Point-of-interest spraying system
The localized agricultural spray system addresses the challenge of precise spraying by using optical sensors and a control system to identify and target specific points of interest, ensuring efficient and accurate treatment application.
Patent Information
- Application Number
- FR2023004375
- Authority / Receiving Office
- FR · FR
- Patent Type
- Patents
- Current Assignee / Owner
- Priority Date
- 2022-11-05
- Filing Date
- 2023-05-01
- Publication Date
- 2025-03-28
- Estimated Expiration
- 2043-05-01
AI Technical Summary
Existing agricultural spraying systems struggle to accurately identify and spray treatment products only on areas of the plot that require treatment, especially when the agricultural machine turns, leading to potential double spraying or missed areas.
A localized spray system equipped with a spray ramp, optical sensors, and a control system that processes images to detect points of interest, associate them with location data, and control spray nozzles accordingly, ensuring precise spraying regardless of the machine's trajectory.
The system enables efficient and accurate localized spraying by focusing treatment on specific points of interest, reducing waste and ensuring thorough coverage without double treatment or omission.
Smart Images
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Abstract
Description
Title of invention: Point of interest spraying system Technical field
[0001] The present invention relates to the field of agricultural spraying and, more specifically, to localized spraying using an agricultural machine, based on location data captured in real time. The invention relates, in particular, to a spraying system via nozzles controlled based on images acquired of an area to be treated, as well as an associated method. STATE OF THE ART
[0002] The objective of agricultural spraying is to apply different treatment products to crops, generally aiming to increase their growth, yield and / or quality. The treatment products can in particular be used to weed, combat diseases, the invasion of insects or parasites, and provide the nutrients necessary for the proper development of crops.
[0003] A spraying system conventionally comprises at least one tank arranged to contain a treatment product, possibly diluted, a spray boom comprising a plurality of spray sections each equipped with a nozzle or a plurality of spray nozzles, and a hydraulic circuit connecting the tank to the different spray sections. The spray boom generally extends along an axis transverse to a longitudinal direction in which the agricultural machine moves over the plot. The hydraulic circuit may in particular comprise a pump arranged to suck treatment product into the tank and conduct it towards the spray boom, and a pressure regulator arranged to maintain the pressure in the hydraulic circuit at a predetermined threshold pressure.Each spray nozzle is arranged to spray treatment product over a predetermined width of the plot defined along the transverse axis. Each nozzle, or each plurality of nozzles, is thus associated with a sprayable area on the ground, corresponding substantially to a geometric shape, such as a disc, an oval or, approximately, a rectangle, onto which it is possible to deliver treatment product. The sprayable area associated with each nozzle or plurality of nozzles naturally changes with the movement of the spraying system.
[0004] In order to reduce the quantity of treatment product applied, the spraying systems have been adapted to allow localized treatment of the plots.
[0005] Localized treatment means spraying the product only on the areas of the plot that actually require treatment. For this purpose, each spray section is controlled, for example by means of a distributor arranged to take an open position, in which circulation of the product is possible from the tank to the corresponding spray nozzle, and a closed position, in which said circulation is blocked. The different distributors can in particular be controlled individually. Generally, each spray section can be controlled individually by means of a suitable control unit.
[0006] The spraying system further comprises an image acquisition system and a control unit. The image acquisition system is mounted on the agricultural machine and comprises at least one camera arranged to acquire images of the plot a few seconds before the nozzles of the spraying system pass over it. Generally, it comprises a plurality of cameras distributed along a second axis transverse to the longitudinal direction, so as to cover the entire width capable of being treated by the spraying system. The control unit is configured to determine effective areas to be treated using image processing carried out in real time on the images acquired by the image acquisition system, and to individually control each of the distributors according to the effective areas to be treated.
[0007] In particular, spraying systems are known comprising a plurality of cameras arranged on the spray boom of the system. The cameras are configured to detect a point of interest in the field of vision of the cameras. The point of interest corresponds to an area to be sprayed, for example due to the presence of pests and diseases. A spraying system of the prior art divides the plots in the field of vision of the cameras into a plurality of sectors, and locates the point of interest or points of interest, that is to say in particular the area or areas containing pests and diseases, in, respectively, one or more sectors. Once the points of interest are associated with sectors, the agricultural machine moves towards said sectors and the spraying sections will be controlled in an open or closed position, so as to deliver the treatment product only to the sectors identified as needing to be treated.
[0008] However, when the agricultural machine makes a turn, the sectorization of the plots is carried out again. The sectors of the initial sectorization then do not correspond to the sectors of the new sectorization. It is then no longer possible to know which sector has been sprayed, which sector has not been and this can then lead to multiple spraying of one sector or the non-spraying of another sector, for example.
[0009] The aim of the present invention is therefore to propose a solution to enable localized spraying by locating points of interest in the field of vision of the spraying system, locate said points of interest and allow them to be sprayed regardless of the trajectory or movement of the agricultural machine. PRESENTATION OF THE INVENTION
[0010] More specifically, the subject of the invention is a localized spraying system, comprising a spray bar, at least one spray nozzle arranged on the spray bar, said spray nozzle being associated with a sprayable zone, at least one optical sensor and a control system, each optical sensor having a field of vision, the control system being configured to process images acquired from the field of vision, detect at least one point of interest and associate with said point of interest location data in a reference frame of the spray bar, the location data being continuously updated by means of a calculation system of the control system, as a function of the movement of said spray bar, and to control said at least one spray nozzle as a function of said at least one point of interest, so that,when the location data of the point of interest corresponds to a sprayable area, the control system controls the opening of the spray nozzle(s) corresponding to said sprayable area to spray the point of interest.
[0011] Advantageously, the optical sensor may comprise at least one depth camera configured to enable three-dimensional location data of the points of interest to be obtained.
[0012] Advantageously, the spraying system comprises a set of nozzles, each of the nozzles being associated with a sprayable zone and each of the nozzles being controlled so that, when the location data of a point of interest corresponds to the sprayable zone of a nozzle associated with it, the control system controls the opening of said spray nozzle to spray said point of interest.
[0013] Advantageously, the spraying system comprises a set of nozzles forming groups of nozzles corresponding to spraying sections, each of the groups of nozzles being associated with a sprayable zone and each of the groups of nozzles being controlled as a function of the point of interest with which it is associated, so that, when the location data of the point of interest correspond to the sprayable zone of a group of nozzles associated with it, the control system controls the opening of said group of spray nozzles to spray said point of interest.
[0014] Preferably, the spraying system comprises a set of nozzles forming groups of nozzles, each group of nozzles being controlled independently of each other by the control system.
[0015] Preferably again, the spraying system is configured to process the acquired images of the field of vision, detect at least one point of interest and associate with said point of interest location data in a reference frame of the spraying boom.
[0016] In particular, the control system implements rules for activating the spray nozzles: depending on conditions, in particular in addition to the condition of the point of interest being in a sprayable zone, the activation rules may include the possibility of activating a spray nozzle so that it delivers treatment product, of deactivating a spray nozzle so that it does not deliver treatment product; when a nozzle is activated, an activation rule may provide for the determination of a specific dose of treatment product to be applied.
[0017] The invention also relates to a method of spraying a product to be sprayed by means of a spraying system as briefly described above, carried or towed by an agricultural machine, in which the control system:
[0018] - processes the images acquired from the field of vision by the optical sensor;
[0019] - detects at least one point of interest;
[0020] - associates said point of interest with location data in a repository of the spray boom;
[0021] - controls said at least one spray nozzle as a function of said at least one point of interest; such that, when the location data of the point of interest corresponds to a sprayable area, the control system commands the opening of the corresponding spray nozzle to spray the point of interest in question.
[0022] The control system of the spraying system continuously determines, using the adapted calculation system, the location data of the points of interest to be treated, depending on the movement of the spraying boom which advances, turns, etc.
[0023] Advantageously, the control system further associates said point of interest with a dose of product to be sprayed. PRESENTATION OF FIGURES
[0024] The invention will be better understood on reading the following description, given solely by way of example, and referring to the appended drawings given by way of non-limiting examples, in which identical references are given to similar objects and in which:
[0025] [Fig.l] is a schematic representation of the spraying system according to the invention; and
[0026] [Fig.2] is a schematic representation of the spraying system according to the invention in operation.
[0027] It should be noted that the figures set out the invention in detail to enable the invention to be implemented; although not limiting, said figures serve in particular to better define the invention where appropriate. DETAILED DESCRIPTION OF THE INVENTION
[0028] The invention relates to a localized spraying system. The spraying system is carried by an agricultural machine 15 making it possible to spray different treatment products on crops, generally aimed at increasing their growth, their yield and / or their quality. In particular, the treatment products to be sprayed can make it possible to treat bioaggressors present in the crops.
[0029] The spraying system comprises a spray bar 10, at least one spray nozzle, at least one optical sensor 21 and a control system. The reference signs are indicated with reference to the attached schematic figures 1 to 2.
[0030] The spray bar 10 comprises at least one nozzle, generally a set of nozzles.
[0031] The set of spray nozzles is arranged on the spray bar 10 and each nozzle or group of nozzles is associated with a sprayable zone 11.
[0032] The nozzles of the nozzle assembly are thus either independent of each other or form groups of nozzles and are distributed by spray section.
[0033] The set of nozzles is notably configured to allow the sprayable zone 11 to be modular. Indeed, a nozzle taken independently allows spraying on a circular zone. A group of nozzles taken together can allow spraying on an oval or substantially rectangular zone, for example.
[0034] The optical sensor 21 has a field of vision 22 and each point of the field of vision can be associated with location data.
[0035] According to one embodiment, the optical sensor 21 is configured to enable two-dimensional location data to be obtained, in particular for any point of interest 5 detected in an image.
[0036] According to another embodiment, the optical sensor 21 may comprise at least one depth camera configured to enable three-dimensional location data to be obtained.
[0037] The control system is configured to process images acquired from the field of vision 22, detect at least one point of interest 5 and associate with the detected point of interest 5 location data in a reference frame of the spray boom 10.
[0038] To locate a point of interest 5 in an acquired image, the optical sensor 21 can implement a ray passing through its optical center and through the point of interest 5 to be located.
[0039] The control system is also configured to control the set of spray nozzles according to said at least one point of interest 5, so that, when the location data of the point of interest 5 correspond to a sprayable zone 11 of the set of nozzles, the control system controls the opening of the corresponding nozzle or group of spray nozzles, to spray the point of interest 5 in question.
[0040] In particular, the control system may control a spray nozzle or a group of spray nozzles based on each of the identified points of interest 5. For example, if the point of interest 5 is extended, the control system of the spray system will control a group of nozzles, corresponding to the sprayable area in which the extended point of interest 5 will be located.
[0041] In the case of a small point of interest 5, the control system will preferably control a spray nozzle independently.
[0042] According to one embodiment, the spraying system can adapt the number of nozzles to be activated and / or the dose of treatment product delivered by each nozzle, so as to adapt to each of the points of interest 5.
[0043] When the spraying system comprises a plurality of nozzles independent of each other, each of the nozzles is associated with a sprayable zone 11 and each of the nozzles is controlled as a function of the point of interest 5 with which it is associated. Thus, when the location data of the point of interest 5 correspond to the sprayable zone 11 of a nozzle or group of nozzles associated with it, the control system controls the opening of the nozzle or group of spray nozzles to spray the point of interest 5 in question.
[0044] When the spraying system comprises a set of nozzles forming groups of nozzles, each of the groups of nozzles is thus associated with a sprayable zone 11 and each of the groups of nozzles is controlled independently. Thus, when the location data of the point of interest correspond to the sprayable zone 11 of a group of nozzles associated with it, the control system controls the opening of the group of spray nozzles to spray the point of interest 5 considered.
[0045] For example, with reference to [Fig. 2], the agricultural machine 15 pulls or carries the spraying boom 10 which comprises spraying nozzles or groups of spraying nozzles respectively associated with the sprayable zones 111 and 112, here rectangular. The points of interest 5 are identified by analyzing images acquired by the optical sensor(s) 21 arranged on the spraying boom 10. The points of interest 5 are associated with location data in the frame of reference of the optical sensor 21 first, then in the frame of reference of the spraying boom 10 because the relative positions of the optical sensors 21 on the boom 10 are predefined.
[0046] The control system includes a memory that hosts a database in which all information relating to points of interest 5 is stored, including their location data.
[0047] Still with reference to [Fig. 2], when the agricultural machine 15 and the spray boom 10 move, the database is updated by a calculation system which transposes the location data as a function of the movement of the agricultural machine 15 and the spray boom 10. The calculation system compares the location data with the sprayable areas 111, 112. Thus, when the location data of the points of interest 5 correspond to a sprayable area 111, 112, the corresponding nozzle or group of spray nozzles is activated to treat the point of interest considered.
[0048] Thus, with reference to [Fig. 2], the sprayable zones 111, in which, at the instant in question, points of interest 5 are located, are treated by activating the corresponding spray nozzles. Conversely, the sprayable zones 112 do not include a point of interest 5 and the corresponding spray nozzles are deactivated at the instant in question.
[0049] According to one embodiment, the control system is configured to process the images acquired from the field of vision 22 of the optical sensor 21 (or the fields of vision of the different optical sensors distributed over the spray boom, if applicable), detect at least one point of interest 5 and associate the point of interest and the corresponding dose with location data in the reference frame of the spray boom 10.
[0050] The invention further relates to a method for spraying a treatment product to be sprayed by means of the spraying system carried by an agricultural machine 15.
[0051] In the spraying method, the control system of the spraying system processes the images acquired from the field of vision 22 by the optical sensor 21, then it detects at least one point of interest 5. Then, it associates with the point of interest 5 location data in a reference frame of the spraying boom 10 and controls the at least one spraying nozzle, in particular in terms of activation or deactivation and, where appropriate, dose to be applied, depending on the point of interest. Finally, when the location data of the point of interest 5 correspond to a sprayable area 11 (or 111 and 112 in [Fig. 2]), the control system controls the opening of the spraying nozzle or the group of spraying nozzles to spray the area.
[0052] The spraying system takes into account the movements of the spray boom in establishing the location data of the point(s) of interest.
[0053] Furthermore, in the spraying method, the control system may associate with the point of interest 5 a dose of treatment product to be sprayed before associating the point of interest 5 and the corresponding dose with location data in a reference system. of the spray boom 10. The product dose is calculated by an activation function after an activation rule is validated.
[0054] Thus, the control system makes it possible to identify elements to be treated, in particular the points of interest 5. In particular, the control system can make it possible to identify bioaggressors present in the crops in the images acquired from the field of vision 22. The identified bioaggressors then form one or more points of interest 5. The control system then associates with each of the identified points of interest 5 location data in a reference frame of the spray boom 10.
[0055] The control system can also assign characteristics to the points of interest 5, for example characteristics relating to its size, its shape or even to the reliability of the detection and to the dose of treatment product to be applied, if applicable.
[0056] According to the invention, each image acquired by the optical sensor(s) 21 distributed over the spraying ramp 10 is thus processed globally: location data is assigned to each point of interest (corresponding to an element to be processed), the location data being two-dimensional or, preferably, three-dimensional.
[0057] To obtain three-dimensional location data, the optical sensor 21 can be equipped with a depth camera.
[0058] The advantage of three-dimensional location data lies in the better efficiency of location and therefore of spraying, particularly on non-flat, sloping or sloped plots, or including curves or even in the case of high elements to be treated.
[0059] As already mentioned, the location data of the points of interest 5 to be processed are determined, first in the frame of reference of the optical sensor 21, then in the frame of reference of the spray bar 10. In fact, the relative positions of the optical sensors 21 on the spray bar 10 are known, because they are predefined.
[0060] Furthermore, the spraying system may comprise a satellite position sensor, of the GPS type, to know the position of the spraying boom 10 and allow easy transposition of the location data of the points of interest 5 into the reference system of the spraying boom 10.
[0061] The control system of the spraying system continuously determines, using the adapted calculation system, the location data of the points of interest 5 to be processed, as a function of the movement of the spraying boom 10 which advances, turns, etc. The calculation system thus comprises an adapted processor, in particular capable of carrying out calculations on floating-point numbers.
[0062] To this end, the control system stores, in its memory managed as a buffer, the database comprising the points of interest 5 to be processed and the information associated, including the location data of these points of interest 5 to be processed, the location data being continuously updated according to the movement of the spray boom 10 and the new images acquired from the field of vision 22.
[0063] Then, it is determined when points of interest 5 to be treated enter sprayable zones and the corresponding spray nozzle(s) are activated.
[0064] According to one embodiment, the control system implements rules for activating the spray nozzles: depending on conditions, in particular in addition to the condition of the presence of the point of interest 5 in a sprayable zone, the activation rules may include the possibility of activating a spray nozzle so that it delivers treatment product, of deactivating a spray nozzle so that it does not deliver treatment product; when a nozzle is activated, an activation rule may provide for the setting of a specific dose of treatment product to be applied.
[0065] The activation rules can take into account the surface area of bioaggressors present at the point of interest 5 to be treated, their size or even a confidence index in the identification made by image processing.
[0066] Thanks to the invention, the spraying system makes it possible to obtain the following advantages.
[0067] First, the information enabling the decision to activate a nozzle by the control system is not distributed over a sector, but concentrated on a point, such as the points of interest 5 shown in [Fig.l].
[0068] Next, the invention is not limited to two-dimensional localization.
[0069] The invention also makes it possible to manage a diagonal movement of the spraying system relative to a previous trajectory, without risk of double processing or omission of points of interest.
[0070] Furthermore, the invention allows easy implementation of turn compensation means, by conventional linear algebra calculations.
[0071] The management of the dynamics of the spray nozzles is further improved.
[0072] The present invention facilitates the adaptation of the doses of product applied according to the detection, by the possible taking into account of additional parameters on the identified bioaggressors (size, number, surface, etc.).
[0073] The invention also allows better management of the overlap between adjacent spray nozzles.
[0074] Thanks to the invention, it is possible to produce a detection map of points to be processed independently of a grid resolution, as is the case when sectorizing the field of vision of optical sensors.
[0075] Also, the optical sensors can be installed more freely, in other words distributed laterally in the direction or opposite to the direction of advancement of the spray boom, or even diagonally to the direction of travel, because the location data of the points of interest 5 are determined in the acquired global image and are transposed into the reference frame of the spray boom 10.
[0076] In other words, the invention allows the identification of the areas to be sprayed as being points in the reference frame of the spray boom 10.
[0077] Each point of interest 5 may, where appropriate, in addition to its location data (two dimensions or three dimensions), be associated with additional properties, in particular:
[0078] - its detection surface (in mm2);
[0079] - an index of confidence in algorithmic detection (RN);
[0080] - a type of element to be treated (thistle, alfalfa, etc.);
[0081] - a label (height, stage, non-sprayable, etc.);
[0082] - an image identifier, i.e. a number of the image in which the element to be process was detected, so as to detect multiple detections.
[0083] The properties of the point of interest can be used to implement activation rules.
[0084] As already indicated, the advantage of locating points of interest in an image, without sectorization, is in particular to be able to use the tools of linear algebra to take into account rotations or multiple translations of the spraying system. The displacements can be translations between two measured GPS positions, an acceleration integrated over time, or even the measurement of a speed by an external sensor, in particular.
[0085] The sprayable surfaces are represented by simple geometric shapes such as: circle, oval, rectangle, triangle, semicircle. The sprayable areas, associated with a nozzle or a group of spray nozzles can be adapted according to the situations. The intrinsic parameters of the geometric shapes are variable in real time, depending on the situation.
[0086] For example:
[0087] - the length of a rectangular sprayable area or the radius of a sprayable area circular motion depends on the speed of the spray boom.
[0088] - the radii of the oval-shaped sprayable zones are a function of the height of ramp;
[0089] - the position of the geometric shape is adapted according to the beat of the spray boom;
[0090] - the position of the geometric shape is adapted according to the slope;
[0091] -etc.
[0092] According to the invention, points to be treated are detected, they are located and their appearance is detected in a sprayable zone which is then treated, in particular as a function of activation rules, if applicable.
[0093] In this case, an activation rule is a condition which, when validated, activates spraying by a nozzle or group of spray nozzles, possibly with a specific dosage.
[0094] For example, an activation rule can be:
[0095] - three points of interest are detected, with a given confidence index and numbers image;
[0096] - and at least one point of interest has a size greater than 3mm2.
[0097] So, still as an example:
[0098] - the control system calculates the maximum of the sum of the areas of the points of interest present at a given time in a sprayable area on the basis of detection in the same image number, divides it by the surface area of the sprayable area and multiplies it by a ratio of treatment product to be applied per unit area of plot;
[0099] - the control system calculates the dose of treatment product to be applied and activates the corresponding nozzle(s).
[0100] The determination of the dose can also take into account information on the quantity of treatment product remaining in the corresponding treatment product tank of the spraying system to increase or reduce the applied dose.
[0101] Of course, the parameters taken into account to be associated with the points of interest, the number and complexity of the activation rules or even the number of different processing products applicable are not limited to the examples given, the person skilled in the art being able to adapt them to his needs.
Claims
Claims
1. Localized spraying system, comprising a spray bar (10), at least one spray nozzle arranged on the spray bar (10), said spray nozzle being associated with a sprayable zone (11;111, 112), at least one optical sensor (21) and a control system, each optical sensor (21) having a field of vision (22), the control system being configured to process images acquired from the field of vision (22), detect at least one point of interest (5) and associate with said point of interest (5) location data in a reference frame of the spray boom (10), the location data being continuously updated via a calculation system of the control system, as a function of the movement of said spray boom (10), and to control said at least one spray nozzle as a function of said at least one point of interest (5), such that, when the location data of the point of interest correspond to a sprayable area (11; 111, 112), the control system controls the opening of the spray nozzle(s) corresponding to said sprayable area (11; 111, 112) for spray the point of interest (5);the optical sensor (21) comprising at least one depth camera configured to enable three-dimensional location data of the points of interest (5) to be obtained.;
2. Spraying system according to any one of the preceding claims, characterized in that it comprises a set of nozzles, each of the nozzles being associated with a sprayable zone (11; 111, 112) and each of the nozzles being controlled so that, when the location data of a point of interest (5) correspond to the sprayable zone (11; 111, 112) of a nozzle associated with it, the control system controls the opening of said spray nozzle to spray said point of interest (5).
3. Spraying system according to claim 1, characterized in that it comprises a set of nozzles forming groups of nozzles corresponding to spraying sections, each of the groups of nozzles being associated with a sprayable zone (11; 111, 112) and each of the groups of nozzles being controlled as a function of the point of interest (5) with which it is associated, so that, when the location data of the point of interest correspond to the sprayable zone (11; 111, 112) of a group of nozzles associated with it, the control system controls the opening of said group of spray nozzles to spray said point of interest (5).
4. Spraying system according to the preceding claim, characterized in that it comprises a set of nozzles forming groups of nozzles, each group of nozzles being controlled independently of each other by the control system.
5. Spraying system according to any one of the preceding claims, characterized in that the control system is configured to process the acquired images of the field of vision (22), detect at least one point of interest and associate with said point of interest location data in a reference frame of the spray boom (10).
6. Method for spraying a product to be sprayed by means of a spraying system according to one of claims 1 to 5, carried or towed by an agricultural machine (15), in which the control system: - processes the images acquired from the field of vision (22) by the optical sensor (21); - detects at least one point of interest (5); - associates said point of interest (5) with location data in a reference frame of the spray boom (10); - controls said at least one spray nozzle as a function of said at least one point of interest (5); so that, when the location data of the point of interest (5) correspond to a sprayable area (11; 111, 112), the control system controls the opening of the corresponding spray nozzle to spray the point of interest (5) in question.
7. Spraying method according to the preceding claim, wherein the control system, in addition, associates said point of interest (5) with a dose of product to be sprayed.