Device and method for in-row treatment of a crop field

Abstract

The invention relates to an in-row treatment device (100) for a crop field comprising at least one crop row, characterized in that it comprises an arm (110) carrying a treatment tool (120), a mechanical device (150) actuating the arm between two positions in a reciprocating motion, one referred to as the rest position where the treatment tool is outside said crop row and the other referred to as the treatment position where the treatment tool is inside said crop row, and a control device (130) for the mechanical device, the control device being configured to command a movement of the treatment tool carried by the arm inside the crop row in order to perform treatment near a plant in the crop row. (See Figure 1 for abbreviations.)

Description

Title of the invention: Device and method for intra-row treatment of a crop field. TECHNICAL FIELD OF THE INVENTION

[0001] The field of the invention is that of agriculture.

[0002] More specifically, the invention relates to a mechanical device for intra-row treatment of a crop field.

[0003] The invention finds particular applications for treating large-scale crop fields, especially for weeding operations between crop plants of any size. STATE OF THE ART

[0004] In modern agriculture, mechanical weeding remains an important component of weed management, offering an alternative to chemical herbicides. However, the effectiveness of commercially available tools for in-row weeding remains insufficient for many large-scale crops. Several types of tools, both active and passive, have been developed, each with distinct limitations that hinder their widespread adoption.

[0005] One technique, in particular, involves flexible fingers mounted on a disc, which operate by movement to weed between rows. However, this tool proves ineffective in difficult soil conditions, for example, when the soil is hard or wet, or heavily infested with weeds. It also requires previously loosened soil to operate correctly, thus limiting its use to previously worked fields. These limitations often result in very limited weed clearance between rows.

[0006] There are also techniques using tools that scratch the soil, removing weeds by covering or uprooting. However, their use is limited to young crops, generally before emergence and up to the two-leaf stage in some species. Furthermore, they require a minimum forward speed of around 6 km / h to obtain satisfactory results, which is not always achievable in more complex growing conditions.

[0007] There are also pinching weed control techniques, primarily intended for market gardening. However, this method has its limitations with cereal-type plants exceeding twenty centimeters in height and proves insufficiently effective on lightly tilled soils. These characteristics restrict its application to crops with very specific requirements, particularly in terms of plant size and soil preparation.

[0008] In conclusion, each of these tools exhibits significant shortcomings in terms of versatility, robustness, operating speed, and adaptability to various crop types and soil conditions. Therefore, there remains a clear need for the development of technological innovations capable of overcoming these obstacles in order to effectively meet the needs of in-row weed control in large-scale farming. Description of the invention

[0009] The present invention aims to remedy all or part of the disadvantages of the prior art mentioned above.

[0010] To this end, the invention relates to an in-row treatment device for a crop field comprising at least one crop row. The treatment device comprises an arm carrying a treatment tool, a mechanical device actuating the arm between two positions in a reciprocating motion, one referred to as the rest position where the treatment tool is outside said crop row and the other referred to as the treatment position where the treatment tool is inside said crop row, and a control device for the mechanical device, the control device being configured to command a movement of the treatment tool carried by the arm inside the crop row in order to perform a treatment near a plant in the crop row.

[0011] Thus, the in-row treatment device allows for precise weeding within a row of crops thanks to an arm carrying a treatment tool that moves between two distinct positions in a back-and-forth motion. This configuration avoids damaging the crop plants while effectively targeting potential weeds, thereby improving the precision and efficiency of a treatment such as weeding compared to existing tools that cannot operate as close to the plants because they generally have a rotary motion.

[0012] The back-and-forth movement of the arm, controlled by the mechanical device, also allows the processing tool to adapt to the actual position of the plants, which may be different from the theoretical position of the corresponding seedlings.

[0013] It should be emphasized that the in-row treatment device can be adapted to perform various types of mechanical treatments within the crop field. Among these, weed control remains a primary application, allowing for the precise removal of weeds without damaging the crop plants. Furthermore, the device can be configured for in-row soil aeration, thereby improving air circulation and water absorption around the roots. In addition, the device can be used for thinning, removing excess plants to promote optimal growth of the remaining plants.

[0014] In particular embodiments of the invention, the arm is offset relative to a pivot axis fixed to a frame of the processing device and the device The mechanical system includes a crankshaft driven by a rotating shaft and a connecting rod, the connecting rod linking the arm to the crankshaft.

[0015] Thus, the back-and-forth movement can be regular and reliable.

[0016] In particular embodiments of the invention, the pivoting of the arm in translation is contained within an arc of a circle less than 45° between the rest position and the treatment position.

[0017] Limiting the pivoting of the arm in translation to an arc of less than 45° between the rest position and the treatment position makes it possible to reduce the amplitude of movement required to reach the treatment area, and thus to minimize the risk of damaging adjacent crop plants.

[0018] In particular embodiments of the invention, the crankshaft is driven by a rotating shaft at a frequency of less than twenty hertz.

[0019] Thus, the back-and-forth movements are adapted to the speed and position conditions of the plants in the crop row.

[0020] In particular embodiments of the invention, the mechanical device includes a device for adapting the speed of the arm carrying the processing tool.

[0021] The integration of a device for adapting the speed of the arm carrying the treatment tool makes it possible to adjust the speed of movement of the tool according to the specific conditions of the field of cultivation, namely the actual position of the plants, and the speed of the agricultural machine.

[0022] In particular embodiments of the invention, the tool is deployed between the rest position and the processing position over a distance greater than ten centimeters.

[0023] Deploying the tool over a distance greater than ten centimeters between the resting position and the treatment position provides sufficient reach to effectively target weeds located within the crop row without damaging the plants. The deployment distance can be adjusted according to the spacing between crop rows, known as inter-row spacing.

[0024] In particular embodiments of the invention, the processing tool comprises a blade oriented substantially perpendicular to the arm.

[0025] The integration of a blade oriented substantially perpendicular to the arm optimizes treatment efficiency by ensuring direct and precise contact with the soil or weeds. This orientation facilitates weeding by allowing the blade to penetrate the soil or cut weeds more effectively by attacking them substantially perpendicular to their stem.

[0026] In particular embodiments of the invention, the processing device also includes a mechanical probe configured to detect the presence of a crop plant and determine the relative position of said crop plant in relation to the treatment device.

[0027] Integrating a mechanical sensor into the treatment device makes it possible to detect the presence of a crop plant and determine its relative position with respect to the treatment device. This allows for precise adjustment of the movement of the treatment tool to avoid damaging the crop plants while effectively targeting weeds.

[0028] In particular embodiments of the invention, the treatment device is mounted on an agricultural machine moving over a field, in which the treatment tool is oriented substantially parallel to the field, the treatment device being configured to perform a weeding operation within the crop row.

[0029] The treatment device mounted on agricultural machinery allows for increased mobility, facilitating movement across the field to perform weeding operations within the crop row. This configuration ensures that the treatment tool, which may be, for example, a blade oriented parallel to the ground, can operate effectively.

[0030] The agricultural machine can be an autonomous machine such as an agricultural robot or a traditional machine, driven by an operator, or even a coupling of an autonomous or traditional machine.

[0031] In particular embodiments of the invention, the treatment device also includes a device for acquiring the position of a previously identified plant species growing near a plant in the crop row, the control device being configured to deploy the arm carrying the treatment tool inside the crop row to perform a treatment of said plant species.

[0032] Thus, intra-row treatment can be carried out precisely. It should be noted that the plant species is generally a weed.

[0033] The invention also relates to an agricultural machine comprising a treatment device according to any one of the preceding embodiments.

[0034] The agricultural machine can be, for example, a tractor or an agricultural robot.

[0035] Finally, the invention also relates to a method for treating a crop field implementing a treatment device according to any one of the preceding embodiments, comprising the steps of: • Acquisition of the relative position of the treatment device with respect to at least one plant in the crop field, • Acquisition of the speed of movement of the treatment device relative to the plants in the field, • determining the trajectory of the tool carried by the arm, and • control of the trajectory by the mechanical device.

[0036] Thus, the treatment device is operated efficiently by avoiding damage to the plants in the field of cultivation while effectively targeting any potential weeds.

[0037] The determination and control of the trajectory of the tool carried by the arm ensures that the treatment is carried out in a controlled and precise manner, improving the quality of intra-row treatment compared to traditional methods.

[0038] In particular embodiments of the invention, the position acquisition step comprises substeps of: • acquisition of a plurality of images by at least one camera pointing towards the crop field, and • detection of the centers of the culture plants in the acquired images.

[0039] The acquisition of a plurality of images by at least one camera pointing towards the field of cultivation makes it possible to collect precise visual data on the position of the crop plants and to accurately estimate the position of the crop plants.

[0040] In particular embodiments of the invention, the position acquisition step includes a substep of detecting the crop plants by a mechanical probe.

[0041] This mechanical detection method offers a reliable alternative to vision-based plant detection, particularly useful in conditions where visibility is reduced.

[0042] In particular embodiments of the invention, the position acquisition step includes a substep of receiving a map of the crop plants.

[0043] Acquiring a map of the crop plants provides an accurate representation of their arrangement in the field. This facilitates the planning and execution of treatment operations by providing useful data for adjusting the trajectory of the treatment tool, with the aim of achieving targeted and effective weed control while avoiding damage to the crop plants. BRIEF DESCRIPTION OF THE FIGURES

[0044] Other advantages, purposes and particular features of the present invention will become apparent from the following non-limiting description of at least one particular embodiment of the devices and methods of the present invention, with reference to the accompanying drawings, in which: • [Fig. 1] is an example of one embodiment of the treatment device; • [Fig.2] is an example of an agricultural machine carrying two treatment devices moving in a cultivated field; • [Fig.3] is a top view of the crop field of [Fig.2] centered on the processing devices • [Fig.4] is a synoptic view of an example of how a treatment process can be implemented; • [Fig.5] is a synoptic view of a first example of how to implement a step in the treatment process; • [Fig.6] is a synoptic view of a second example of how to implement a step in the treatment process; • [Fig.7] is a synoptic view of a third example of a mode of implementation of a step in the treatment process. DETAILED DESCRIPTION OF THE INVENTION

[0045] The present description is given by way of non-limiting grammar, each feature of an embodiment being able to be advantageously combined with any other feature of any other embodiment.

[0046] It should be noted from the outset that the figures are not to scale. Example of a particular embodiment

[0047] Figure 1 is a view of an example embodiment of a treatment device 100 intended to be installed on agricultural machinery to perform in-row treatment of a crop row. The device includes a frame 105 which serves as structural support for the components of the device.

[0048] A cross-section of frame 105 has been made to facilitate understanding.

[0049] An arm 110 is mounted on the device, carrying a treatment tool 120. This treatment tool 120 is equipped with a blade 125 oriented substantially perpendicular to the arm, thus optimizing the effectiveness of the treatment by ensuring direct and precise contact with the soil or weeds.

[0050] The mechanical device 150 actuates the arm 110 between two positions in a reciprocating motion. This mechanical device comprises a crankshaft 155 and a connecting rod 156. The crankshaft 155 is driven by a rotating shaft 157, and the connecting rod 156 connects the arm 110 to the crankshaft 155, thus enabling the reciprocating motion of the arm.

[0051] A control device 130 is configured to command the movement of the treatment tool 120 carried by the arm 110 within the crop row in order to perform a treatment near a plant in the crop row. This control device 130 may also include a device for adapting the speed of the arm, allowing to adjust the speed of the tool's movement according to the specific conditions of the crop field.

[0052] The arm 110 pivots around an axis 140 fixed to the frame 105. A pivoting arm 180 is also visible, contributing to the mobility of the arm 110. A notch 190 is present to allow the arm 110 to be stored inside the frame 105 in the rest position.

[0053] Fig. 2 shows an agricultural robot 200 moving in a field 220 to treat weeds 240 growing in crop rows 210. The agricultural robot 200 is equipped with two treatment devices 100, each designed to perform precise intra-row treatment.

[0054] The agricultural robot 200 is configured to navigate autonomously through the field 220, specifically targeting the weeds 240 located between the crop plants 230.

[0055] Each treatment device 100 is designed to move between a rest position and a treatment position, thus enabling effective weed control without damaging the crop plants 230. The treatment devices 100 are positioned to effectively cover the crop rows 210, ensuring targeted intervention on the weeds 240. The field 220 is structured with crop rows 210, where the crop plants 230 are aligned. The treatment devices 100 are configured to adapt to the arrangement of the crop plants 230, allowing for precise and effective treatment of the weeds 240 without damaging the crop plants 230.

[0056] Fig. 3 shows a top view of the crop field 210, illustrating the treatment devices 100 carried by the agricultural robot 200. The device 100 on the left shows a treatment tool 120 carried by the arm 180 in the treatment position, while the device 100 on the right shows an arm 180 in the stowed position.

[0057] It should be emphasized that the treatment position can be adapted to any position of the tool constrained by the maximum stroke of the arm 110 and that the reciprocating movements can be constrained within a range of stroke. For example, instead of performing a reciprocating movement in a 45° arc, the arm 110 can be configured to perform a reciprocating movement within a 30° arc, in particular to adapt to the conditions of the cultivated field.

[0058] A mechanical probe 310 is visible on the device 100 on the right, configured to detect the presence of the crop plants 230 and determine their relative position with respect to the processing device 100.

[0059] The mechanical sensor 310 integrated into the in-row treatment device plays a role in detecting crop plants. The sensor 310 is configured to identify the presence of a crop plant and determine its relative position with respect to the treatment device 100, by detecting the plants 230 through a rocking motion upon contact with a plant 230.

[0060] Figure 4 is a synoptic view of an example of implementation of process 400 for treating a crop field. Process 400 can be implemented by an intra-row treatment device as described above.

[0061] In step 410, the process 400 acquires the relative position of the treatment device with respect to at least one plant in the crop field. This step makes it possible to determine the precise location of the plants in order to adjust the treatment.

[0062] In step 420, the process 400 acquires the speed of movement of the treatment device relative to the plants in the field. The combined knowledge of the speed of movement and the position of the plant centers is useful for synchronizing the movement of the treatment tool with the speed of the agricultural machinery.

[0063] At step 430, the process 400 determines a trajectory of the tool carried by the arm as a function of the speed of movement of the robot 200 and the position of the centers of the plants 230.

[0064] In step 440, the process 400 commands the trajectory of the mechanical device. This command ensures that the processing tool follows the determined trajectory, thus guaranteeing precise and efficient processing.

[0065] Figures [Fig.5], [Fig.6] and [Fig.7] illustrate different ways of implementing position acquisition step 410.

[0066] In [Fig.5], step 410 includes a substep 411 of detecting the crop plants 230 by the mechanical probe 310.

[0067] In [Fig.6], step 410 includes a substep 412 of receiving a map of the crop plants, for example carried out by prior passes of the agricultural robot 200 or by another agricultural machine.

[0068] In [Fig. 7], step 410 comprises a first substep 415 of acquiring a plurality of images by at least one camera pointing towards the crop field, followed by a second substep 416 of detecting the centers of the crop plants in the acquired images. Step 410 then comprises a substep 417 of recording the position of the centers of the crop plants in a map.

[0069] Optionally, step 410 also includes a substep 418 of detecting weed centers in the acquired images and a substep 419 of recording the position of weed centers in the map, allowing for more targeted control of the treatment.

Claims

Demands

1. Intra-row treatment device (100) for a field (220) of crop comprising at least one row (210) of crop, characterized in that it comprises an arm (110) carrying a treatment tool (120), a mechanical device (150) actuating the arm between two positions in a back-and-forth motion, one called rest position where the treatment tool is outside said row of crop and the other called treatment position where the treatment tool is inside said row of crop, and a control device (130) for the mechanical device, the control device being configured to command a movement of the treatment tool carried by the arm inside the row of crop in order to perform a treatment near a plant (230) of the row of crop.

2. Processing device according to claim 1, wherein the arm is offset from a pivot axis (140) attached to a frame (105) of the processing device and the mechanical device comprises a crankshaft (155) and a connecting rod (156), the crankshaft being driven by a rotating shaft (157), the connecting rod connecting the arm to the crankshaft.

3. Treatment device according to claim 2, wherein the pivoting of the arm is contained within an arc of a circle less than 45° between the rest position and the treatment position.

4. Processing device according to any one of claims 2 to 3, wherein the control device is configured to drive the rotating shaft at a frequency below twenty hertz.

5. Processing device according to any one of claims 1 to 4, wherein the control device includes a device for adapting the speed of the arm carrying the processing tool.

6. Treatment device according to any one of claims 1 to 5, wherein the distance between the rest position and the treatment position is greater than ten centimeters.

7. Processing device according to any one of claims 1 to 6, wherein the processing tool comprises a blade (125) oriented substantially perpendicular to the arm.

8. A processing device according to any one of claims 1 to 7, also comprising a mechanical probe (310) configured to detect the presence of a crop plant and determine the relative position of said crop plant in relation to the treatment device.

9. A treatment device according to any one of claims 1 to 8, mounted on an agricultural machine moving over a field, wherein the blade is oriented substantially parallel to the field, the treatment device being configured to perform a weeding operation within the crop row.

10. A treatment device according to any one of claims 1 to 9, also comprising a device for acquiring the position of a previously identified plant species growing near a plant in the crop row, the control device being configured to deploy the arm carrying the treatment tool inside the crop row to perform a treatment of said plant species.

11. Agricultural machinery (200) comprising a treatment device according to any one of claims 1 to 10.

12. A method (400) for treating a crop field, employing a treatment device according to any one of claims 1 to 10, comprising steps of: • Acquiring (410) the relative position of the treatment device with respect to at least one plant in the crop field; • Acquiring (420) the speed of movement of the treatment device with respect to said plants in the crop field; • Determining (430) a trajectory of the tool carried by the arm; • Controlling (440) the trajectory to the mechanical device.

13. Processing method according to claim 12, wherein the position acquisition step comprises substeps of: • Acquisition (415) of a plurality of images by at least one camera pointing towards the crop field; • Detection (416) of the centers of the crop plants in the acquired images.

14. A processing method according to claim 12, wherein the position acquisition step comprises a substep of: 11 • Detection (411) of crop plants by a mechanical probe.

15. Processing method according to claim 12, wherein the position acquisition step includes a substep of: • Receiving (412) a map of the crop plants.

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