Weed control management method, weed control management vehicle, and weed control management system

Abstract

The present invention relates to a method (10) for controlling weeds, the method comprising the steps of: a) acquiring geographic information of crop seeds sown in a field to generate a crop seed map; b) acquiring soil elevation data and geographic information corresponding to the soil elevation at at least two different time points in a field where the crop seeds have been sown or are being sown to generate a soil surface topography map showing the soil surface topography of the field at the at least two different time points; c) comparing the soil surface topography map with the crop seed map to identify differences in the topography of the soil elevation that are not associated with the growth of the seeds sown in the field; and d) generating a weed control agent application map based on the identified differences in the soil elevation of the field that are not associated with the growth of the crop seeds sown in the field.

Description

[Technical field]

[0001] The present invention relates to a weed control management method, a weed control management vehicle, a weed control management system, and a computer program product. [Background technology]

[0002] The general background of the present invention is weed control, and in particular pre-emergence weed control. Modern agriculture faces many challenges in producing enough food in a safe and sustainable way. One of the challenges affecting the quality and quantity of agricultural produce is caused by undesirable weeds, which can have a significant negative impact on the yield and quality of the produce. Solutions to this include pre-emergence and post-emergence spraying of chemical and biological herbicide products in the agricultural field. However, these techniques have the disadvantage that relatively large amounts of product are applied, and not always at the optimal time or in the optimal location. Very efficient treatments are at the pre-emergence stage, but also at the post-emergence stage, when the first roots are developing. Herbicide products that inhibit root growth are very effective at this stage, when the roots are not yet sufficiently developed to overcome the inhibitory effect of the herbicide product. However, since the location of the weeds is not known at the pre-emergence stage, the herbicide product is applied over the entire field, not just where the weeds are growing. Summary of the Invention

[0003] It would be advantageous to have improved means for weed control management (especially for pre-emergence weed control management) in order to apply chemical and biological herbicide products more specifically to the field. The object of the invention is achieved by the subject matter of the independent claims, further embodiments are contained in the dependent claims. It is noted that the aspects and examples of the invention described below also apply to the weed control method, the weed control vehicle, the weed control system, and the computer program product.

[0004] According to a first aspect, there is provided a method for controlling weeds, the method comprising: a) obtaining geographic information of crop seeds sown in a field to generate a crop seed map; b) obtaining soil elevation data and geographic information corresponding to the soil elevation at at least two different times in a field where the crop seed has been or is being sown to generate a soil surface topography map indicative of the soil surface topography of the field at the at least two different times; c) comparing the soil surface topography map with the seed map to identify differences in the topography of soil mounds that are not related to the growth of seeds sown in the field; d) generating weed control agent application maps based on identified differences in soil elevation of a field that are not related to the growth of crop seeds sown in the field; This includes the steps:

[0005] Thus, the geographical location of the crop seeds in the field soil is recorded during sowing. A crop seed map refers to a two-dimensional or three-dimensional representation of the geographical distribution of the crop seeds in the field after sowing. The shape of the soil ridges in the field is measured, for example, immediately after sowing the crop seeds and at a second later time point, when weeds have started to germinate but have not yet emerged or have just emerged. By comparing the data, differences in the shape of the soil ridges at the two different times indicate where weeds may be growing. Before weeds emerge, the growing shoots push upwards and so the soil is displaced. This soil displacement can be detected by suitable sensors. Machine learning algorithms are available for identifying soil displacements due to reasons unrelated to weed germination, for example due to meteorological events, soil erosion, bird or animal marking, etc. Since it is obvious that no sprays are applied to newly emerged crop seeds, and the soil displacements caused by weeds and crops can be similar, it is necessary to identify the geographical location of the crop seeds being sown and to take the geographical location of the crop seeds into account when generating a weed control agent application map. A weed control agent application map is a (at least) two-dimensional (or three-dimensional) representation of the geographical distribution of weeds (emerged and emerging) in a field, where weed control agents can be applied to adequately control weeds in the field. In this way, weeds can be identified at a very early stage, which allows precision agriculture weed control sprays at the pre-emergent stage.

[0006] In one example, data for a crop seed map and a soil topography map indicative of soil topography at a first time are acquired simultaneously in a field using an agricultural vehicle.

[0007] That is, data for the crop seed map and data on the soil surface shape at a first time are acquired in one work step. For example, a sowing vehicle sows crop seeds in a field. The geographical location of the crop seeds is recorded during the sowing process. For example, a seed measurement system with a sensor to detect the passing seeds and a timer to timestamp when the seeds pass this sensor, all synchronized with the GPS system of the sowing vehicle. At the same time, a sensor on the sowing vehicle can acquire data on the shape of the soil rise at the first time. These combined work steps have the advantage that no further work by ground vehicles is needed in the field to acquire the necessary data, which has advantages in terms of preventing CO2 emissions and damage due to soil compaction.

[0008] In one example, the method comprises a further step e) in which a weed control agent is sprayed on the field according to the weed control agent spraying map.

[0009] Thus, in precision agriculture techniques, weed control spray maps can be used by vehicles to spray herbicides at a very early stage of weed growth, with the advantage that not only less herbicide is sprayed with precision spray techniques, but also that less herbicide is needed because weeds at earlier growth stages are easier to control than those at later stages.

[0010] In one example, steps a) to e) of the method are carried out before and / or during emergence of multiple sprouts of crop seeds and / or weeds in a field.

[0011] Therefore, this weed control management method is particularly beneficial in the early growth stages after the crop seeds are sown, when competition for nutritional resources is intense between the crop seed plants and weeds.

[0012] In one example, the geographical information of the crop seeds sown in the field is obtained by at least one sensor configured to record the geographical information of the crop seeds impacting the soil during sowing of the crop seeds.

[0013] Thus, various known detection techniques can be used to obtain information about the geographic location of the seeds in the field. As mentioned above, a measurement system comprising a sensor for detecting the passing seeds and a timer for time stamping the passing of the seeds in synchronism with the GPS system can be used to assess the geographic location of the crop seeds in the field. Another technique includes, for example, image analysis of images obtained from the seeds impacting the soil using a camera together with GPS data during the sowing process.

[0014] In one example, soil elevation data of a field and geographic information corresponding to the soil elevation are obtained using a sensor and location determination means configured to generate a light pulse towards the soil surface and measure the time of reflection.

[0015] In this way, soil uplift data can be obtained using known high resolution sensors such as lidar sensors (also known as LIDAR or LiDAR) in combination with a GPS system.

[0016] According to a second aspect of the present invention, there is provided a weed control management vehicle including a plurality of sensors including at least one seed position sensor and at least one soil elevation sensor, a control processing unit, and a sowing unit. The vehicle is configured to sow crop seeds in a field using the sowing unit. The at least one seed position sensor is configured to collect seed geographical position data of the crop seeds from the sowing unit impacting the soil surface during sowing. The control processing unit is configured to receive the seed geographical position data from the at least one seed position sensor to generate a crop seed map of the field. The at least one soil elevation sensor of the vehicle is configured to collect soil elevation data including geographical information corresponding to an elevation amount and soil elevation of the field. The control processing unit is configured to receive the soil elevation data from the at least one soil elevation sensor to generate a soil surface topography map indicative of a soil surface topography at a first time point in the field. The seed position data and the soil elevation data are obtained at the same time that crop seeds of the plants are sowed in the field using the sowing unit of the vehicle.

[0017] That is, the weed control management vehicle can be a sowing vehicle equipped with suitable sensor equipment for measuring (with high resolution) the geographical position and surface structure of the crop seeds in the field soil immediately after the sowing process (e.g. after the wheels of the sowing vehicle have passed over it). In this way, data useful for weed control management can be obtained during the sowing process.

[0018] In one example, the weed control management vehicle includes an output unit configured to receive the crop seed map of the field and the soil surface topography map of the field from the control processing unit, and configured to output the crop seed map of the field and the soil surface topography map of the field.

[0019] That is, the crop seed map and the soil surface topography map can be shown to the farmer, for example, on a monitor, handheld, printer, screen, or any other information monitoring device / media.

[0020] According to a third aspect of the present invention, there is provided a (second) weed control management vehicle including at least one soil elevation sensor, a control processing unit, and a transceiver. The at least one soil elevation sensor is configured to collect soil elevation data including a volume of elevation and geographic information corresponding to the soil elevation of the field at a first time point. The at least one soil elevation sensor is configured to collect soil elevation data including a volume of elevation and geographic information corresponding to the soil elevation of the field at a second time point that is later than the first time point. The control processing unit is configured to receive the soil elevation data from the at least one soil elevation sensor to generate a soil surface topography map of the field at least two different times. The control processing unit is configured to receive a crop seed map of the field using the transceiver. The control processing unit is configured to compare the soil surface topography map and the crop seed map to identify differences in the topography of the soil elevation that are not associated with the growth of seeds sown in the field to generate a weed control agent application map.

[0021] In other words, the vehicle obtains soil elevation data at a first time point and soil elevation data at a second time point (which may be, for example, days / weeks later than the first time point). The vehicle also receives information about the crop seed map generated at an earlier time point. The control processing unit of the vehicle generates a weed control agent application map using the generated and received information. The calculation and generation of the crop seed map, soil surface topography map, and / or weed control agent application map may also be performed by an external processing unit and the information / analysis may be transmitted to a vehicle requiring the information / analysis.

[0022] In one example, the control processing unit of the (second) vehicle is configured to receive, using the transceiver, soil elevation data including an amount of elevation of the field at a first time and geographic information corresponding to the soil elevation, and / or a soil surface topography map of the field at the first time.

[0023] In this way, the second vehicle only needs to obtain soil uplift data at the second time point and can use soil uplift data generated by the first vehicle (e.g. by the sowing vehicle during the sowing process) or generated by another vehicle. The second vehicle receives the data, e.g. via wireless communication, and uses this information to generate a weed control agent application map. It is thus possible for the second vehicle to generate a weed control agent application map while in the field, which allows the vehicle to start weed control measurements directly while in the location where the weed control measurements are required.

[0024] In one example, the (second) weed control management vehicle includes an output unit. The output unit is configured to receive a weed control agent application map for the field from the control processing unit. The output unit is configured to output the weed control agent application map for the field.

[0025] In one example, the (second) weed control management vehicle includes at least one weed control agent application unit. The at least one weed control agent application unit is configured to release a weed control agent application. The control processing unit is configured to control the at least one weed control agent application unit according to a weed control agent application map.

[0026] Thus, the second vehicle acquiring the soil elevation data at the second time has all the data to generate a weed control application map. To do so, the vehicle may also use external processing capabilities. However, at the same time that the vehicle is in the field acquiring the soil elevation data at the second time, the vehicle may analyze the data and begin weed control, for example by applying an appropriate herbicide product as needed. This sequential process improves effectiveness.

[0027] In a fourth aspect of the invention, there is provided a weed control agent application map generated according to the method discussed in the first aspect of the invention.

[0028] In a fifth aspect of the present invention, a weed control management system is provided, which includes a first weed control management vehicle and a second weed control management vehicle. The first vehicle includes at least one seed position sensor, a control processing unit, a sowing unit, and a transceiver. The second vehicle includes at least one soil elevation sensor, a control processing unit, and a transceiver. The first vehicle is configured to sow crop seeds in a field using the sowing unit. The at least one seed position sensor of the first vehicle is configured to collect seed geographical position data of crop seeds from the sowing unit that impact a soil surface during sowing. The control processing unit of the first vehicle is configured to receive the seed position data of the at least one seed position sensor to generate a crop seed map of the field. The at least one soil elevation sensor of the second vehicle is configured to collect soil elevation data including geographical information corresponding to an elevation amount and soil elevation of the field at a first time point and a second time point that is later than the first time point. The control processing unit of the second vehicle is configured to receive the soil rise data from the at least one soil rise sensor and generate a soil topography map of the field at at least two different times. The control processing unit of the first vehicle is configured to transmit a crop seed map of the field to the second vehicle using the transceiver. The control processing unit of the second vehicle is configured to receive the crop seed map of the field from the first vehicle using the transceiver. The control processing unit of the second vehicle is configured to compare the soil surface topography map with the seed map to identify differences in soil rise topography that are not associated with the growth of seeds sown in the field and generate a weed control agent application map.

[0029] In one example, the weed control management system includes a first vehicle further including at least one soil elevation sensor. The at least one soil elevation sensor of the first vehicle is configured to collect soil elevation data including an amount of elevation of the field at a first time and geographic information corresponding to the soil elevation. The control processing unit of the first vehicle is configured to receive the soil elevation data from the at least one soil elevation sensor and generate a soil surface topography map of the field at the first time. The control processing unit of the first vehicle is configured to transmit the soil surface topography map of the field at the first time to a second vehicle using the transceiver. The control processing unit of the second vehicle is configured to receive the soil surface topography map of the field at the first time from the first vehicle using the transceiver.

[0030] In one example, the weed control management system includes a second vehicle further including at least one weed control agent application unit configured to release a weed control agent application, and a control processing unit of the second vehicle configured to control the at least one weed control agent application unit according to a weed control agent application map.

[0031] According to another aspect there is provided a computer program product configured to perform the method of the first aspect when executed by a processor.

[0032] Advantageously, any benefit provided by any of the above aspects applies to all of the other aspects as well, and vice versa.

[0033] The above aspects and examples will be apparent from and elucidated with reference to the embodiments described hereinafter. [Brief description of the drawings]

[0034] Exemplary embodiments are described below with reference to the following drawings:

[0035] [Figure 1] 1 shows a schematic example of the generation of a weed control agent spraying map. [Diagram 2] a) and b) show a schematic example of the weed germination process (in a side perspective view) and the pattern of soil uplift produced by the weed germination process (in a top perspective view). [Diagram 3] 1 shows a schematic configuration of an example of a weed control vehicle (100). [Figure 4] 1 shows a schematic configuration of an example of a weed control vehicle (200). [Diagram 5] 1 shows a schematic configuration of an example of a weed control system (300). [Figure 6] 1 shows a schematic diagram of a detailed example of a weed control vehicle (100) (side perspective view). [Figure 7] 1 shows a schematic diagram of a detailed example of a weed control vehicle (200) (side perspective view). [Figure 8] 1 shows a schematic configuration of an example of a computer program product (400) for weed control management. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0036] The present invention relates in a first embodiment to a weed control management method 10, comprising: a) obtaining geographic information of crop seeds sown in a field to generate a crop seed map; b) obtaining soil elevation data and geographic information corresponding to the soil elevation at at least two different times in a field where the crop seed has been or is being sown to generate a soil surface topography map indicative of the soil surface topography of the field at the at least two different times; c) comparing the soil surface topography map with the crop seed map to identify differences in the topography of soil elevations that are not related to the growth of seeds sown in the field; d) generating weed control agent application maps based on identified differences in soil elevation of a field that are not related to the growth of crop seeds sown in the field; This includes the steps:

[0037] In one example, the term "geographic information" refers to real-world geographic locations, for example expressed in geographic coordinates.

[0038] In one example, the phrase "when crop seeds have been sown or are being sown" refers to a time point immediately after sowing, for example when crop seeds are sown using a vehicle with sowing equipment at the front of the vehicle and soil elevation data can be acquired within the same operation using a sensor at the rear of the same vehicle. The time point can also be later, for example a few days after sowing. The data can also be acquired using a vehicle different from the sowing vehicle.

[0039] In one example, the resolution of the geographic information is ±10 cm, more preferably ±5 cm, and even more preferably ±2 cm, which can be achieved by a seed position sensor equipped with a location determination means such as a GPS real-time kinetic (RTK) system.

[0040] In one example, information about the geographic location of crop seeds sown in a field can be obtained using a camera, laser scanner, or one-dimensional line sensor to detect the seeds, a light beam, and a temperature-sensitive element to detect the heated seeds in conjunction with a location system. US Patent Application Publication No. 2014 / 0076216A1 discusses a method for precisely drilling holes in seed particles and registering the location of the seeds on a chart.

[0041] In one example, a crop seed map refers to the registration of seed locations within a diagram, particularly in the form of an at least two-dimensional (or possibly three-dimensional) representation of the geographical distribution of crop seeds in a field after sowing.

[0042] In one example, the soil elevation data and geographic information corresponding to the soil elevation of the field are acquired using a lidar sensor, a Parallax laser ranging sensor, a stereo vision sensor, an infrared (IR) reflectance sensor, a time-of-flight sensor, an ultrasonic sensor, and a radar sensor.

[0043] In one example, a lidar sensor is used.

[0044] In one example, a 3D lidar sensor is used.

[0045] In one example, a lidar sensor is used in conjunction with a camera that can, for example, identify leaf areas of already emerging weeds, and this information can be taken into account in generating a weed control agent application map.

[0046] In one example, the camera is configured to operate across the visible wavelength range. In one example, the camera is configured to operate in the near infrared region. In one example, the camera is monochromatic. In one example, the camera is configured to capture color information, such as RGB. In one example, the camera is configured to capture hyperspectral information.

[0047] In one example, multiple lidar scans are acquired at various locations throughout a field. This is done to provide a high and consistent lidar point density (the number of points per unit area on a given target as measured by optical detection and ranging). One issue to consider with lidar detection at and / or near the ground is that the point density can be non-uniform, with parts of the soil closer to the scanner being more densely covered than parts further away. This can be addressed by various means, such as increasing the pulse rate, changing the scan pattern and / or scan speed.

[0048] In one example, soil elevation data of a field and geographic information corresponding to the soil elevation are obtained using a lidar sensor and a positioning system such as GPS real-time kinetic (RTK).

[0049] In one example, at least two different points in time refers to measurements of soil uplift data and geographic information corresponding to soil uplift at two different times with a time difference of, for example, one day, one week, two weeks, or three weeks.

[0050] In one example, soil uplift data is obtained at multiple different time points and each is compared to previous soil uplift data. In one example, soil uplift data is obtained daily.

[0051] In one example, a soil surface topography map refers to at least a two-dimensional (or three-dimensional) display of geographic coordinates in a field, with soil uplift (at the time of measurement) shown for each geographic coordinate. The data resolution of the geographic location (horizontal) depends on the lidar and localization means used, and is preferably at least 2 cm, more preferably 1 cm, and even more preferably less than 1 cm. With regard to measuring soil uplift, today's lidar sensors have millimeter resolution to display enough vertical differences to detect changes in soil uplift shape indicative of weed germination and growth.

[0052] In one example, an algorithm is applied to correct for small deviations in geographic location between two or more soil surface topography maps.

[0053] In one example, soil surface topography maps at at least two different times are compared to each other (see Fig. 1a, b). This comparison reveals the change in soil uplift over time at the same geographic location of the field (see Fig. 1d). These differences in patterns of weed germination activity can be further analyzed using machine learning algorithms. When weeds germinate, the sprouts push the soil above them. The soil rises above the sprouts (see Fig. 2a, side perspective view). Analysis of these weed germination processes reveals patterns that can be distinguished from other soil uplift-changing occurrences, such as weather activity (see Fig. 2b, schematic of possible patterns in top perspective view). Also, other soil uplift changes that are not due to germinating weeds can be analyzed in a similar way and classified, for example, using machine learning algorithms. By overlaying the soil shape maps at least at two different times on the crop seed map (see d) of Figure 1), the germinating weeds can be identified and distinguished from the sown crop seeds and soil uplift changes that have occurred due to other reasons such as meteorological emergence. Then, a weed control agent application map can be generated (see e) of Figure 1). A weed control agent application map is a (at least) two-dimensional (or three-dimensional) representation of the geographic distribution of weeds (germinated and emerging) in a field where weed control agents can be applied to adequately control the weeds in the field.

[0054] In one example, analysis of the soil elevation data / soil topography map includes the use of machine learning algorithms.

[0055] In one example, the machine learning algorithm includes a decision tree algorithm.

[0056] In one example, the machine learning algorithm includes an artificial neural network.

[0057] In one example, the machine learning algorithm is trained based on a plurality of soil elevation topography maps. In one example, the machine learning algorithm is trained based on a plurality of soil elevation topography maps including a plurality of soil elevation patterns resulting from at least one type of weed, various soil types, and various soil moisture contents. In one example, the machine learning algorithm is trained based on a plurality of soil elevation topography maps including a plurality of soil elevation patterns resulting from a plurality of weeds, various soil types, and various soil moisture contents.

[0058] In one example, machine learning algorithms similar to those described above are used to identify already occurring weeds, weed type (at least monocotyledonous / dicotyledonous), growth stage / size, and geographic location.

[0059] In one example, data on already-emerging weeds is used to generate weed control agent application maps.

[0060] In one example, a radius of 20 cm, preferably 10 cm, more preferably 5 cm, and even more preferably 3 cm around each individual crop seed is marked with a weed control agent application map so that no weed control agent is applied.

[0061] According to one example, data for a crop seed map and a soil topography map indicative of soil topography at a first time are acquired simultaneously in a field using an agricultural vehicle.

[0062] In one example, data for a crop seed map for a particular geographic location is acquired prior to acquisition (but with the same vehicle) of data for soil surface topography at a first time for the same geographic location. As an example, Figure 6 shows a vehicle where data for a crop seed map for a particular location (e.g. a camera, see 111 in Figure 6) is acquired prior to acquisition of data for soil surface topography at a first time for the same location (see 112 in Figure 6 and the direction of travel of the vehicle 100). Within a sowing vehicle there is often a furrow filler 133 that compresses the soil to close the furrow after the crop seeds have been placed in the furrow. Therefore, it is necessary to acquire soil uplift data after the sowing operation has taken place.

[0063] In one example, the term "concurrently" refers to one consecutive operation in a field using the same vehicle.

[0064] In one example, the "first time point" is immediately after the crop seed is planted.

[0065] According to one example, the weed control management method further includes step e) spraying a weed control agent to the field according to the weed control agent spraying map.

[0066] In one example, the weed control agent is a selective and / or non-selective weed control agent. Thus, a precision weed control method may allow for the application of non-selective herbicides.

[0067] In one example, the weed control agent is a pre-emergence weed control agent and / or an early post-emergence weed control agent.

[0068] According to one example, steps a) to e) of the weed control management method are carried out before and / or during emergence of multiple crop seeds and / or multiple weed sprouts in the field.

[0069] In one example, the weed control management method is applied within the first two months, preferably within the first four weeks, after the crop seed is planted in the field.

[0070] According to one example, a weed control management method obtains geographical information of crop seeds sown in a field by at least one sensor configured to record geographical information of crop seeds impacting the soil during sowing of the crop seeds.

[0071] In one example, the at least one sensor configured to record geographic information of crop seeds impacting the soil during sowing of the crop seeds is selected from the group of a camera, a laser scanner, or a one-dimensional line sensor to detect the seeds, a light beam, and / or a temperature-sensitive element to detect heated seeds, all used together (and synchronized) with the location determination means.

[0072] In one example, the location determination means includes one or more of a GPS, an inertial navigation system, an image-based positioning system. The GPS system is preferably a GPS real-time kinetic (RTK) system. The location can be a geographic location relative to a precise location on the ground, or it can be a ground location relative to one or more other locations on the ground, such as a field boundary. That is, an absolute geographic location can be utilized, or a ground location can be used that is relative to a known location, but need not be absolutely known.

[0073] In one example, the location is an absolute geographic location.

[0074] In one example, if a camera is used, the location is one that is identified relative to one or more known locations. That is, an image can be identified as relating to a particular location on the ground without knowing its exact geographic location, but knowing where the image was taken can record where the image was taken relative to one or more known locations on the ground. That is, an absolute GPS-derived location can be provided where the vehicle took the image of the ground, and / or the location of the image taken can be provided relative to a known location such as a field boundary, so that again the exact location where the image was taken can be identified since the control processing unit knows the absolute location of the field boundary.

[0075] In one example, a GPS unit is used to and / or is used in determining a location, such as the location of a camera when a particular image was captured.

[0076] In one example, an inertial navigation unit is used alone or in combination with a GPS unit to determine a location, such as the location of a camera when a particular image was captured.

[0077] According to one example, the weed control management method obtains soil elevation data of a field and geographical information corresponding to the soil elevation, obtained using a sensor configured to generate a light pulse toward the soil surface and measure the time of reflection, together with (and synchronized with) a location determination means.

[0078] In one example, the sensor configured to generate a light pulse toward the soil surface and measure the time of reflection is selected from the group of lidar sensors, Parallax laser ranging sensors, stereo vision sensors, IR reflectance sensors, time-of-flight sensors, ultrasonic sensors, and radar sensors.

[0079] In one example, a lidar sensor is used.

[0080] In one example, a 3D lidar sensor is used.

[0081] In one example, a lidar sensor is used in conjunction with a camera that can, for example, identify leaf areas of already emerging weeds, and this information can be taken into account in generating a weed control agent application map.

[0082] In one example, a lidar sensor and / or camera can acquire data / images of the soil close to the bottom (linearly downward) for optimal resolution.

[0083] In one example, the lidar sensor and / or camera can acquire data / images of the soil closer to the horizontal plane (approximately 20°-40° from horizontal).

[0084] In one example, data / images of the same geographic location of a field are acquired from different angles, such as near the bottom and at angles of approximately 20°-40° from horizontal. For established dicotyledonous weeds, imaging near the bottom will be most effective, while imaging closer to the horizontal plane will be most effective for monocotyledonous weeds.

[0085] In one example, the location determining means includes one or more of a GPS, an inertial navigation system, an image-based positioning system (similar to that described above in connection with the crop seed location sensor). Multiple sensors can also be used with one location determining means, synchronizing geographic information with the respective sensor data.

[0086] FIG. 3 shows a schematic example of a weed control management vehicle 100. The weed control management vehicle 100 includes a plurality of sensors 110 including at least one seed position sensor 111 and at least one soil elevation sensor 112, a control processing unit 120, and a sowing unit 130. The vehicle 100 is configured to sow crop seeds in a field using the sowing unit 130. The at least one seed position sensor 111 is configured to collect seed geographical position data of crop seeds from the sowing unit 130 that impact a soil surface during sowing. The control processing unit 120 is configured to receive the seed geographical position data from the at least one seed position sensor 111 to generate a crop seed map of the field. The at least one soil elevation sensor 112 of the vehicle is configured to collect soil elevation data including a soil elevation amount and geographical information corresponding to the soil elevation of the field. The control processing unit 120 is configured to receive the soil elevation data from the at least one soil elevation sensor 112 and generate a soil surface topography map indicative of the soil surface topography at a first time in the field. The seed position data and the soil elevation data are obtained at the same time that the plant crop seeds are sown in the field using the vehicle's seeding unit.

[0087] In one example, the vehicle 100 is an unmanned ground vehicle (UGV), a tractor, a seeding vehicle, an unmanned aerial vehicle (UAV), preferably a UGV, a tractor, or a seeding vehicle.

[0088] In one example, the at least one seed position sensor 111 is preferably selected from the group of a camera, a laser scanner, or a one-dimensional line sensor for detecting seeds, a light beam, and / or a temperature sensitive element for detecting heated seeds (as described above for the method), all used in conjunction with a position determination means. Suitable position determination means have been discussed in connection with the method.

[0089] In one example, the at least one soil uplift sensor 112 is preferably selected from the group of lidar sensors, Parallax laser ranging sensors, stereo vision sensors, IR reflectance sensors, time-of-flight sensors, ultrasonic sensors, and radar sensors (as described above for the method).

[0090] In one example, a lidar sensor is used.

[0091] In one example, a 3D lidar sensor is used.

[0092] In one example, a lidar sensor is used in conjunction with a camera.

[0093] In one example, the control processing unit 120 may be entirely part of the vehicle or may have at least one additional external processing unit, with which the control processing unit 120 communicates using wireless data transmission (which may be an external computer, the cloud, etc.).

[0094] In one example, the seeding unit 130 includes at least one seed application system 132 configured to deposit crop seeds into the soil.

[0095] In one example, the seeding unit 130 further includes at least one furrow cutter 131 configured to cut a furrow in the soil.

[0096] In one example, the seeding unit 130 further includes at least one furrow filler 133 configured to close the furrow.

[0097] In one example, the groove fillers 133 are wheels.

[0098] In one example, seeds are placed by a seed dosing system 132 into furrows created by at least one furrow cutter 131 .

[0099] In one example, the seeding unit 130 and the at least one seed position sensor 111 are mounted / located closer to the front of the vehicle compared to the at least one soil uplift sensor 112 which is mounted / located closer to the rear of the vehicle, preferably behind the rear wheels of the vehicle.

[0100] According to an example, the weed control management vehicle 100 further includes an output unit 140. The output unit 140 is configured to receive a crop seed map of the field and a soil surface topography map of the field from the control processing unit 120. The output unit 140 is configured to output the crop seed map of the field and the soil surface topography map of the field.

[0101] In one example, the output unit includes a monitor, a printer, a screen, an information display device, and / or any other information display medium.

[0102] FIG. 4 shows a schematic example of a weed control management vehicle 200. The weed control management vehicle 200 includes at least one soil elevation sensor 210, a control processing unit 220, and a transceiver 230. The at least one soil elevation sensor 210 is configured to collect soil elevation data including a soil elevation amount and geographic information corresponding to the soil elevation of the field at a first time point. The at least one soil elevation sensor 210 is configured to collect soil elevation data including a soil elevation amount and geographic information corresponding to the soil elevation of the field at a second time point that is later than the first time point. The control processing unit 220 is configured to receive the soil elevation data from the at least one soil elevation sensor 210 to generate a soil surface profile map of the field at at least two different times. The control processing unit 220 is configured to receive a crop seed map of the field using the transceiver 230. The control processing unit 220 is configured to compare the soil surface topography map with the crop seed map to identify differences in the topography of soil elevations that are not associated with the growth of seeds sown in the field to generate a weed control agent application map.

[0103] In one example, the vehicle 200 is an unmanned ground vehicle (UGV), a tractor, an unmanned aerial vehicle (UAV), and preferably is a UAV or a tractor.

[0104] In one example, the at least one soil uplift sensor 210 is a sensor similar to that described in connection with the at least one soil uplift sensor 112 .

[0105] In one example, a crop seed map of the field is generated by the first vehicle 100. This information about the crop seed map is transmitted to the second vehicle 200 (e.g., directly from the first vehicle to the second vehicle or via a data cloud or an external processing unit, preferably using wireless communication).

[0106] According to one example, the weed control management vehicle 200 includes a control processing unit 220 configured to receive using a transceiver 230 soil elevation data including an amount of elevation of the field at a first time and geographic information corresponding to the soil elevation, and / or a soil surface topography map of the field at the first time.

[0107] In one example, the second vehicle 200 acquires soil elevation data including geographic information corresponding to the amount of elevation and soil elevation of the field at a second time (rather than at the first time). Similar to the crop seed map, the second vehicle 200 receives the soil elevation data and / or soil surface topography map at the first time from the first vehicle 100 (or another vehicle) directly or via a data cloud or external processing unit. If the second vehicle 200 includes a weed control agent application unit 250, it can acquire the soil elevation data at the second time, receive all other data required to generate the weed control agent application map using its transceiver, generate the weed control agent application map, and begin controlling weeds in the field using its weed control agent application unit, all within a single work procedure in the field.

[0108] According to another example, the weed control management vehicle 200 includes an output unit 240. The output unit 240 is configured to receive a weed control agent application map for the field from the control processing unit 220. The output unit 240 is configured to output the weed control agent application map for the field. In one example, the output unit 240 includes a monitor, a printer, a screen, an information monitoring device, and / or any other information monitoring medium. The output unit can also be another vehicle that receives the application map to perform a spraying operation.

[0109] In one example, the vehicle 200 is a UAV and information about a weed control agent application map of the field is transmitted to an output unit using wireless communication.

[0110] According to another example, the weed control management vehicle 200 includes at least one weed control agent application unit 250. The at least one weed control agent application unit 250 is configured to release a weed control agent application. The control processing unit 220 is configured to control the at least one weed control agent application unit 250 according to a weed control agent application map.

[0111] In one example, the weed control spraying unit 250 includes at least one spraying unit. The at least one spraying unit is configured to spray a liquid.

[0112] In one example, the application unit is, for example, a boom sprayer.

[0113] In one example, the phrase "controlling at least one weed control agent application unit" in relation to the application unit refers to controlling the start of the application process and controlling the stop of the application process.

[0114] In one example, the spraying unit includes at least one liquid sprayer, such as a water spray nozzle, and / or at least one spray disk, such as a rotating disk.

[0115] In one example, at least one weed control agent application unit includes a liquid sprayer, a liquid tank, and at least one supply pipe. The liquid tank is configured to hold a liquid. The supply pipe is configured to transport liquid from the liquid tank to the liquid sprayer. The liquid sprayer is configured to apply the liquid.

[0116] In one example, the term "liquid" refers to a liquid that includes a chemical and / or biologically based herbicidal active ingredient (such as a weed control agent discussed herein above).

[0117] In one example, the control processing unit is configured to control at least one spraying unit to spray the liquid as fine droplets, as a jet, as a droplet, or a combination thereof depending on the type of deposit desired.

[0118] By way of another example, another embodiment of the present invention relates to a weed control agent application map generated according to the weed control management methods described herein.

[0119] In one example, a weed control agent application map is a (at least) two-dimensional (or three-dimensional) representation of the geographic distribution of weeds (emerging and emerging) in a field to which a weed control agent can be applied to adequately control weeds in the field (see Figure 1(d)).

[0120] In one example, information from the weed control agent spray map can be transmitted to a number of other vehicles (such as UAVs) including spray units that are configured to spray herbicides at various locations in a field according to the spray map.

[0121] FIG. 5 shows a schematic example of a weed control management system 300. The weed control management system 300 includes a first weed control management vehicle 100 and a second weed control management vehicle 200. The first vehicle includes at least one seed position sensor 111, a control processing unit 120, a sowing unit 130, and a transceiver 140. The second vehicle includes at least one soil elevation sensor 210, a control processing unit 220, and a transceiver 230. The first vehicle 100 is configured to sow crop seeds in a field using the sowing unit 130. The at least one seed position sensor 111 of the first vehicle is configured to collect seed geographical position data of crop seeds from the sowing unit 130 that impact the soil surface during sowing. The control processing unit 120 of the first vehicle is configured to receive the seed position data of the at least one seed position sensor 111 to generate a crop seed map of the field. The at least one soil elevation sensor 210 of the second vehicle 200 is configured to collect soil elevation data including geographic information corresponding to the amount of elevation and soil elevation of the field at a first time point and a second time point subsequent to the first time point. The control processing unit 220 of the second vehicle 200 is configured to receive the soil elevation data from the at least one soil elevation sensor 210 and generate a soil topography map of the field at at least two different times. The control processing unit 120 of the first vehicle is configured to transmit a crop seed map of the field to the second vehicle 200 using the transceiver 140. The control processing unit 220 of the second vehicle 200 is configured to receive the crop seed map of the field from the first vehicle 100 using the transceiver 230. The control processing unit 220 of the second vehicle 200 is configured to compare the soil surface topography map with the seed map to identify differences in the topography of the soil elevation that are not associated with the growth of seeds sown in the field and generate a weed control agent application map.

[0122] According to one example, the weed control management system 300 includes a first vehicle including at least one soil elevation sensor 112. The at least one soil elevation sensor 112 of the first vehicle is configured to collect soil elevation data including an elevation amount of the field at a first time and geographic information corresponding to the soil elevation. The control processing unit 120 of the first vehicle is configured to receive the soil elevation data from the at least one soil elevation sensor 112 and generate a soil surface topography map of the field at the first time. The control processing unit 120 of the first vehicle is configured to transmit the soil surface topography map of the field at the first time to the second vehicle 200 using the transceiver 140. The control processing unit 220 of the second vehicle 200 is configured to receive the soil surface topography map of the field at the first time from the first vehicle 100 using the transceiver 230. In one example, the second vehicle 200 does not need to generate a soil surface contour map of the field at the first time, but receives this information from the first vehicle 100 or another vehicle.

[0123] According to one example, the weed control management system 300 includes a second vehicle 200 including at least one weed control agent application unit 250. The at least one weed control agent application unit 250 is configured to emit a weed control agent application. The control processing unit 220 of the second vehicle 200 is configured to control the at least one weed control agent application unit 250 according to a weed control agent application map.

[0124] 6 shows a schematic diagram of a detailed example of a weed control management vehicle 100. The vehicle shown is a ground vehicle such as a tractor and includes a seeding unit 130 with a furrow cutter 132, a seed application system 132, and a furrow filler 133. The crop seed position sensor 111 is a camera that records the geographical location of the crop seeds in the soil. The camera is synchronized with a GPS system. The vehicle includes a soil rise sensor 112, such as a lidar scanner, at the rear of the vehicle. The soil rise is scanned with the lidar sensor after finishing the seeding process with the seeding unit 130 (at a first time point).

[0125] FIG. 7 shows a schematic diagram of a detailed example of a weed control management vehicle 200. In this example, the vehicle 200 is a UAV. The UAV flies over a field and scans the subsurface using a soil elevation sensor 210, such as a 3D lidar sensor (FIG. 7a). Multiple sensors on the UAV continuously record the position, altitude, height above ground, and orientation of the lidar sensor, allowing the lidar image to include precise location information that results in a detailed 3D map of the soil surface. The UAV receives crop seed map data and soil elevation data from another earlier point in time using a transceiver 230. A control processing unit (not shown) uses the received information and information from the soil elevation sensor 210 to evaluate where herbicide active ingredients need to be applied to the soil (and generate an application map). Thus, comparing and analyzing two or more lidar images taken from the same field over a period of one or more days can show differences due to local changes in soil elevation. The control processing unit analyzes the changes indicative of the growth of germinating seeds below the soil surface and creates a list of the locations of those seeds. Algorithms can be applied to correct for small deviations in geographic location between two or more soil surface topography maps. The control processing unit also analyzes the growing plants, identifies the type of plant, and creates a list of the type, size, and location of plants if they are identified as undesirable weeds. Algorithms can be applied to identify and remove false positives. The UAV 200 can also transmit the acquired soil elevation data to an external processing unit, which generates a dispersal map and sends it back to the UAV 200 for spraying or to another dedicated spraying UAV as shown in FIG. 7 c). FIG. 7 b) shows that the same UAV can use the dispersal map to directly control weeds using its own weed control unit 250. Alternatively, another UAV dedicated to spraying weed control agents can receive the dispersal map from the UAV 200 and spray the weed control agents into the soil (FIG. 7 c).

[0126] In another exemplary embodiment, a computer program or a computer program product is provided, characterized in that it is configured to execute, on a suitable system, the method steps of the method according to one of the previous embodiments.

[0127] 8 shows a schematic configuration of an example of a computer program product 400 for weed control management. The computer program product 400 for weed control management, when executed by a processor, a) receiving (410) geographic information of a crop seed sown in a field; b) generating (420) a crop seed map based on the information received in step a); c) receiving soil elevation data and geographic information corresponding to the soil elevation for at least two different time points in a field where crop seeds have been planted or are being planted (430); d) generating (440) a soil surface profile map indicative of a soil surface profile of the field at at least two different times based on the information received in step c); e) comparing the soil surface topography map with the crop seed map (450); f) Identifying differences in the shape of soil mounds that are not related to the growth of seeds sown in the field (460); g) generating weed control agent application maps based on identified differences in soil elevation in a field that are not related to the growth of crop seeds sown in the field (470); The method is configured to perform the steps of:

[0128] According to one example, the weed control management computer program product 400 comprises: e) instructing the vehicle to spray the weed control agent on the field according to the weed control agent spraying map (480); The method further includes the step of:

[0129] The computer program product may be stored in a computing device, which may also be part of an embodiment. The computing device may be configured to execute or cause to be executed the steps of the above-mentioned method. Furthermore, the computing device may be configured to operate the above-mentioned vehicle and / or system components. The computing device may be configured to operate automatically and / or to execute user instructions. The computer program may be loaded into a working memory of a data processor. The data processor may thus be capable of executing a method according to one of the above-mentioned embodiments.

[0130] This exemplary embodiment of the present invention covers both computer programs that use the present invention from the beginning and computer programs that, by updating, transform existing programs into programs that use the present invention. Moreover, a computer program product may provide all the steps necessary to implement the procedures of the exemplary embodiments of the methods described above.

[0131] According to a further exemplary embodiment of the present invention, there is provided a computer readable medium having stored thereon a computer program product which is / can be a computer program product as described in the previous paragraph, such as a CD-ROM, a USB stick or the like. The computer program may be provided together with or as part of other hardware, stored on and / or distributed on a suitable medium, such as an optical storage medium or a semiconductor medium, but may also be distributed in other forms, such as via the Internet or other wired or wireless telecommunication systems.

[0132] However, the computer program may also be provided over a network, such as the World Wide Web, and can be downloaded into the working memory of a data processor from such a network.

[0133] According to a further exemplary embodiment of the present invention, a medium for downloading a computer program product configured to perform a method according to one of the above embodiments of the present invention is provided.

[0134] It should be noted that the embodiments of the present invention are described with respect to different subject matters. In particular, some embodiments are described with respect to method type claims, while other embodiments are described with respect to vehicle, scatter map, and / or system type claims. However, a person skilled in the art will infer from the above and following description that, unless otherwise indicated, any combination of features belonging to one subject matter, as well as any combination of features relating to different subject matters, is considered to be disclosed by the present application.

[0135] While the present invention has been illustrated and described in detail in the drawings and the above description, such drawings and description should be considered as illustrative or exemplary, and not restrictive. The present invention is not limited to the disclosed embodiments. Other variations to the disclosed embodiments can be understood and effected by those skilled in the art from a study of the drawings, the disclosure, and the dependent claims, when practicing the claimed invention.

[0136] In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite articles "a" or "an" do not exclude a plurality. A single processor or other unit may carry out the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage. Any reference signs in the claims should not be interpreted as limiting the scope thereof.

Claims

1. A method for controlling weeds (10), comprising: a) obtaining geographic information of crop seeds sown in a field and generating a crop seed map; b) acquiring soil elevation data and geographic information corresponding to soil elevation for at least two different time points of the field during which the crop seed has been planted or is being planted, and generating a soil surface topography map indicative of the soil surface topography of the field at the at least two different time points; c) comparing the soil surface topography map with the crop seed map to identify differences in the topography of the soil mounds that are not associated with the growth of the seeds planted in the field; d) generating a weed control agent application map based on the identified differences in soil elevation of the field that are not related to the growth of the crop seeds sown in the field; A weed control method (10) comprising the steps of:

2. The method of claim 1 , wherein data for the crop seed map and for the soil topography map indicative of the soil topography at a first time are acquired simultaneously in the field using an agricultural vehicle.

3. 2. The method of claim 1, further comprising step e) applying a weed control agent to the field according to the weed control agent application map.

4. 4. The method according to claim 3, wherein steps a) to e) are carried out before and / or during emergence of a plurality of shoots of the crop seeds and / or weeds in the field.

5. 2. The method of claim 1, wherein the geographical information of the crop seeds sown in the field is obtained by at least one sensor configured to record geographical information of the crop seeds impacting the soil during sowing of the crop seeds.

6. 2. The method of claim 1, wherein the soil elevation data of the field and the geographic information corresponding to the soil elevations are obtained using a sensor and location determination means configured to generate a light pulse toward the soil surface and measure the time of reflection.

7. A vehicle (100) for weed control management, comprising: a plurality of sensors (110) including at least one seed position sensor (111) and at least one soil uplift sensor (112); A control processing unit (120); A seeding unit (130); Including, said vehicle (100) being configured to sow crop seeds in a field using said sowing unit (130); the at least one seed position sensor (111) is configured to collect seed geographical position data of the crop seeds from the sowing unit (130) impacting a soil surface during sowing; the control processing unit (120) is configured to receive the seed geographical location data from the at least one seed location sensor (111) and generate a crop seed map of the field; the at least one soil elevation sensor (112) of the vehicle is configured to collect soil elevation data including an amount of elevation of the field and geographic information corresponding to the soil elevation; the control processing unit (120) is configured to receive the soil elevation data from the at least one soil elevation sensor (112) and generate a soil surface profile map indicative of a soil surface profile of the field at a first time; the seed position data and the soil elevation data are obtained at the same time that the crop seeds of the plants are sown in the field using the sowing unit of the vehicle; Weed control management vehicle (100).

8. An output unit (140), the output unit (140) is configured to receive the crop seed map of the field and the soil topography map of the field from the control and processing unit (120); the output unit (140) is configured to output the crop seed map of the field and the soil surface topography map of the field. A weed control vehicle as claimed in claim 7.

9. A vehicle (200) for weed control management, At least one soil uplift sensor (210); A control processing unit (220); A transceiver (230); Including, the at least one soil uplift sensor (210) is configured to collect soil uplift data including an amount of uplift in the field at a first time and geographic information corresponding to the soil uplift; the at least one soil uplift sensor (210) is configured to collect soil uplift data including an amount of uplift in the field at a second time point that is later than the first time point and the geographic information corresponding to the soil uplift; the control processing unit (220) is configured to receive the soil elevation data from the at least one soil elevation sensor (210) and generate soil surface profile maps of the field at least two different times; the control processing unit (220) is configured to receive a crop seed map of the field using the transceiver (230); The control processing unit (220) is configured to compare the soil surface topography map with the crop seed map to identify differences in the topography of the soil rise that are not associated with the growth of the seeds sown in the field and generate a weed control agent application map. Weed control management vehicle (200).

10. The weed control management vehicle (200) of claim 9, wherein the control processing unit (220) is configured to use the transceiver (230) to receive the soil elevation data including the amount of elevation of the field at the first time and the geographical information corresponding to the soil elevation, and / or the soil surface shape map of the field at the first time.

11. an output unit (240); The output unit (240) is configured to receive the weed control agent application map for the field from the control processing unit (220); The output unit (240) is configured to output the weed control agent application map for the field. The weed control management vehicle (200) of claim 9.

12. The vehicle further comprises at least one weed control agent application unit (250); The at least one weed control agent application unit (250) is configured to release a weed control agent; The control processing unit (220) is configured to control the at least one weed control agent spraying unit (250) according to the weed control agent spraying map. The weed control management vehicle (200) of claim 9.

13. A weed control agent application map generated according to the method of claim 1.

14. A weed control management system (300) including a first weed control management vehicle (100) and a second weed control management vehicle (200), The first vehicle is At least one seed position sensor (111); A control processing unit (120); A seeding unit (130); A transceiver (140); Including, The second vehicle is At least one soil uplift sensor (210); A control processing unit (220); A transceiver (230); Including, said first vehicle (100) being configured to sow crop seeds in a field using said sowing unit (130); the at least one seed location sensor (111) of the first vehicle is configured to collect seed geographic location data of the crop seed from the seeding unit (130) that impacts a soil surface during seeding; the control processing unit (120) of the first vehicle is configured to receive the seed position data of the at least one seed position sensor (111) and generate a crop seed map of the field; the at least one soil uplift sensor (210) of the second vehicle (200) is configured to collect soil uplift data including an amount of uplift in the field at a first time point and at a second time point subsequent to the first time point and geographic information corresponding to the soil uplift; the control processing unit (220) of the second vehicle (200) is configured to receive the soil elevation data from the at least one soil elevation sensor (210) and generate soil topography maps of the field at least two different times; the control processing unit (120) of the first vehicle is configured to transmit the crop seed map of the field to the second vehicle (200) using the transceiver (140); the control processing unit (220) of the second vehicle (200) is configured to receive the crop seed map of the field from the first vehicle (100) using the transceiver (230); The control processing unit (220) of the second vehicle (200) is configured to compare the soil surface topography map with the seed map to identify differences in the topography of the soil rises that are not associated with the growth of the seeds sown in the field and generate a weed control agent application map. Weed control management system (300)

15. the first vehicle includes at least one soil elevation sensor (112); the at least one soil elevation sensor (112) of the first vehicle is configured to collect soil elevation data including an amount of elevation of the field at the first time and geographic information corresponding to the soil elevation; the control processing unit (120) of the first vehicle is configured to receive the soil elevation data from the at least one soil elevation sensor (112) and generate a soil surface profile map of the field at the first time; the control processing unit (120) of the first vehicle is configured to transmit the soil surface topography map of the field at the first time point to the second vehicle (200) using the transceiver (140); the control processing unit (220) of the second vehicle (200) is configured to receive from the first vehicle (100) the soil surface topography map of the field at the first time point using the transceiver (230); The weed control management system (300) of claim 14.

16. The second vehicle (200) includes at least one weed control agent spraying unit (250); The at least one weed control agent application unit (250) is configured to release a weed control agent; The control processing unit (220) of the second vehicle (200) is configured to control the at least one weed control agent spraying unit (250) according to the weed control agent spraying map. The system (300) of claim 14.

17. When executed by a processor, a) receiving (410) geographic information of a crop seed sown in a field; b) generating 420 a crop seed map based on the information received in step a); c) receiving (430) soil elevation data and geographic information corresponding to soil elevation for at least two different points in time for the field where the crop seed has been planted or is being planted; d) generating (440) a soil surface profile map indicative of a soil surface profile of the field at the at least two different times based on the information received in step c); e) comparing 450 the soil topography map with the crop seed map; f) identifying differences in the shape of the soil mounds that are not related to the growth of the seeds planted in the field (460); g) generating a weed control agent application map based on the identified differences in soil elevation of the field that are not related to the growth of the crop seeds sown in the field (470); A computer program product (400) for weed control management configured to perform the steps.

18. 20. The computer program product (400) for weed control management as described in claim 17, further comprising the step of: e) instructing a vehicle to apply a weed control agent to the field according to the weed control agent application map (480).

Images