is reflected downwards towards the agricultural area (N).

Description

[0001] Device for use on agricultural land

[0002] The invention relates to a device for collecting plant data on an agricultural area and preferably for managing the landscape area.

[0003] According to the state of the art, a wide variety of devices for use on agricultural land are known. Such devices can be designed as trailed field sprayers, with which fertilizers, herbicides, fungicides, insecticides, or the like are applied to agricultural land and the plants grown there. To improve the efficiency of such field sprayers, they can be equipped with camera technology, image processing, and additional light modules. The surface of the agricultural land is scanned, which, thanks to the aforementioned light modules, is possible regardless of the time of day and the lighting conditions that fluctuate depending on the weather conditions. Using a sensor system provided for this purpose, the application of a herbicide or the like is specifically adjusted depending on the image data acquired from the surface of the agricultural land (e.g., existing weeds).This makes it possible to save money in terms of the amount of herbicide or similar applied.

[0004] The additional light modules known from the aforementioned prior art for trailed field sprayers can, for example, be attached to an exposed longitudinal beam of the field sprayer. A disadvantage of this approach is that these light modules, at least during the day, act on the surface of the agricultural land being treated together with sunlight or ambient light, which can lead to uneven light irradiation and possibly to the formation of shadows. Other prior art solutions are known in which such light modules are arranged in special housings equipped with surrounding protective tarpaulins opposite the surface of the agricultural land, and shine directly onto the agricultural land from above.Here, too, the effect can occur that, due to the direct irradiation of the light from above, shadows form in the area of ​​the illuminated plants, which is detrimental to the associated image recognition and processing.

[0005] The invention is based on the object of optimising the operation of a device equipped with camera technology and associated image processing when used on agricultural land.

[0006] This object is achieved by a device having the features of claim 1. Advantageous developments of the invention are defined in the dependent claims.

[0007] One embodiment of the invention relates to a device for collecting plant data on an agricultural area and comprises at least one sensor device which is directed in the direction of the agricultural area in order to generate an image of a surface of the agricultural area, illumination means which are directed at least in the direction of the agricultural area, and a control device which is signal-connected to the sensor device so that the images generated by the sensor device are received by the control device and can be evaluated therein.In this device, a preferably elongated housing is provided which has at least two opposing side legs and is open on its underside in the direction of the agricultural area, wherein at least one side leg of the housing encloses an angle with a vertical in a plane perpendicular to the longitudinal extent of the housing and is thus inclined relative to the vertical.The illumination means are preferably detachably attached to the inside of at least one side leg of the housing and positioned such that the radiation from this illumination means is directed both directly downwards onto the agricultural area and onto the inside of the other opposite side leg of the housing and is reflected from there downwards towards the agricultural area, thus achieving uniform illumination of the surface of the agricultural area. The above-mentioned embodiment of the device according to the invention fulfills the function of a field scanner with which only plant data on or from an agricultural area is collected. In the simplest case, such an embodiment of the device according to the invention can be designed as a handcart with wheels, possibly without its own drive.In this case, it is advisable for such a handcart to be equipped with batteries or accumulators to ensure a power supply for both the sensor device and the control device connected to it. In this case, it is advisable for the lighting to be in the form of LEDs, as these are characterized by low power consumption.

[0008] A further embodiment of the invention relates to a device for collecting plant data on an agricultural area and for cultivating an agricultural area. The device comprises at least one field cultivation device, at least one sensor device oriented toward the agricultural area to generate an image of a surface of the agricultural area, illumination means oriented at least toward the agricultural area, and a control device that is signal-connected at least to the field cultivation device and the sensor device. The control device is programmed in such a way that the field cultivation device can be actuated by means of the control device depending on images of the agricultural area generated by the sensor device.Furthermore, such a device comprises a preferably elongated housing which has at least two opposing side legs and is open on its underside in the direction of the agricultural area, wherein at least one side leg of the housing forms an angle with a vertical in a plane perpendicular to the longitudinal extent of the housing and is thus inclined relative to the vertical. Lighting means are preferably detachably attached to the inside of at least one side leg of the housing and positioned such that the radiation from this lighting means is directed both directly downwards onto the agricultural area and onto the inside of the other opposite side leg of the housing and is reflected from there downwards towards the agricultural area.This has the advantageous effect of uniformly illuminating the surface of the agricultural land.

[0009] The invention is based on the essential finding that the reflection of the light radiation emitted by the illumination means on at least one inclined side leg of the housing downwards in the direction of the agricultural area results in an overlap of this reflected light radiation with the light radiation emitted or radiated by the illumination means directly in the direction of the agricultural area. As a result, the surface of the agricultural area is intensively irradiated or illuminated with light from various sides, so that either very little or, at best, no shadows are formed on the surface of the agricultural area by plants and / or weeds growing on the agricultural area.This means that by reflecting the light emitted by the illuminants downwards toward the agricultural area on at least one inclined side leg of the housing, a particularly uniform or perfect illumination of the agricultural area is achieved. This has a particularly advantageous effect on the data from the sensor device, which generates images of the surface of the agricultural area and the plants and, if applicable, weeds or the like growing on it.

[0010] Intensive illumination of plants on the surface of an agricultural area is also achieved according to the invention in that the said lighting means are mounted inside the housing, namely on the inside of at least one side leg thereof. The housing is designed in such a way that, at a position in which the device according to the invention with its housing is currently located, the surface of the agricultural area is shaded from ambient light or sunlight. This can be achieved according to the invention in that the housing has a longitudinal extension and is closed towards its top side and the two side legs. For the functioning of the present invention, this means that the illumination of plants on the surface of an agricultural area is thenIllumination of plants on the surface of the agricultural land preferably takes place solely by means of the light radiation which is emitted by the lighting means both directly downwards in the direction of the agricultural land and - as explained - reflected on at least one side leg of the housing and from there redirected downwards in the direction of the agricultural land. For the operation of the device according to the invention, this means that the proportion of direct sunlight for illumination is either negligibly small or - in the case of intensive shading due to the outwardly closed design of the device housing - is not present at all. Incidentally, this also means that operation of the device according to the invention is possible regardless of the time of day, e.g. also at night or at dusk, and also in any weather.

[0011] With regard to the flexibility of the device according to the invention for the purpose of adapting it to different situations in practical use, an advantageous further development can provide that at least one side leg of the housing can be variably adjusted in its inclination relative to the vertical. In concrete terms, this means that such a side leg of the housing, for example when the device is at a standstill, can be variably adjusted in its inclination relative to the vertical, so that the angle which this side leg encloses with a vertical in a plane perpendicular to the longitudinal extent of the housing changes. Such a change in the angle of inclination of at least one side leg can, for example, be dependent on a distance of the housing of the device from a surface of the agricultural land and / or on the height of the plants orWeeds growing on this agricultural land and of which images are taken using the sensor device.

[0012] According to an advantageous development of the invention, it can be provided that the side legs of the housing each have a linearly straight extension in a cross-section perpendicular to the longitudinal extension of the housing. Such a straight extension of the side legs ensures that the light radiation emitted by the illumination means is reflected as diffusely as possible by these side legs and then redirected downwards towards the surface of the agricultural area, so that there, as already explained above, there is an overlap with the light radiation emitted directly by the illumination means, thus achieving a preferably shadow-free illumination of plants on the surface of the agricultural area.Furthermore, such a linear extension of a side leg simplifies the attachment of lighting devices, for example in the form of plate-shaped LED boxes, which will be explained separately below.

[0013] According to an advantageous development of the invention, intensive illumination of the surface of an agricultural area is optimized in that the illumination means are attached to both side legs of the housing, wherein during operation of the device, the light radiation emitted by the illumination means is reflected downwards in the direction of the agricultural area on the respective opposite side leg of the housing as explained above.

[0014] According to an advantageous development of the invention, the sensor device can be mounted within the housing in a central region between the two side legs. This advantageously leads to a uniform recording of the surface of the agricultural land. To improve the recording technology, it can additionally be provided that additional sensor devices are mounted on the inside of at least one side leg of the housing and / or in a central region of the housing between the two side legs. In this regard, it is understood that all of these sensor devices are then connected to the control device for signal transmission.

[0015] According to an advantageous development of the invention, it can be provided that an inner side of a side leg of the housing, which is arranged opposite the other side leg with lighting means attached thereto, is provided with a reflective surface at least in a partial area thereof, preferably over its entire surface. As a result, the radiation from the lighting means attached to the opposite side leg is reflected or redirected downwards towards the agricultural area on this reflective surface. In this case, it can also be expedient for the reflective surface of the inner side of a side leg of the housing to be at least partially covered with a reflective coating and / or mirrored.With regard to the reflective coating, it should be emphasized here that this property of the inside of the side leg should preferably be particularly strong or highly developed, resulting in intensive reflection of light radiation on the inside of such a side leg. For example, this highly reflective property of the inside of a side leg can be achieved using a metallic coating.

[0016] According to an advantageous development of the invention, the illumination means can each be attached to the inside of both side legs of the housing, in which case the insides of both side legs of the housing are provided with a reflective surface at least in a partial area thereof, preferably over the entire surface, so that the radiation from the illumination means attached to the oppositely arranged side leg is reflected or deflected by this reflective surface in the direction of the agricultural area. This advantageously leads to maximum and uniform image illumination on the surface of the agricultural area to be cultivated and thus contributes to high image quality of the images generated by the sensor device of the surface of the agricultural area and the plants and, if applicable, weeds growing thereon.

[0017] With regard to possible repairs or any necessary maintenance of the device according to the invention, according to an advantageous development of the invention it can be provided that the lighting means can be detachably attached to the inside of at least one side leg of the housing and can thus be replaced if necessary.

[0018] According to an advantageous development of the invention, the illumination means can be in the form of LEDs. Such LEDs have advantages with regard to low procurement costs, low energy consumption, a long service life, and a diffuse radiation pattern, which can prevent the formation of shadows on the surface of the agricultural land. If present in the form of LEDs, the illumination means are expediently designed without lenses, so that these LEDs emit diffuse light. This makes it advantageous and simple to achieve uniform illumination of plants and, where appropriate, weeds on the surface of an agricultural land from all sides, without the formation of shadows.

[0019] In the case of lighting means in the form of LEDs, advantageous developments of the invention are defined by the following features:

[0020] The plurality of LEDs can each be combined in LED boxes, wherein the LED boxes are formed from a plurality of LED boards with a plurality of individual LEDs, and / or the plurality of LEDs can each be combined in LED boxes, wherein the LED boxes are formed from at least one LED board with a plurality of individual LEDs. This can mean that an LED box then comprises either a single LED board or a plurality of such LED boards (each with a plurality of individual LEDs). And / or:

[0021] The LED boxes are preferably each plate-shaped. This advantageously leads to simplified mounting of the LED boxes on the inside of a side leg of the housing, especially in the case where—as already explained above—a side leg of the housing has a linearly straight extension in a cross-section perpendicular to the longitudinal extension of the housing. And / or:

[0022] The inside of one side leg of the housing can preferably be equipped with a plurality of LED boxes. This leads to the advantage that a large area of ​​one side leg of the housing is light-emitting, so that the surface of the agricultural land is intensively irradiated or illuminated with light. And / or:

[0023] If defective LEDs need to be replaced, the LED boxes can be removed as a whole unit from the inside of a corresponding side panel of the device's housing. A new or "fresh" LED box with intact LEDs can then be installed on the inside of a side panel of the housing in place of the previously defective LEDs. This significantly simplifies the replacement or repair of defective LEDs, which, given that the LEDs are combined as a unit in an LED box, do not need to be handled individually. And / or:

[0024] The individual LED boxes (as explained above: equipped with either a single LED board or a plurality of such LED boards) can each be controlled individually by the control unit, and / or the individual LED boards can each be controlled individually by the control unit. This advantageously enables differentiated illumination of the surface of the agricultural land, for example, depending on varying plant density. And / or:

[0025] The LED boxes can each have a carrier plate for accommodating LED boards, with the carrier plate being provided with a reflective layer on its surface facing the opposite side leg of the housing with attached LEDs. And / or:

[0026] No separate optics are required to redirect or refract the light emitted by the LEDs, which is correspondingly inexpensive and also contributes to a long service life. And / or:

[0027] With the help of a large number of LEDs, which are expediently applied to an LED board and then combined to form a respective LED box, the number of LEDs and also their distribution and arrangement can be optimized in a simple and particularly inexpensive manner with regard to the surface extension of a side leg of the housing.

[0028] According to an advantageous development of the invention, the sensor device can be designed in the form of an optical system, for example in the form of an optical industrial camera. Alternatively, the sensor device can also be designed in the form of a hyperspectral camera. In any case, for both of these alternatives, the invention can provide for the control device to be signal-connected to the illumination means and to be programmed such that the illumination means emit pulsating light radiation in the manner of a stroboscope when controlled by the control device. In this case, it is also expedient for the control device to be programmed such that the camera, when controlled by the control device, generates images of a surface of the agricultural land synchronized to the frequency of the pulsating light radiation of the illumination means.For example, the lighting devices are synchronized with the industrial camera or the hyperspectral camera in such a way that a light pulse is generated at the moment the camera is triggered.

[0029] According to an alternative development of the invention, the sensor device can also be designed in the form of an infrared camera.

[0030] According to an advantageous development of the invention, the field cultivation device can be designed in the form of a nozzle that is fluidly connected to a liquid container and is intended to apply a liquid to the agricultural land. For example, the liquid can be water, so that the agricultural land is suitably irrigated when water is applied through the nozzle.

[0031] As an alternative to water, according to an advantageous development of the invention, the liquid that is applied from the field cultivation device in the form of a nozzle onto the surface of the agricultural land to be cultivated can also be a weed control agent. In this case, depending on the sensor device's recordings, such a weed control agent is applied through the nozzle only at those locations on the agricultural land where a predetermined weed is detected in the sensor device's recordings. This significantly minimizes the use of chemicals for cultivating agricultural land.

[0032] According to an advantageous development of the invention, the field cultivation device can also be designed in the form of an applicator, with which the sowing and / or sowing of plants and / or their harvesting is possible. This advantageously expands the possible range of applications of the device according to the invention. The applicator can expediently be designed in the form of a robot arm with a plurality of degrees of freedom. For example, the robot arm can be designed in the form of an industrial robot with at least two degrees of freedom and have two or more articulated arms, each of which can be pivoted about a vertical or horizontal axis of rotation.

[0033] According to an advantageous development of the invention, it is possible to specifically change the working height of the device, i.e., its distance relative to the surface of the agricultural land. This is achieved according to the invention by a height adjustment device with which the distance of the device and the components attached to it relative to the surface of the agricultural land can be variably adjusted.

[0034] It is understood that the features mentioned above and those to be explained below can be used not only in the combination specified in each case, but also in other combinations or on their own, without departing from the scope of the present invention.

[0035] The invention is schematically illustrated below using preferred embodiments in the drawing and is described in detail with reference to the drawing. In the drawings:

[0036] Fig. 1 is a perspective view of a device according to the invention, seen obliquely from above, with an elongated housing and a coupling device for attachment to a tractor, a self-propelled machine or a mobile (field) robot,

[0037] Fig. 2 is a perspective view of the device according to the invention of Fig. 1 seen from the opposite side,

[0038] Fig. 3 is a perspective view of the device according to the invention of Fig. 2, when a lateral segment of the elongated housing is pivoted upwards,

[0039] Fig. 4 a view into the elongated housing of the device according to the invention from below,

[0040] Fig. 5 is a perspective view of a part of the elongated housing of the device according to the invention of Fig. 1, Fig. 6 is a perspective view obliquely from below into the part of the housing of Fig. 5,

[0041] Fig. 7 a simplified perspective view of an LED box used as a lighting device

[0042] Part of the device according to the invention of Fig. 1 is

[0043] Fig. 8 is a perspective view from below of the LED box of Fig. 7,

[0044] Fig. 9a a bottom view of the LED box of Fig. 7 or Fig. 8 with LED boards mounted on it,

[0045] Fig. 9b is a top view of an LED board which is part of an LED box of Fig. 9a,

[0046] Fig. 10 is a perspective view of an elongated frame component which is part of the device according to the invention of Fig. 1,

[0047] Fig. 11 is a perspective view of the elongated frame component of Fig. 10 when LED boxes according to Fig. 7 are attached to its side areas, Fig. 12 is a simplified exploded view of an LED box of Fig. 7,

[0048] Fig. 13, 14 each show schematically simplified cross-sectional views of the device according to the invention of Fig. 1, and

[0049] Fig. 15 is a simplified cross-sectional view of a device according to another embodiment of the invention.

[0050] Preferred embodiments of a device 10 according to the present invention for cultivating an agricultural area N are explained below with reference to Figs. 1 to 15. Identical features in the drawings are provided with identical reference numerals. It is specifically noted that the drawing is merely simplified and, in particular, is not drawn to scale.

[0051] Fig. 1 shows a perspective view of the device 10 according to the invention in a view obliquely from above, wherein Fig. 2 shows a perspective view of the embodiment of Fig. 1 from an opposite side.

[0052] The device 10 according to the invention serves to collect plant data on an agricultural area and, if necessary, also for cultivating an agricultural area N (Fig. 1). For this purpose, the device 10 can be attached to a 3-point hitch of a tractor (not shown) or the like by means of a coupling device K (see Fig. 1, Fig. 2).

[0053] The device 10 according to the invention comprises an elongated housing 20 which has two opposite side legs 21 and is open on its underside 23 in the direction of the agricultural area N.

[0054] In the event that the device 10 is attached to a tractor by means of its aforementioned coupling device K, the longitudinal extension L of the housing 20 runs perpendicular to the direction of travel of such a tractor. The illustration in Fig. 2 illustrates the direction of travel of such a tractor (not shown) with an arrow F, and the longitudinal extension L of the housing 20 with a dot-dash line.

[0055] Fig. 13 shows the housing 20 of the device 10 of Fig. 1 in a cross-section, namely in a plane perpendicular to the longitudinal extent L of the housing 20. From this cross-sectional view, it can be seen that the two side legs 21 of the housing each enclose an angle α with a vertical V, which is indicated in Fig. 13 by a dash-dotted line, and are thus inclined relative to the vertical V. The illustration in Fig. 13 makes it clear that the two side legs 21 of the housing 20 each enclose the same angle α with the vertical. In this respect, the housing 20 is axially symmetrical along its longitudinal extent L relative to the vertical.

[0056] In the embodiment of Fig. 1 or Fig. 13, the housing 20 with its two side legs 21 has, in a cross-section perpendicular to its longitudinal extent L, the shape of an isosceles trapezoid, in particular, which is open on its lower side 23, i.e. facing the agricultural area N. The upper side of this trapezoid, which is parallel to the agricultural area N, is formed by a central upper side 24 of the housing 20 between the two side legs 21. The lower side of this trapezoid, which is parallel to this, is formed, as just explained, by the downwardly open underside 23 of the housing 20. In accordance with its aforementioned trapezoidal shape, the housing 20 with its central upper side 24, which is arranged between its two side legs 21, is closed at the top.

[0057] The housing 20 can be formed from a total of three segments along its longitudinal extent L. Fig. 5 shows a perspective view of the central segment of the housing 20. Articulated flanges 25 are provided on the lateral edge regions of this central segment. These articulated flanges 25 serve the purpose of allowing the two lateral segments of the housing 20, on which such articulated flanges 25 are provided in the same way, to be pivoted upwards. The perspective view of Fig. 3 shows the device 10 of Fig. 1 in a position when one lateral segment of the housing 20 is pivoted upwards. In this regard, it is understood that the other lateral segment of the housing 20, which is shown in the background of the illustration in Fig. 3, can also be pivoted upwards in the same way.

[0058] Fig. 4 shows a bottom view of a segment of the housing 20. Similarly, Fig. 6 shows a perspective view obliquely from below into a segment of the housing 20.

[0059] The device 10 comprises a plurality of field cultivation devices 12. In the embodiment of Fig. 1, these field cultivation devices 12 are each designed in the form of nozzles 13 arranged along the housing 20 on an outer longitudinal side thereof. In Fig. 4, these nozzles 13 are shown in a view from below. These nozzles 13 are expediently combined as a structural unit in the form of a nozzle bar.

[0060] The nozzles 13 are connected to a liquid container (not shown) via lines. This makes it possible to apply or spray a liquid from the nozzles 13 onto the agricultural area N. In this way, the device 10 according to the invention fulfills the function of a field sprayer.

[0061] A combined view of Figs. 3, 4, 6, 8, and 13, for example, clearly shows that illumination means 16 are mounted on the inner side 22 of each of the two side legs 21 of the housing. In the embodiment shown, these illumination means are in the form of LEDs 17 and are each combined to form an LED box 18 (see Fig. 8). Such an LED box 18 is shown in Fig. 7 in perspective from an angled top view and in Fig. 8 in perspective from an angled bottom view.

[0062] The basic structure of an LED box 18 is further illustrated by the exploded view of Fig. 12. The LED box 18 is provided with a cover 18D on its top side. Furthermore, a carrier plate 19T is provided, on which a plurality of LED boards 19, each of which has a plurality of individual LEDs 17 (see Fig. 9b) applied, are mounted.

[0063] Fig. 9a shows a top view of such a carrier plate 19T, on which, for example, four LED boards 19 are mounted. Fig. 9b shows a top view of a single LED board 19, which is part of an LED box 18 of Fig. 7 or Fig. 8 and to which, as explained, a plurality of individual LEDs 17 are applied.

[0064] With regard to the LEDs 17 of an LED box 18 (see Fig. 8), it is specifically emphasized at this point that these LEDs 17 are each designed without lenses and thus emit diffuse light.

[0065] As can be seen from Figs. 7 and 8, an LED box 18 is plate-shaped.

[0066] With regard to the nature of an LED box 18 (cf. Fig. 7), it is specifically emphasized at this point that such an LED box 18 comprises at least one LED board 19, wherein—as shown in Fig. 9b—a plurality of individual LEDs are applied to such an LED board 19. In this context, the invention can provide for an LED box 18 to either comprise exactly one LED board 19 (not shown in the drawing), or to be equipped with a plurality of such LED boards 19, which are jointly mounted on the carrier plate 19T. In the illustration in Fig. 9a, for example, four LED boards 19 are shown, which are mounted on the carrier plate 19T of an LED box 18. It is understood that fewer or more than four LED boards 19 can also be mounted on a carrier plate 19T of an LED box 18. As can be seen, for example, from Fig.3, 4 and 6, a plurality of lighting means 16 in the form of LED boxes 18 (cf. Fig. 7) are attached to the inner side 22 of the side legs 21 of the housing 20. As also illustrated in Fig. 13, the lighting means 16 in the form of LED boxes 18 are positioned on the inner sides 22 of the respective side legs 21 of the housing 20 in such a way that the radiation of the LEDs 17 is directed both directly downwards onto the agricultural area N and onto the inner side 22 of the other opposite side leg 21 of the housing 20 and from there is then reflected downwards towards the agricultural area. This results in a superposition of the radiation emitted directly by the LEDs 17 with the light radiation reflected by a respective side leg 21 of the housing, with the result that a uniform illumination of the surface of the agricultural area N is achieved.

[0067] The view in Fig. 4 illustrates that the side legs 21 of the housing 20 are almost completely equipped with a plurality of LED boxes 18. As shown in Fig. 7, the LED boxes 18 are plate-shaped on their upper side. This simplifies suitable fastening of these LED boxes 18 to an inner side 22 of a respective side leg 21, which, as can be seen in Fig. 13, have a linear extension in a cross-section perpendicular to the longitudinal extension L of the housing 20.

[0068] The pivoting or upward swiveling of lateral segments of the housing 20 (see Fig. 3) is important for the possible transport of the device 10 according to the invention in road traffic, and can also be helpful for the inspection or maintenance of the LED boxes 18 with the LEDs 17 applied thereto, which, as explained, are attached to the inner side 22 of the two side legs 21 of the housing 20. For example, a segment pivoted completely upward, as shown in Fig. 3, can enclose an angle of at least 95° with a horizontal line.

[0069] For the aforementioned reflection of the light radiation emanating from the LEDs 17 of a respective LED box 18 on a side leg 21 of the housing arranged opposite thereto, it is expedient if this side leg 21 is provided with a reflective surface, at least in a partial area thereof, preferably over its entire surface. Specifically, this means that such a preferably highly reflective surface can be formed on the inner side 22 of a side leg 21 itself, on or on a carrier plate 19T of a respective LED box 18, and also on the respective LED boards 19.In this context, it is specifically pointed out at this point that the reflective surface on the inner side 22, the carrier plate 19T and an LED board 19 can be achieved, for example, by these components being at least partially coated with a preferably highly reflective coating and / or mirrored.

[0070] An (acrylic) glass plate 19A (see Fig. 7; Fig. 12) can be attached to the side of an LED box 18, where the light from the LEDs 17 is emitted. Such a plate 19A serves both to protect the individual LEDs applied to the LED boards 19 and to improve the desired reflection of the radiation emitted by the LED boxes 18 mounted on opposite sides of the housing 20.

[0071] The device 10 according to the invention further comprises at least one sensor device 14, which, as shown in the view of Fig. 4, can be mounted internally on the central upper side 24 of the housing 20. This sensor device 14 can be an optical industrial camera 15, or alternatively a hyperspectral camera or an infrared camera. In any case, such a sensor device 14 is oriented toward the agricultural area N in such a way as to generate an image of a surface of the agricultural area N.

[0072] The view of Fig. 4 illustrates that a total of four optical industrial cameras 15 can be provided in one segment of the housing 20. Furthermore, three LED boxes 18 (each with four LED boards 19) can be attached to each side leg 21 of this segment, which then results in each segment having a total of six such LED boxes 18 for the example mentioned above. Considering that, for the above-mentioned example, the housing 20 has three such segments along its longitudinal extent L (cf. Fig. 4), this means that the device 10 comprises a total of twelve such industrial cameras 15 and a total of eighteen such LED boxes 18.

[0073] An LED box 18 can be equipped with a total of 224 LEDs. For the above example, in which the device 10 is equipped with a total of eighteen such LED boxes 18, this results in the device 10 having a total of 4,032 LEDs.

[0074] The device 10 according to the invention further comprises a control device, which is symbolized in Fig. 1 in a simplified schematic form by a rectangle S. This control device S is signal-technically connected to the nozzles 13 and the industrial camera 15 and is programmed in such a way that the nozzles 13 can be actuated by means of the control device S as a function of images of the agricultural area N generated by the industrial camera 15.

[0075] Further details of the housing 20 and its attachment to the device 10 are explained below with reference to Figures 10 and 11.

[0076] The device 10 comprises an elongated frame component 11 (see Fig. 10), which can be formed from a plurality of elongated profiles 26. These profiles 26 can be round profiles, which are known from stage technology and with which the frame component 11 is formed modularly from individual parts. As an alternative to the round profiles 26 shown in Figs. 10 and 11, square profiles or profiles with an L- or U-shaped cross-section can also be used. Regardless of the cross-sectional shape of such profiles 26, their use in forming the frame component 11 leads to the advantage that a dimension of the housing 20, preferably in its longitudinal extent L, can be variably adjusted with little effort and in particular without the use of additional tools, by connecting these profiles 26 at their end faces by means of suitable plug-in and / or screw connections.If necessary, these profiles 26 can also be separated from one another in the same way, for example, to change a dimension of the housing 20 as desired and / or to perform maintenance or repair work on the housing 26 and the LED boxes 18 attached thereto. The frame component 11 shown in Figures 10 and 11 forms, in a sense, a lattice (tubular) frame, each having two obliquely aligned side regions. Recesses are formed in these side regions of the frame component 11, which are designated by "W" in Figure 10. A plurality of LED boxes 18 (see Figure 7) can be attached to these side regions of the frame component 11, for example by inserting or mounting them in said recesses W in the side regions of the frame component 11.

[0077] If the LED boxes 18 are mounted on the frame component 11 (cf. Fig. 11), the associated LEDs 17 point inwards in the direction of an opposite side leg 21 of the housing 20 or downwards in the direction of the agricultural area N. As a result, the agricultural area N is then irradiated from above and also from the two side legs 21 of the housing 20 with light emitted by the LEDs 17 of the individual LED boxes 18.

[0078] A synopsis of Figs. 11 and 13 illustrates that in the embodiment of a device 10 according to the invention shown in Fig. 1 with a trapezoidal housing 20 - viewed in cross-section perpendicular to the longitudinal extension L - the frame component 11 according to Fig. 11 can be used in the form of a lattice (tubular) frame. With regard to the frame component 11, it should additionally be noted that with its two obliquely aligned side regions, when the LED boxes 18 are mounted or inserted in their recesses W as explained, the side legs 21 of the housing 20 are formed, as shown in principle and, for example, in Figs. 1 and 13.

[0079] Furthermore, with regard to the side legs 21 of the housing 20, which, as explained above, can also be designed in the form of the obliquely aligned side regions of the frame component 11 with the LED boxes 18 inserted therein, it should be noted that these side legs 21 can each be variably adjusted in their inclination relative to the vertical V. This means that the angle of inclination a, which these side legs 21 each enclose with the vertical V (cf. Fig. 13), can be changed as required. This angle of inclination a can be adapted to various factors, for example depending on the height of the plants to be treated that are growing on the agricultural area N, a working height of the device 10, i.e. its vertical spacing from the agricultural area N and / or depending on a beam angle of the individual LEDs that are used for the respective LED boxes.

[0080] The frame component 11 has recesses A (see Fig. 10) that are suitable for accommodating cables (not shown) and / or as cable guides. In this way, such cables, when accommodated in said recesses A, are effectively protected from possible damage during operation of the device 10 according to the invention.

[0081] As shown in Fig. 12, each LED box 18 can be equipped with handle elements G on its cover 18D. Some of these handle elements are also designated "G" in Fig. 11 for the LED boxes 18 attached to the frame component 11. With the aid of such handle elements G, both an LED box 18 can be easily mounted on the frame component 11 and, if necessary, an LED box 18 can be easily removed from the frame component 11 (if this should be necessary, for example, for maintenance purposes or due to defective LEDs 17).

[0082] As just explained, the LED boxes 18 can be detachably attached to the side legs 21 of the housing 20 (or to the obliquely aligned side areas of the frame component 11) and are thus replaceable.

[0083] With regard to mounting the LED boxes 18 on the frame component 11, it is emphasized that these LED boxes 18, also using the attached handle elements G, can be easily inserted from the outside into the open areas "W" of the two side legs 21 of the lattice (tubular) frame (see Fig. 11). Thus, the LED boxes 18 are accessible from the outside, which is correspondingly easy to maintain and thus cost-effective.

[0084] At this point, it is again pointed out that the side legs 21 of the housing 20 when using the frame component of Fig. 10 can be formed specifically by the plate-shaped LED boxes 18 being mounted or inserted on the side regions of this frame component 11 and the recesses W formed therein.

[0085] Fig. 11 further illustrates that sensor boxes 27 can be mounted in a central upper area of ​​the frame component 11. For example, two optical industrial cameras 15 can be accommodated in one sensor box 27. In conjunction with the view of Fig. 4, this means that two such sensor boxes 27 are mounted on each segment of the housing 20 shown in Fig. 4 or Fig. 11, respectively, resulting in a total of four industrial cameras 15 per segment for the example shown. In the same way as already explained for the LED boxes 18, the sensor boxes 27 can be equipped with handle elements G, which greatly simplifies handling of these sensor boxes 27 when they are mounted on the frame component 11 and, if necessary, dismantled.

[0086] Fig. 14 shows, in the same way as Fig. 13, a cross-sectional view of the housing 20, namely in a plane perpendicular to the longitudinal extent L of the housing. In Fig. 14, in the same way as in Fig. 13, block arrows symbolize - schematically greatly simplified - some portions of the light radiation emitted by the LEDs 17 of the LED boxes 18 both directly in the direction of a surface of the agricultural area N and plants P (or weeds not shown) growing thereon, and also reflected or redirected downwards in the direction of the agricultural area N by the oppositely arranged side legs 21 of the housing 20 and their reflective surfaces. In this way, plants (and possibly also weeds) growing on the agricultural area N are irradiated from all sides with the light radiation of the LEDs 17 and thus evenly illuminated without shadows being formed.

[0087] Fig. 15 shows a further embodiment of the device 10 according to the invention. Here, the housing 20, viewed in a cross-section perpendicular to its longitudinal extent L, is designed in the shape of a triangle with its apex pointing upwards. This means, in the same way as already explained for the embodiment of Fig. 13, that this housing 20 has a downwardly open underside 23, which is oriented toward the surface of the agricultural land N.

[0088] Even in the embodiment of the housing 20 according to Fig. 15 in the form of the said triangle, it can be provided that the angle of inclination a, which these side legs 21 each enclose with the vertical V, can be variably adjusted.

[0089] Furthermore, for the embodiment of Fig. 15, it is possible to use a frame component analogous to Figs. 10 and 11, but modified such that the two obliquely aligned side regions of such a frame component then have the shape of a triangle in cross section, ie viewed in a plane perpendicular to the longitudinal extent L of the housing 20.

[0090] With regard to the embodiments of the device 10 according to the invention shown in Figs. 13 and 15, it should be emphasized at this point that the trapezoid (cf. Fig. 13) or triangle (cf. Fig. 15) shown here for the housing 20 is in each case isosceles. In the sense of the present invention, this means that the associated side legs 21 of the housing 20 each have the same length or longitudinal extent. Alternatively, it is also possible according to the invention for the housing 20 of the device 10 to have side legs 21 of different lengths, which then results in the housing 20 being in the shape of a non-isosceles trapezoid or a triangle in a cross-section perpendicular to its longitudinal extent L.

[0091] In all of the aforementioned possible embodiments (cf. Figs. 13-15) of the housing 20, shading elements (for example in the form of hanging tarpaulins, rags, or the like) can be attached to the lower edge of the respective side legs 21 of the housing 20. Such shading elements 28 are preferably provided all the way around the lower edge of the housing 20 and fulfill the function of suitably and preferably completely shading an interior of the housing 20 from ambient light or sunlight. For the functioning of the present invention, this means that illumination of plants and, if applicable, weeds growing on the agricultural area N is achieved solely by the radiation emitted by the LED boxes 18 and the associated LEDs 17.

[0092] The aforementioned shading elements 28 are to be understood according to the invention as additional equipment of the device 10. This means that these shading elements 28 can also be omitted if necessary, for example in the case where the light intensity of the LED boxes 18 and the associated LEDs 17 is so high that a uniform and intensive illumination or irradiation of plants or weeds growing on the agricultural area N is achieved primarily by the light radiation emitted by these LEDs 17, and any sunlight or ambient light incident from the side does not have a disruptive effect.

[0093] The following information is given below regarding the possible dimensions of the device 10 according to the invention and its components:

[0094] The base area of ​​an LED board 19 (see Fig. 9b) can be 110 x 220 mm (width x length).

[0095] The base area of ​​the support plate 19T (see Fig. 9a) can be 280 x 540 mm (width x length).

[0096] The base area of ​​the lid 18D of an LED box (see Fig. 7) can be 360 ​​x 608.30 mm (width x length).

[0097] The height of an LED box 18 (see Fig. 7, Fig. 12) can be 73 mm.

[0098] - A segment of the device 10, as shown, for example, in Figs. 5 and 6, can have a length of approximately 2,000 mm and a height of approximately 500 mm. If the device 10 has three such segments along its longitudinal extent L (see Fig. 2), the device 10 has a total length of approximately 6,000 mm.

[0099] - The total width of a segment (this corresponds to the vertical distance in the view of Fig. 4) of the device 10 can be approximately 900 mm.

[0100] During operation of the device 10 according to the invention according to the exemplary embodiments shown and explained above according to Figs. 1-15, the field cultivation devices in the form of the nozzles 13 can be suitably actuated by means of the control device S depending on the images taken by the optical industrial cameras 15 of the plants and, if applicable, weeds growing on the agricultural area N. As a result, a liquid can be applied through the nozzles 13 in a targeted manner onto the surface of the agricultural area N to be cultivated, namely selectively and only at those locations on the field where such a liquid (e.g., water or a weed killer) is desired or required. This can result in considerable savings in liquid for the respective application of cultivating an agricultural area.

[0101] Alternatively, for operation of the device 10 according to the invention, it can be provided that the field cultivation devices in the form of the nozzles 13 are not used. Specifically, this means that no liquid is sprayed from these nozzles 13 in the direction of the agricultural area. In this case, a surface of the agricultural area is only illuminated by the LEDs 17 as explained and scanned by the sensor device 14, wherein the images generated by the sensor device 14 are received by the control device 14 and then suitably evaluated therein. In this case, the device 10 according to the invention then fulfills the function of a field scanner, with which only plant data of the agricultural area can be collected, without any cultivation (e.g. by spraying a liquid) of this agricultural area taking place.

[0102] Finally, it should be noted that the device 10 according to the invention can also be expediently equipped with a GPS device or a GPS module for receiving GPS data. Particularly in the case where the device according to the invention, as explained above, merely functions as a field scanner, the collected plant data can then be assigned to a specific agricultural area or parcel using the GPS data. This simplifies logistics and planning for subsequent management of the agricultural area N.

[0103] 10 Device

[0104] 11 Frame component

[0105] 12 Field management facility

[0106] 13 Nozzle

[0107] 14 Sensor device

[0108] 15 optical camera

[0109] 16 Lighting sources

[0110] 17 LEDs

[0111] 18 LED box, with a lid 18D

[0112] 19 LED board(s)

[0113] 19T carrier plate (one LED box 18)

[0114] 20 housings

[0115] 21 side legs (of the housing 20)

[0116] 22 Inside (of a side leg 21)

[0117] 23 Bottom (of the housing 20)

[0118] 24 central top (of the housing)

[0119] 25 Steered! ansch(e)

[0120] 26 (round) profile(s) (of frame component 11)

[0121] 27 Sensor box

[0122] 28 shading element(s)

[0123] A recess(es)

[0124] F Direction of travel (of a tractor)

[0125] G Handle element

[0126] K Coupling device

[0127] L Longitudinal extension (of the housing 20)

[0128] N agricultural land

[0129] P Plant(s)

[0130] S control device

[0131] V Vertical w Recess(es) a Angle (between a side leg 21 and a vertical V)

Claims

Patent claims 1. Device (10) for collecting plant data on an agricultural area (N), comprising at least one sensor device (14) which is oriented towards the agricultural area (N) in order to produce a recording of a surface of the agricultural area (N), Illumination means (16) which are directed at least in the direction of the agricultural area (N), and a control device (S) which is signal-connected to the sensor device (14) so ​​that the images generated by the sensor device (14) are received by the control device (14) and can be evaluated therein, characterized in that a preferably elongated housing (20) is provided which has at least two opposing side legs (21) and is open on its underside (23) in the direction of the agricultural area (N), wherein at least one side leg (21) of the housing (20) encloses an angle (α) with a vertical (V) in a plane perpendicular to the longitudinal extent (L) of the housing (20) and is thereby inclined relative to the vertical (V),and that the lighting means (16) are preferably detachably attached to the inner side (22) of at least one side leg (21) of the housing (20) and are positioned such that the radiation of these lighting means (16) is directed both directly downwards onto the agricultural area (N) and onto the inner side (22) of the other opposite side leg (21) of the housing (20) and is reflected from there downwards towards the agricultural area (N), so that a uniform illumination of the surface of the agricultural area (N) is achieved.

2. Device (10) according to claim 1 for collecting plant data on an agricultural area (N) and for cultivating an agricultural area (N), comprising at least one field cultivation device (12), at least one sensor device (14) which is directed towards the agricultural area (N) in order to produce a recording of a surface of the agricultural area (N), Illumination means (16) which are directed at least in the direction of the agricultural area (N), and a control device (S) which is signal-technically connected to at least the field cultivation device (12) and the sensor device (14), wherein the control device (S) is programmed in such a way that the field cultivation device (12) can be actuated by means of the control device (S) as a function of images of the agricultural area (N) generated by the sensor device (14).

3. Device (10) according to claim 1 or 2, characterized in that at least one side leg (21) of the housing (20) is variably adjustable in its inclination relative to the vertical (V), preferably that the side legs (21) of the housing (20) each have a linearly straight extension in a cross-section perpendicular to the longitudinal extension (L) of the housing (20).

4. Device (10) according to one of the preceding claims, characterized in that the housing (20) with its two side legs (21) in a cross section perpendicular to the longitudinal extent (L) of the housing (20) either has the shape of a trapezoid, the side of which parallel to the agricultural area forms a central upper side (24) of the housing (20) between the two side legs (21), or has the shape of a triangle, the tip of which is directed upwards.

5. Device (10) according to one of the preceding claims, characterized in that a preferably elongated frame component (11) is provided, whose side regions form the side legs (21) of the housing (20) or to which at least one side leg (21) of the housing (20) can be attached, preferably that the side leg (21) of the housing (20) can be removed from the frame component (11), preferably that the frame component (11) comprises a plurality of elongate profiles (26), wherein these profiles (26) can be connected to one another and detached from one another again at their end faces, in particular without the use of special tools, in such a way that at least one dimension of the frame component (11) and of the associated housing (20) can be changed, preferably in its longitudinal extent (L).

6. Device (10) according to one of the preceding claims, characterized in that an inner side (22) of a side leg (21) of the housing (20), which is arranged opposite the other side leg (21) with lighting means (16) attached thereto, is provided with a reflective surface at least in a partial area thereof, preferably over its entire surface, so that the radiation from the lighting means (16) attached to the oppositely arranged side leg (21) is reflected or deflected by this reflective surface in the direction of the agricultural area (N), preferably in that the reflective surface of the inner side (22) of a side leg (21) of the housing (20) is at least partially covered with a reflective coating and / or is mirrored.

7. Device (10) according to one of the preceding claims, characterized in that the lighting means (16) are each attached to the inner side (22) of both side legs (21) of the housing (20), wherein the inner side (22) of both side legs (21) of the housing (20) is provided with a highly reflective surface at least in a partial area thereof, preferably over its entire surface, so that the radiation from the lighting means (16) attached to the oppositely arranged side leg (21) is reflected or deflected by this reflective surface in the direction of the agricultural area (N).

8. Device (10) according to one of the preceding claims, characterized in that the illumination means (16) are designed in the form of LEDs (17), preferably that the LEDs (17) are each designed without lenses and thus emit diffuse light.

9. Device (10) according to claim 8, characterized in that a plurality of LEDs (17) are combined in at least one LED board (19), wherein an LED box (18) is formed from at least one LED board (19), preferably from a plurality of LED boards (19), each with a plurality of individual LEDs (17), preferably that an LED box (18) is plate-shaped, further preferably that the inside (22) of a side leg (21) of the housing (20) is equipped with a plurality of LED boxes (18), further preferably that the individual LED boards (19) can each be controlled by the control device (S).

10. Device (10) according to claim 8 or 9, characterized in that an LED box (18) has a carrier plate (19T) for receiving at least one LED board (19) or a plurality of individual LED boards (19), wherein the carrier plate (19T) is provided with a reflective layer on its surface facing the opposite side leg (21) of the housing (20) with LEDs (17) attached thereto.

11. Device (10) according to one of the preceding claims, characterized in that the sensor device (14) is designed as an optical system in the form of an industrial camera or in the form of a hyperspectral camera or in the form of an infrared camera.

12. Device (10) according to claim 11, characterized in that the control device (S) is connected to the lighting means (16) by means of signals and is programmed in such a way that the lighting means (16) emit pulsating light radiation in the manner of a stroboscope when triggered by the control device (S), further preferably that the control device (S) is programmed in such a way that the Illumination means (16) in the form of an industrial camera or in the form of a hyperspectral camera, when controlled by the control device (S), produces images of a surface of the agricultural area (N) synchronized to the frequency of the pulsating light radiation of the illumination means (16), preferably that the illumination means (16) are synchronized with the industrial camera (15) or the hyperspectral camera in such a way that a light pulse is generated at the moment the camera is triggered.

13. Device (10) according to one of the preceding claims, characterized in that the field cultivation device (12) is designed in the form of a nozzle (13) which is in fluid connection with a liquid container and is intended to apply a liquid to the agricultural area (N), or is designed in the form of an applicator with which the sowing or sowing of plants and / or their harvesting is possible.

14. Device (10) according to claim 13, characterized in that the liquid is water, the agricultural area (N) being suitably irrigated when water is applied through the nozzle (13), or in that the liquid is a weed control agent, such a weed control agent being applied to the agricultural area (N) through the nozzle (13) as a function of the recordings of the sensor device (14) only at those locations on the agricultural area (N) at which a predetermined weed is detected on the recordings of the sensor device (14).

15. Device (10) according to one of the preceding claims, characterized by a height adjustment device with which a distance of the device (10) and the components attached thereto relative to the surface of the agricultural area (N) can be variably adjusted.

Images