A method for preparing a suitable amount of formulation for localized treatment within a plot of land.

Abstract

The present invention relates to an agricultural spray field and a method (100) for preparing a quantity of a treatment formulation for treating land with a localized spray system, the method comprising the steps of: generating (120) a vegetation prediction map, the vegetation prediction map being generated from a previous vegetation map and a plant growth model that models the growth of the plants growing on the land; generating (130) a spray prediction map, the spray prediction map being generated from the vegetation prediction map; determining an amount of treatment formulation to be sprayed for each field of the spray prediction map; and determining (140) a total amount of treatment formulation, the total amount of treatment formulation being calculated according to the amount of treatment formulation to be sprayed for different spray fields.

Description

Technical Field

[0001] The present invention relates to the field of agricultural spraying, specifically local spraying based on real-time acquired data. It relates to a method for preparing the amount of treatment formulation required to treat land using a local spraying system carried by an agricultural machine. The present invention also relates to a computer program and a storage medium containing instructions leading to the implementation of this method. Finally, it relates to a system for filling the tank of a local spraying system, including a data processing device configured to implement the method for preparing the treatment formulation.

Background Art

[0002] The purpose of agricultural spraying is to apply various treatment formulations to crops for the general purpose of increasing crop growth, harvest, and / or quality. Specifically, the treatment formulations can be used to control weeds, diseases, insects, or parasite infestations and to provide the nutrients necessary for the good growth of the crops.

[0003] Conventional spraying systems include a tank provided to contain a treatment formulation, presumably diluted, a spraying boom including a plurality of spraying stretches each provided with a spraying nozzle, and a hydraulic circuit connecting the tank to the several spraying stretches. The spraying boom generally extends along an axis transverse to the longitudinal direction in which the agricultural machine moves across the land. Specifically, the hydraulic circuit may include a pump provided to suck the treatment formulation from the tank and carry it to the spraying boom, and a pressure regulator provided to maintain the pressure in the hydraulic circuit at a predetermined threshold pressure. Each spraying nozzle is provided to spray the treatment formulation over a predetermined width of land defined along a transverse axis.

[0004] To reduce the use of treatment formulations, the spraying system is adapted to enable localized treatment of the land. Localized treatment means spraying the formulation only on the area of ​​land that actually requires treatment. For this purpose, each spraying stretch also includes a dispenser positioned to have an open position that allows the formulation to flow from the tank to the corresponding spray nozzle, and a closed position that blocks such flow. The various dispensers are individually controllable. The spraying system further includes an imaging system and a control unit. The imaging system is mounted on agricultural machinery and includes at least one camera configured to capture images of the land that the spraying system will pass over a few seconds before it passes over. Typically, it includes multiple cameras distributed along a second axis running longitudinally to cover the entire width that the spraying system can treat. The control unit is configured to determine the effective area to be treated using real-time image processing performed on the images acquired by the imaging system, and to individually control each dispenser according to the effective area to be treated.

[0005] Image processing algorithms used to determine the required injection volume of treatment agents, as well as the accuracy of spraying systems, continue to improve. Therefore, localized spraying offers an effective solution to the problem of rational use of treatment formulations according to the actual needs at the time of application. However, localized spraying introduces new problems in the management of treatment formulations. Since the need for a treatment formulation is determined at the time of application, or at most a few seconds beforehand, the amount of treatment formulation required for a given plot of land cannot be known in advance. Therefore, it is impossible to fill the spraying system tank with the correct amount for treating the land. This problem is more serious because many treatment formulations have a limited shelf life once prepared for spraying. Specifically, treatment formulations are stored in a concentrated state and may be diluted shortly before use. After dilution, depending on the quality and temperature of the diluent, which is typically water, the usable period of the treatment formulation may be limited to a few days or even hours. This means that farmers cannot know the amount of treatment formulation to prepare for treating the land, and the risk of overuse of treatment formulations remains high.

[0006] One solution for accurately determining the amount of treatment compound to be loaded for localized land treatment involves first scanning the land with an imaging system to identify the area to be treated. Then, the required amount of treatment compound is precisely determined. However, for obvious efficiency and cost reasons, this solution is not practical for relatively large plots of land and / or for land far from the storage location of the treatment compound.

[0007] Another solution involves using satellite imagery acquired shortly before the predicted land processing. However, this solution is not always applicable, particularly because the availability of satellite imagery can fluctuate due to cloud cover, and the resolution may be insufficient for certain types of processing.

[0008] In view of the above, the object of the present invention is to provide a solution for preparing the amount of treatment formulation for a given plot of land to match the actual needs of the land. This solution is based on data that is acquired and relatively easily accessible before agricultural machinery passes over the land. [Overview of the project]

[0009] The present invention is based on the use of maps representing the state of land in each region and on a given date prior to the date on which the treatment is predicted to be applied, and a model capable of determining the new state of the land on the predicted treatment date. The predicted treatment date may be the current date or a future date. The state of each region within the land can be determined by the state of the cultivated plants present in that region. In this case, the map representing the land is a vegetation map, and the model capable of predicting the new state of the land at a later date is a model of cultivated plant growth. The state of different regions of the land may also indicate the presence of biological stressors. In this case, the map representing the land is a map indicating the presence of biological stressors, and the model capable of predicting the new state of the land at a later date is a model that models the development of biological stressors.

[0010] Specifically, the first object of the present invention is a method for preparing a treatment formulation for treating land by a localized spraying system performed by agricultural machinery, the method comprising the following:

[0011] A step of generating a vegetation prediction map, wherein the vegetation prediction map is generated from a previous vegetation map and a plant growth model that models the growth of plants cultivated on the land, the vegetation prediction map and the previous vegetation map are graphic representations of the land on the prediction processing date and the date prior to the prediction processing date, respectively, each map spatially divides the land into a set of vegetation regions, and each vegetation region is associated with a vegetation index that represents the state of cultivated plants present in that vegetation region.

[0012] A step of generating a spray prediction map, wherein the spray prediction map is generated from a vegetation prediction map, and the spray prediction map is a graphic representation of the land in which the land is spatially divided into a set of spray areas, each spray area spatially corresponding to a vegetation area and associated with the amount of treatment formulation to be sprayed according to the vegetation index of the corresponding vegetation area.

[0013] A step of determining the total amount of treatment agent required to treat the land, wherein the total amount of treatment agent is calculated according to the amount of treatment agent to be sprayed in different spraying areas.

[0014] The condition of a cultivated plant is specifically identified by its growth stage, plant height, leaf surface, or the spectral distribution of reflected radiation.

[0015] A second object of the present invention is a method for preparing a treatment formulation for treating land by a localized spraying system performed by agricultural machinery, the method comprising the following:

[0016] A step of generating a predictive map that predicts the presence of a biostressor, wherein the predictive map is generated from a prior map showing the presence of a biostressor and a model that models the growth of the biostressor, the predictive map and the prior map showing the presence of a biostressor are graphic representations of the land on the prediction processing date and a date prior to the prediction processing date, respectively, each map spatially divides the land into sets of biostressor regions, and each biostressor region is associated with a biostressor index representing the prevalence and / or growth rate of the biostressor in the biostressor region.

[0017] A step of generating a spray prediction map, wherein the spray prediction map is generated from a biological stressor presence prediction map, and the spray prediction map is a graphic representation of the land in which the land is spatially divided into a set of spray areas, each spray area spatially corresponding to a biological stressor area and associated with the amount of treatment formulation to be sprayed according to the biological stressor index of the corresponding biological stressor area.

[0018] A step of determining the total amount of treatment agent required to treat the land, wherein the total amount of treatment agent is calculated according to the amount of treatment agent to be sprayed in different spraying areas.

[0019] A biological stressor is defined as an organism that harms the growth of plants grown in the soil. A biological stressor may be a plant pathogen (e.g., fungi, bacteria, or viruses), an animal biological stressor (e.g., predators or parasites), or a plant that is not grown.

[0020] In general methods, previous vegetation maps and maps showing the presence of biostressors can be created with a date between 1 and 60 days prior to the prediction processing date. This period is preferably between 5 and 25 days.

[0021] The amount of the processed preparation may be expressed in terms of mass or volume.

[0022] According to one particular embodiment, during the step of generating a predictive map for predicting the presence of biostressors, the biostressor presence predictive map is generated from information on the prevalence and / or growth rate of biostressors in one or more surrounding lands. Taking this information into consideration, it becomes possible to foresee the arrival and growth of biostressors in the target land if biostressors are nearly absent or absent.

[0023] Plant growth models and models that model the growth of biological stressors can, at a minimum, take into account the time elapsed between the previous date when the previous map was created and the prediction processing date.

[0024] According to one particular embodiment, a model used to update a vegetation map or a map showing the presence of biostresses takes into account agronomic data about the land. Specifically, a plant growth model is provided to determine the vegetation index in each vegetation area at a second date, later than the first date, from the vegetation index in each vegetation area at a first date and agronomic data about said vegetation area. During the step of generating a vegetation prediction map, the plant growth model uses the date associated with the previous vegetation map as the first date and the prediction processing date as the second date. Similarly, a model that models the growth of biostresses is provided to determine the biostress index in each biostressor area at a second date, later than the first date, from the biostressor index in each biostressor area at a first date and agronomic data about said biostressor area. During the step of generating a prediction map of the presence of biostressors, the model that models the growth of biostressors assumes that the first date is associated with a previous map showing the presence of biostressors, and the second date is the prediction processing date.

[0025] Agronomic data includes, for example, weather data covering the period from the previous date to the prediction processing date, the date of previous cultivation, the physicochemical parameters of the soil, the date of sowing of the cultivated plants, data on the application of previous treatment formulations, and / or data on the crops previously cultivated on that land. Specifically, the weather data may include precipitation, sunshine hours, average temperature, the number of days exceeding the temperature threshold, and / or the humidity level of the air and / or soil. Models that model plant growth and the growth of biological stress can take into account one or more types of agronomic data.

[0026] During the step of generating the vegetation prediction map, the vegetation prediction map may be generated from a plurality of previous vegetation maps and a plant growth model. The previous vegetation maps are graphic representations of the land at different distinct dates before the prediction processing date. Similarly, during the step of generating a prediction map for predicting the presence of biological stress, the biological stress presence prediction map can be generated from a plurality of previous maps indicating the presence of biological stress and a model that models the growth of biological stress. The previous maps indicating the presence of biological stress are graphic representations of the land at different distinct dates before the prediction processing date.

[0027] Each previous vegetation map or each previous map indicating the presence of biological stress can be generated from at least one satellite image and / or an image obtained while an imaging system passes over the land on the previous date in question. Each image can be generated to determine the radiation intensity in one or more wavelength bands of the visible spectrum, ultraviolet spectrum, and / or infrared spectrum.

[0028] For example, each previous vegetation map or each previous map indicating the presence of biological stress can be generated by a system including the following.

[0029] An optical head including a camera and a light source, wherein the camera is provided to acquire a series of images of the land at acquisition time points divided into sets by a predetermined acquisition period, and the light source is provided to emit light rays in the direction of the land at various light intensities, and it is preferable that it is as follows.

[0030] A dimming unit provided to determine the luminous intensity of the light rays emitted by the light source.

[0031] Specifically, the dimming unit may include a plurality of dimming subunits. Each dimming subunit is integrated into the optical head and is provided to determine the luminous intensity of the light rays emitted by the light source of each optical head according to at least one image generated by the camera of each optical head.

[0032] Specifically, such a system may implement an image processing algorithm that enables determination of whether a certain area requires application of a treatment formulation.

[0033] In another example, each previous vegetation map or previous map showing the presence of a biological stressor may be generated by a method including: receiving georeferenced image data of the land from one or more imaging devices not coupled to a spraying system, wherein the georeferenced image data includes multiple pixels and positioning data associated with each pixel; analyzing the spectral information of pixels to classify, where necessary, pixels corresponding to biological stressors requiring the application of a field treatment formulation; determining the field location of the biological stressor based on the georeferenced image data associated with pixels classified as corresponding to the biological stressor; and determining map data including the field location of the biological stressor, which, where necessary, allows for obtaining previous vegetation maps or previous maps showing the presence of the biological stressor. Specifically, the imaging devices are not coupled to a spraying system, and the mechanism for determining the biological stressor is not physically coupled to the spraying system. This method can be implemented in various ways. Specifically, the imaging devices can be mounted on an aerial drone, a manned aircraft, or one or more satellites orbiting the Earth.

[0034] According to one particular embodiment, during the step of generating a spray prediction map, the spray prediction map is generated from a vegetation prediction map and one or more predetermined state thresholds. Each spray area is associated with the amount of formulation to be sprayed according to the vegetation index of the corresponding vegetation area and the predetermined state threshold or multiple thresholds. Specifically, each spray area is associated with a first amount of formulation to be sprayed when the vegetation index of the corresponding vegetation area is lower than the predetermined state threshold, and a second amount of formulation to be sprayed when the vegetation index of the corresponding vegetation area is equal to or greater than the predetermined state threshold. The first or second amount of formulation to be sprayed may be zero.

[0035] Next, according to one particular embodiment, during the step of generating a spray prediction map, the spray prediction map is generated from a biological stressor presence prediction map and one or more predetermined presence thresholds. Each spray region is associated with the amount of formulation to be sprayed according to the biological stressor index and predetermined presence threshold or multiple thresholds for the corresponding biological stressor region. Specifically, each spray region is associated with a first amount of formulation to be sprayed when the biological stressor index of the corresponding biological stressor region is lower than the predetermined presence threshold, and a second amount of formulation to be sprayed when the biological stressor index of the corresponding biological stressor region is equal to or greater than the predetermined presence threshold. The first or second amount of formulation to be sprayed may be zero.

[0036] According to yet another specific embodiment, the step of determining the total amount of the processed formulation includes the following:

[0037] A substep for determining the range of estimation error, wherein the range of estimation error is determined according to a reliability index associated with a plant growth model or a model that models the growth of biological stressors.

[0038] A substep for calculating the total amount of the treatment agent, wherein the total amount of the treatment agent is calculated according to the amount of the treatment agent to be sprayed for different spray area widths and the estimation error.

[0039] The reliability indices associated with plant growth models or models that model the growth of biological stressors specifically depend on the agrochemical data considered by the model, and / or the time between the date on which previous vegetation maps or previous maps showing the presence of biological stressors were created and the predicted treatment date. During the substep of calculating the total amount of treatment formulation, the amount of treatment formulation corresponding to the range of prediction error can be calculated and added to the amount of treatment formulation to be sprayed in different spraying areas.

[0040] According to another specific embodiment, the step of determining the total amount of the processed formulation includes the following:

[0041] A substep for determining the functional safety width, wherein the functional safety width is determined based on the parameters of the local spraying system and / or meteorological data for the predicted processing day.

[0042] A substep for calculating the total amount of the treatment formulation, wherein the total amount of the treatment formulation is calculated according to the amount of the treatment formulation to be sprayed in different spray areas and the functional safety margin.

[0043] The meteorological data should preferably be specific to the target area. Specifically, the functional safety margin may depend on wind conditions. During the substep of calculating the total amount of treatment formulation, the amount of treatment formulation corresponding to the functional safety margin can be calculated and added to the amount of treatment formulation to be sprayed in different spraying areas.

[0044] Parameters of a localized spraying system include, for example, the distance between adjacent spraying areas, the spray width corresponding to the ground width covered by each spray nozzle, the speed of the agricultural machinery, a reliability index of the speed, and / or the delay until the nominal flow rate through each spray nozzle is established. Specifically, these parameters can be used to establish the spray duration applied before reaching each localized area to be treated and the spray duration applied after leaving each area. These additional spraying times lead to additional consumption of the treatment formulation, and are therefore taken into consideration when determining the amount of treatment formulation required.

[0045] A method for preparing the treatment formulation further includes the step of filling the tank of a localized spray system with the total amount of the treatment formulation.

[0046] The treatment formulation may be a bioactivating formulation, such as a fertilizer or a formulation that promotes the natural defenses of cultivated plants, or a biological control formulation, such as a herbicide, insecticide, or fungicide.

[0047] The present invention also relates to a computer program that, when executed by a computer, includes instructions causing the computer to implement the method described above.

[0048] The present invention also relates to a computer-readable storage medium that, when executed by a computer, includes instructions causing the computer to implement the method described above.

[0049] Another subject of the present invention is a filling system for filling tanks of localized spraying systems transported by agricultural machinery. The filling system includes the following:

[0050] A hydraulic circuit designed to detachably connect a reservoir containing a treatment formulation to the tank of a localized spray system.

[0051] A measuring means provided for measuring the amount of processed compound injected into a tank.

[0052] A data processing device configured to implement the method described above.

[0053] The filling system can be installed on or off the farm, between different plots of land.

[0054] According to one particular embodiment, the measuring means includes a flow meter attached to a hydraulic circuit and a calculation unit that receives flow rate information from the flow meter and calculates the amount of the processed formulation by time integration.

[0055] Furthermore, according to one particular embodiment, the filling system includes a control valve attached to a hydraulic circuit and a control device configured to control the control valve. The control valve is configured to be in an open or closed position in response to a control signal delivered by the control device. The control device is configured to receive information regarding the total amount of treatment compound determined for land treatment and information regarding the amount of treatment compound to be injected into the tank. The control device is also configured to deliver a signal that controls the shutoff of the control valve when the amount of treatment compound injected into the tank reaches the total amount of treatment compound. [Brief explanation of the drawing]

[0056] Other features, details, and advantages of the present invention will become apparent from the following description, which is provided for illustrative purposes only and refers to the accompanying drawings.

[0057] [Figure 1] This represents one example of a method for preparing a processed formulation according to the present invention.

[0058] [Figure 2] This figure shows an example of the step of determining the total amount of the processed formulation implemented in the method shown in Figure 1. [Modes for carrying out the invention]

[0059] The object of the present invention is to estimate the amount of treatment formulation required for treating land with a localized spraying system. The treatment formulation may directly benefit cultivated plants or affect their environment. The treatment formulation may be a bioactive formulation, such as a fertilizer or a formulation that enables the promotion of natural defenses of cultivated plants, or a biocontrol formulation, such as a herbicide, insecticide, or fungicide. The localized spraying system includes a tank provided to contain at least one treatment formulation, a spray boom including a plurality of spray stretches, and a hydraulic circuit connecting the tank to several of the spray stretches. The hydraulic circuit may include a pump that draws the treatment formulation from the tank and delivers it to the spray boom. The hydraulic circuit may also include a pressure regulator provided to maintain the pressure in the hydraulic circuit at a predetermined threshold pressure.

[0060] Localized spraying includes a pre-diagnostic step to determine whether the treatment formulation needs to be applied to each basic area of ​​the land. This determination is at least qualitative and may be quantitative. Generally, this is done by analyzing images acquired by an imaging system including multiple cameras, usually mounted on the front of the agricultural machine. The cameras can be mounted on an inclined section that extends laterally to the longitudinal direction in which the agricultural machine moves across the land, so as to cover a width that extends over several meters. Image analysis may be based on various image processing algorithms. Specifically, the shape of the plants and their electromagnetic spectra can be analyzed. Multiple spray stretches, each including a spray nozzle and dispenser, ensure differentiated application of the treatment to different basic areas. The spray boom also extends laterally to the longitudinal direction in which the agricultural machine moves. The spray boom is located behind the inclined section on which the cameras are mounted so that images can be processed before the spray boom passes. Image processing refers to real-time processing. In practice, it may take several seconds. Each spray nozzle is configured to spray the treatment formulation over a predetermined width of the land defined along the transverse axis. Each dispenser is positioned to have an open position that allows the formulation to flow from the tank to the corresponding spray nozzle, and a closed position that blocks this flow. The dispensers are individually controlled by a control unit. The dispensers are controlled to the open position when the corresponding spray nozzle passes through the basic area to be processed, and to the closed position otherwise.

[0061] Figure 1 shows one example of a method for preparing a treatment formulation according to the present invention. Method 100 includes the steps of: acquiring agricultural data relating to the land to be treated; generating a vegetation prediction map and / or a prediction map predicting the presence of biological stressors; generating a spray prediction map; determining the total amount of treatment agent; and filling a tank.

[0062] The method according to the present invention is based on a vegetation map or a map indicating the presence of biological stressors. The vegetation map spatially divides the land into a set of regions called “vegetation regions,” each region being associated with a vegetation index representing the state of cultivated plants within that region. The state of cultivated plants can be specifically identified by growth stage, plant height, leaf surface, or spectral distribution of reflected radiation. Thus, the vegetation map relates to the spatial distribution of plant states on the land. The data is typically obtained from satellite imagery or images acquired during previous passes over the land by an imaging system. This pass may be performed several days or weeks prior to the processing date. The vegetation map is then referred to as the “previous vegetation map,” and the date on which the image was acquired is referred to as the “previous date.”

[0063] Similarly, a map showing the presence of biostressors spatially divides the land into a set of regions called "biostressor regions," each region associated with a biostressor index representing the prevalence and / or growth rate of biostressors in that region. This data is typically obtained from images acquired during previous passes over the land by the imaging system. This pass may be performed several days or weeks prior to the processing date. The map showing the presence of biostressors is then called the "previous biostressor presence map," and the date on which the image was acquired is called the "previous date."

[0064] Step 110, obtaining agrochemical data concerning the land to be treated, includes collecting information on one or more parameters that are likely to affect the growth of cultivated plants or the growth of biological stressors. The agrochemical data is preferably related to a period between previous dates and the date on which the application of the treatment is predicted to occur, referred to as the “predicted treatment date.” This information can be comprehensive for the set of land or local, i.e., vary by area within the land. Comprehensive agrochemical data may include the date of previous land cultivation, the date of sowing of cultivated plants, data on the application of previous treatment formulations, data on crops previously grown on the land, and / or meteorological data. Meteorological data may include, for example, precipitation, sunshine hours, average temperature, number of days above a temperature threshold, and / or air and / or soil humidity levels. Local agrochemical data may include, for example, soil physicochemical parameters, i.e., soil composition.

[0065] Step 120, which generates a vegetation prediction map or a prediction map that predicts the presence of biostressors, includes updating a previous vegetation map or a previous map showing the presence of biostressors according to a plant growth model or a model that models the development of biostressors and the agronomic data obtained in step 110. The map is updated to reflect the state of the land on the prediction processing date. This is called the “vegetation prediction map” or “biostressor presence prediction map”. During the step of generating the vegetation prediction map, for each vegetation area, vegetation indices and agronomic data from a previous date are supplied to the plant growth model, which generates output vegetation indices on the prediction processing date. Similarly, during the step of generating the biostressor presence prediction map, for each biostressor area, biostressors from a previous date Stressa The indicators and agronomic data are injected into a developmental model that models the development of biostressors, which generates output biostressor indicators at the predicted processing date. The plant growth model and the biostressor development model can consider a single type of agronomic data or several types of agronomic data.

[0066] Step 130 for generating a spray prediction map includes generating a spray prediction map from a vegetation prediction map or a biostressor presence prediction map. The spray prediction map is a graphical representation of the land in question, spatially dividing the land into different areas called "spray areas." Each spray area spatially corresponds to a vegetation area or a biostressor area and is associated with the amount of treatment formulation to be sprayed. The amount is determined for each area according to the biostress index of the corresponding vegetation area or biostressor area.

[0067] According to one particular embodiment, a spray prediction map is generated from a vegetation prediction map and a predetermined state threshold. In a vegetated area, if the vegetation index is lower than the predetermined state threshold, the corresponding spray area can be associated with a first amount of formulation to be sprayed. On the other hand, in a vegetated area, if the vegetation index is higher than the predetermined state threshold, the corresponding spray area can be associated with a second amount of formulation to be sprayed. For example, if the vegetation index represents a relatively early stage of growth, the amount of formulation based on the manufacturer's recommendation of the treatment formulation may be associated with the corresponding spray area, and if the vegetation index represents a relatively late stage of growth, zero amount of formulation may be associated with the corresponding spray area.

[0068] According to another specific embodiment, the spray prediction map is generated from a biological stressor presence prediction map and a predetermined presence threshold. In a biological stressor region, if the biological stressor index is lower than the predetermined presence threshold, the corresponding spray region can be associated with a first amount of the formulation to be sprayed. On the other hand, in a biological stressor region, if the biological stressor index is higher than the predetermined presence threshold, the corresponding spray region can be associated with a second amount of the formulation to be sprayed. For example, if the biological stressor index indicates a relatively low presence of insect biological stressors, a formulation amount of zero may be associated with the corresponding spray region. If the biological stressor index indicates a relatively high presence of insect biological stressors, a formulation amount based on the manufacturer's recommendation may be associated with the corresponding spray region.

[0069] Step 140, which determines the total amount of treatment formulation, includes determining the total amount of treatment formulation required for local treatment of the land, in accordance with the amounts of treatment formulation for different spray areas on the spray prediction map. In one particular embodiment, the total amount of treatment formulation is determined as the sum of the amounts of treatment formulation for a set of spray areas on the spray prediction map.

[0070] Figure 2 shows another specific embodiment of step 140 for determining the total amount of the treatment formulation. Step 140 includes substep 141 for obtaining parameters of the localized spraying system, substep 142 for determining the functional safety margin, substep 143 for determining the margin of the estimated error, and substep 144 for calculating the total amount of the treatment formulation.

[0071] Substep 141 for obtaining parameters of the local spraying system includes obtaining parameters relating to the arrangement and / or characteristics of the spraying system. These parameters include, for example, the distance between spray nozzles of different adjacent spraying stretches along the axis of the spraying arm, the travel speed of the agricultural machinery and thus the spraying system, a reliability index of the travel speed, and / or the delay until the nominal flow rate through each spray nozzle is established.

[0072] Substep 142 for determining the functional safety width includes estimating the additional amount of treatment formulation required due to uncertainties related to the physical parameters of the spraying system and / or meteorological conditions during spraying of the treatment formulation. Specifically, if there is wind, it may be decided to apply more treatment formulation upstream and downstream of the basic area to be treated. The additional amount of treatment formulation is called the "functional safety width" and is determined, for example, by calculating the spraying time applied before reaching the basic area to be treated and the spraying time applied after leaving each area. The functional safety width can be calculated based on the estimated number of areas to be treated and the flow rate of each spray nozzle.

[0073] Substep 143, which determines the margin of estimation error, is intended to quantify the maximum likely difference between the total amount of treatment formulation estimated by the method and the amount of treatment formulation actually used to treat the land. This involves determining an additional amount of treatment formulation, called the "margin of estimation error," based on a reliability index associated with the plant growth model or the development model of the biostressor used. This index varies with the agronomic data used by the model and / or the time between the previous date on which the previous vegetation map was created and the predicted treatment date.

[0074] Substep 144 for calculating the total amount of the treatment formulation includes calculating the total amount of the treatment formulation according to the amount of the treatment formulation in different spray areas of the spray prediction map, the functional safety margin, and the estimated error margin. In practice, the total amount of the treatment formulation can be calculated by adding the amount of the treatment formulation for a set of spray areas in the spray prediction map, the functional safety margin, and the estimated error margin.

[0075] Calculation step 140 does not need to include substep 141 for obtaining parameters of the local spraying system and substep 142 for determining the functional safety width, or substep 143 for determining the estimated error width. In that case, substep 144 for calculating the total amount of the processed formulation will only consider the functional safety width or estimated error width. Note also that substep 143 for determining the estimated error width can be performed before, during, or after the parameter acquisition substep 141 and the substep 142 for determining the functional safety width.

[0076] If the treatment formulation is to be applied diluted, step 140, which determines the total amount of the treatment formulation, may also include a substep of determining the amount of diluent used together with the total amount of the treatment formulation. The amount of diluent is preferably determined based on the recommendations of the supplier of the treatment formulation. The diluent is, for example, water.

[0077] Referring again to Figure 1, step 150, which involves filling the tank, includes filling the tank of the local spray system with the total amount of the treatment formulation determined in step 140, plus an amount of diluent if necessary. In the latter case, step 150 may include a substep of mixing the treatment formulation with the diluent. This substep may be performed directly in the tank of the local spray system or upstream.

[0078] The filling step 150 may be carried out using a filling system of an agricultural facility. The filling system may include one or more storage reservoirs, a hydraulic circuit, and measuring means. Each storage reservoir is capable of containing the treatment formulation and is associated with a manual or control valve that allows control of the flow of the treatment formulation in the hydraulic circuit. The hydraulic circuit is provided to detachably connect each reservoir to a tank of the spraying system. Measuring means are provided to measure the amount of treatment formulation injected into the tank. Specifically, measuring means may include a flow meter attached to the hydraulic circuit and a calculation unit that receives flow information from the flow meter and calculates the amount of treatment formulation discharged by time integration.

[0079] The filling system may also include a control device configured to control a control valve in accordance with information regarding the amount of processed formulation measured by a measuring means and information regarding the total amount of processed formulation determined in step 140. In this case, the control device may be configured to shut off the control valve when the measured amount of processed formulation reaches the total amount of processed formulation.

[0080] In addition, the filling system may include a data processing device provided to implement the other steps 110, 120, 130, and 140 of the method 100 according to the present invention. Specifically, the device may include a user interface that allows input of agricultural data and parameters of the local spraying system based on steps 110 and 141. It may also include a processor provided to implement step 120 of generating a vegetation prediction map and / or a prediction map of the presence of biological stressors, step 130 of generating a spray prediction map, and step 140 of determining the total amount of the treatment formulation. In one particular embodiment, a control device associated with the calculation unit and / or control valve of the measuring means is integrated into the data processing device.

Claims

1. A method (100) for preparing a treatment formulation for treating land by a localized spraying system transported by agricultural machinery, A step (120) of generating a vegetation prediction map, wherein the vegetation prediction map is generated from a previous vegetation map and a plant growth model that models the growth of plants cultivated on the land, the vegetation prediction map and the previous vegetation map are graphic representations of the land on the prediction processing date and a date prior to the prediction processing date, respectively, each map spatially divides the land into a set of vegetation regions, and each vegetation region is associated with a vegetation index that represents the state of cultivated plants present in the vegetation region, A step (130) of generating a spray prediction map, wherein the spray prediction map is generated from the vegetation prediction map, the spray prediction map is a graphic representation of the land in which the land is spatially divided into a set of spray areas, each spray area spatially corresponds to one vegetation area, and is associated with the amount of treatment agent to be sprayed according to the vegetation index of the corresponding vegetation area, A step (140) of determining the total amount of treatment agent required to treat the land, wherein the total amount of treatment agent is calculated as a function of the amount of treatment agent to be sprayed in different spraying areas. Includes, The step (140) of determining the total amount of the processed preparation is: A substep (142) for determining the functional safety width, wherein the functional safety width is determined based on the parameters of the localized spraying system and / or meteorological data on the forecast processing day. A substep (144) for calculating the total amount of the treatment formulation, wherein the total amount of the treatment formulation is calculated according to the amount of the treatment formulation to be sprayed in different spray areas and the functional safety width, including, method.

2. A treatment formulation for treating land using a localized spraying system transported by agricultural machinery. Method of preparation (120), Step (100) of generating a biostressor presence prediction map, wherein the biostressor presence prediction map is generated from a previous map showing the presence of a biostressor and a biostressor development model that models the development of the biostressor, wherein the biostressor presence prediction map and the previous map showing the presence of the biostressor are graphic representations of the land on the prediction processing date and a date prior to the prediction processing date, respectively, wherein each map spatially divides the land into a set of biostressor regions, and each biostress region is associated with a biostressor index representing the presence rate and / or growth rate of the biostressor in the biostressor region, Step (130) of generating a spray prediction map, wherein the spray prediction map is generated from the biological stressor presence prediction map, the spray prediction map is a graphic representation of the land in which the land is spatially divided into a set of spray areas, each spray area spatially corresponds to one biological stressor area, and is associated with the amount of treatment formulation to be sprayed according to the biological stressor index of the corresponding biological stressor area, A step (140) of determining the total amount of treatment agent required to treat the land, wherein the total amount of treatment agent is calculated as a function of the amount of treatment agent to be sprayed in different spraying areas. Includes, The step (140) of determining the total amount of the processed preparation is: A substep (142) for determining the functional safety width, wherein the functional safety width is determined based on the parameters of the localized spraying system and / or meteorological data on the forecast processing day. A substep (144) for calculating the total amount of the treatment formulation, wherein the total amount of the treatment formulation is calculated according to the amount of the treatment formulation to be sprayed in different spray areas and the functional safety width, including, method.

3. During the step (120) of generating the biostressor presence prediction map, the biostressor presence prediction map is further generated from information on the presence and / or growth rate of the biostressor in one or more surrounding areas. The method according to claim 2.

4. The aforementioned plant growth model is provided to determine the vegetation index for each vegetation area on a second date from the vegetation index for that area on a first date prior to the second date, and agricultural data relating to that vegetation area. Or, The aforementioned biological stressor development model is provided to determine the biological stressor index in each biological stressor region on a second date from the biological stressor index in that region on a first date prior to the second date, and agricultural data relating to the biological stress region. The method according to claim 1 or 2.

5. The method according to claim 4, wherein the agricultural data includes meteorological data covering the period between the earlier date and the predicted treatment date, the date of previous cultivation, physicochemical parameters of the soil, the date of sowing of the cultivated plants, data relating to the application of previous treatment formulations, and / or data relating to crops previously cultivated on the land.

6. During the step (120) of generating the vegetation prediction map, the vegetation prediction map is generated from a plurality of previous vegetation maps and the plant growth model, wherein the previous vegetation maps are graphic representations of the land on different separate dates prior to the prediction processing day. Or, During the step of generating the biostressor presence prediction map, the biostressor presence prediction map is generated from a plurality of previous maps showing the presence of the biostressor and the developmental model that models the development of the biostressor, wherein the previous maps showing the presence of the biostressor are graphic representations of the land on different separate dates prior to the prediction processing day. The method according to claim 1 or 2.

7. Each previous vegetation map or each previous map showing the presence of the biostress is generated from at least one satellite image and / or an image acquired while the imaging system was passing over the land on the aforementioned previous date. The method according to claim 1 or 2.

8. The step (140) of determining the total amount of the processed preparation is: A substep (143) for determining the range of estimation error, wherein the range of estimation error is determined according to a reliability index associated with the plant growth model or the biological stressor development model, A substep (144) for calculating the total amount of the treatment preparation, wherein the total amount of the treatment preparation is calculated according to the amount of the treatment preparation to be sprayed in different spray areas and the width of the estimation error. including, The method according to claim 1 or 2.

9. The parameters of the localized spraying system include the distance between adjacent spray nozzles, the spray width corresponding to the ground width covered by each spray nozzle, the travel speed of the agricultural machine, a reliability index of the travel speed, and / or the delay until a nominal flow rate through each spray nozzle is established. The method according to claim 1 or 2.

10. The step (150) further includes filling the tank of the localized spraying system with the total amount of the treatment formulation, The method according to claim 1 or 2.

11. The aforementioned treatment formulation is a bioactivating formulation or a biocontrolling formulation. The method according to claim 1 or 2.

12. When executed by a computer, the instructions include causing the computer to implement the method described in claim 1 or 2, Computer program.

13. When executed by a computer, the instructions include causing the computer to implement the method described in claim 1 or 2, A computer-readable storage medium.

14. A hydraulic circuit designed to detachably connect a reservoir containing the processed formulation to the tank of a localized spraying system, A measuring means provided for measuring the amount of the processed preparation injected into the tank, A data processing device configured to implement the method described in claim 1 or 2, including, A filling system for filling tanks of localized spraying systems that are transported by agricultural machinery.

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