AUTOMATED PLANT TREATMENT SYSTEMS AND METHODS.

Abstract

Plant treatment systems and methods are presented. The system comprises a plant treatment apparatus comprising: one or more treatment channels and at least one plant treatment device associated with said one or more treatment channels, wherein said at least one plant treatment device is configured and operable to controllably generate a force field and apply the force field to at least a portion of a plant, wherein said force field comprises at least one pulse, wherein each pulse has a rapid rise time, a certain duration and amplitude profile, thereby inducing a vibration pattern in the at least portion of the plant, said vibration pattern being characterized by a plurality of vibration frequencies above a predetermined value.to apply treatment to said at least portion of the plant; a detection system comprising one or more sensors configured and operable to provide detection signals indicative of a condition of said at least portion of the plant and feedback signals indicative of said vibration pattern, wherein said one or more sensors comprise an optical sensor configured and operable to provide the detection signals and / or feedback signals indicative of image data of said at least portion of the plant. A control system is configured and operable for data communication with said plant treatment apparatus, to receive and process the detection signals and / or feedback signals produced by the detection system.wherein the processing of the detection signals and / or feedback signals comprises determining the condition of said at least portion of the plant and / or said vibration pattern and operating said at least one plant treatment device to apply and / or adjust said force field to induce the vibration pattern corresponding to the treatment of said at least portion of the plant.

Description

AUTOMATED PLANT TREATMENT SYSTEMS AND METHODS FIELD OF INVENTION The present invention relates to the automated treatment of plants in industrial agriculture, such as greenhouse-grown plants. Specifically, plant treatment includes, for example, targeted mechanical pollination, localized prevention and / or treatment of diseases, and inhibition / control of the degree of pollination and / or plant growth. BACKGROUND OF THE INVENTION Crops require meticulous care, starting with maintaining plant health throughout their life cycle and then pollinating flowers to ensure healthy harvests. With the ever-increasing population and greater interest in healthy living while reducing expenses, traditional farming methods face daily challenges. As is well known, most of the crops we eat or use are primarily pollinated by wind or insects. However, for various reasons, these natural processes are either nonexistent or not functioning optimally. For example, a decrease in the number or disappearance of insects from the growing area, or environmental conditions that limit insects' ability to move and pollinate. In greenhouses, for instance, wind and insects cannot enter and pollinate.Furthermore, the growing need for food and the reduction of costs require greater efficiency, which subsequently drives farmers to improve fruit set and yield beyond natural pollination. Depending on the conditions and cost, solutions range from manual pollination using various methods to the artificial introduction of insects, such as honeybee hives in agricultural areas or industrially bred insects (e.g., the bumblebee). Mechanical solutions also exist, such as vibrating cables that support the plants, or manually / mechanically vibrating individual plants, bunches, or flowers in self-pollinating plants. In many areas, hand pollination is prohibitively expensive due to labor availability. Bees also have several disadvantages: they require specific environmental conditions, are sensitive to pesticides, can escape (from greenhouses), or pollinate nearby, more lucrative crops. They can also transmit viruses and fungi. U.S. patent application 20160353661 describes a method for pollinating a plant that includes receiving, via a processing circuit, plant data concerning a plant that has flowers / nfrcnn / Lznz / E / Yii and controlling, via the processing circuit, the operation of a robotic device to selectively pollinate a portion of the plurality of flowers based on the plant data. The robotic device includes sensors configured to acquire plant data, a pollination device configured to pollinate flowers of a plant, a collection device configured to collect pollen, and a pollination prevention device configured to prevent a flower from being pollinated. The document US20180065749 describes crop pollination methods and systems. The systems include one or more unmanned vehicles that include a pollen applicator configured to collect pollen from a flower of a first crop and apply the pollen collected from the flower of the first crop to a flower of a second crop, and a sensor configured to detect the presence of the pollen applied to the flower of the second crop by the pollen applicator to verify that the pollen collected from the flower of the first crop by the pollen applicator was successfully applied by the pollen applicator to the flower of the second crop. GB2133664A discloses an apparatus for imparting movement to a portion of a growing plant. The apparatus includes means for providing a pressurized air stream, such as a compressed air source, which feeds a pressurized chamber having an outlet provided with a flow modulating valve arranged to provide a pulsed air stream. An outlet nozzle is provided to direct the air stream toward the portion of the plant to be vibrated. The pulse frequency exceeds 200 cpm, and the apparatus can be used to pollinate plants, harvest fruit from plants, or measure the natural frequency of a plant portion. JP2011200196 describes an apparatus comprising a travel device, an identification device for discriminating normal flowers, a vibration device for vibrating the flowers and carrying out pollination processing, a pollination processing unit that controls the vibration device to vibrate only the flowers identified as normal flowers in the identification device, and a harvesting device for harvesting fruit. BRIEF DESCRIPTION OF THE INVENTION The present invention provides novel techniques for the treatment of plants during all growth and fruiting cycles, including, among others, monitoring plant conditions such as plant health, preparation for pollination and post-pollination, and intervening in each of the aforementioned conditions or stages by applying the appropriate treatment / nfrcnn / Lznz / E / Yii to ensure maximum effectiveness and efficiency with respect to yield. The systems and methods of the present invention are autonomous and are based on robotic treatment devices that can approach the plant or specific portion of the plant to monitor and treat each plant in an agricultural area autonomously and without human intervention. Furthermore, the highly effective systems and methods of the invention are cost-effective in terms of resources, energy, and costs, since the applied treatment is targeted and local, down to the subplant level and down to a single flower or a specific portion of the flower. In some respects, the present invention provides a novel technique for treating plants by pollinating flowers, specifically by automatically pollinating flowers, for example, for use in industrial agriculture. The system induces vibrations in one or more regions of a plant to selectively pollinate one or more of the plant's flowers. The one or more regions, occasionally referred to as a portion of the plant, may be, for example, a stem, a branch, a leaf stalk, a leaf, a flower cluster, a flower, or part of a flower. The system can detect the floral targets, determine whether they are ready for pollination, and determine whether they have not yet been pollinated, in order to efficiently and rapidly pollinate as many flowers as required at the optimal time and energy level, thereby covering large quantities of plants. It is known that bumblebees, specifically domesticated for the purpose of pollinating flowers, are a good example of an optimal pollination process. However, the use of bees has several drawbacks, as described above. It can be beneficial to emulate the effect of bees using autonomous intelligent systems. During activity, bees induce vibrations in flowers by holding them and shaking their muscles to induce several (approximately 4-5) pulses of vibration, each pulse lasting several tenths of a second, for a total of 2-3 seconds, at frequencies of several hundred Hz. The present invention provides plant treatment systems capable of emulating the bee effect while also being remarkably efficient. In some embodiments, plant treatment devices are configured and operable to induce a controlled vibration pattern in flowers for optimal pollination. The controlled vibration field / pattern has characteristics and parameters, such as those mentioned above for bees (one or more short-duration directional pulses, each with a frequency band, i.e., a plurality of frequencies, above a predetermined value, e.g., above 100 Hz), to achieve optimal flower pollination based on the characteristics of the plant and flower, such as type, size, and others. To this end, plant treatment devices intended for pollination are configured and operable to apply a controlled force / pressure field to a desired part of the plant (e.g., stem, flowers, etc.).), to ultimately generate the controlled vibration pattern in the flowers to be pollinated. Consequently, plant treatment devices are configured and can be operated to apply a controllable, variable force field to the plant portion. In other words, the controllable, variable force field, as used here, means a force field that induces a vibration pattern having a plurality of frequencies and could include one or more force application events (force application pulses). In some modalities, plant treatment devices are configured to apply the force field through physical contact with the plant portion. In some other modalities, plant treatment devices are configured to apply the force field without physical contact with the plant, i.e., contactless.In the latter case, plant treatment devices can apply the force field by applying a controlled airflow to the plant portion. The applied force field, whether by contact or non-contact, is monitored instantaneously during the treatment process, such that a feedback system feeds the plant treatment system with sensing data indicative of the vibration pattern occurring in the plant portion during the treatment process. Note that the word pulse, as used herein, means an applied force / pressure (with or without contact) that is of short duration (e.g., lasting tenths of a second). In another aspect, the present invention provides systems and methods for the treatment of plants that include the inhibition of flower pollination to optimize yield. In another aspect, the present invention provides systems and methods for the treatment of plants that include local disease identification and selective disease treatment. Autonomous systems and methods, according to the invention, have several important advantages, including: the techniques are not limited by the availability of labor; they are not sensitive to temperature and other conditions required for the efficient use of bees; they are not sensitive to pesticides that can kill bees or require their removal for a certain period of time; they are not limited to areas where bees can be used; they do not pose any threat to employees, e.g., bee stings; they are not limited by the fact that bees cannot carry out selective pollination to avoid over-pollination that requires subsequent pruning; and they are not affected by the fact that bees can also damage flowers if they visit them too often. / nfrcnn / Lznz / E / Yii Therefore, in accordance with a first broad aspect of the present invention, a plant treatment system is provided comprising: a plant treatment apparatus comprising: one or more treatment channels and at least one plant treatment device associated with said one or more treatment channels, said at least one plant treatment device being configured and operable to controllably generate a force field and apply the force field to at least a portion of a plant, wherein said force field comprises at least one pulse, wherein each pulse has a rapid rise time, a certain duration and amplitude profile, thereby inducing a vibration pattern in the at least portion of the plant, said vibration pattern being characterized by a plurality of vibration frequencies including frequencies above a predetermined value, thereby applying treatment to said at least portion of the plant;and a detection system comprising one or more sensors configured and operable to provide detection signals indicative of a condition of said at least portion of the plant and feedback signals indicative of said vibration pattern, said one or more sensors comprising an optical sensor configured and operable to provide the detection signals and / or feedback signals indicative of image data of said at least portion of the plant;and a control system configured and operable for data communication with said plant treatment apparatus, to receive and process the detection signals and / or feedback signals produced by the detection system, wherein the processing of the detection signals and / or feedback signals comprises determining the condition of said at least one portion of the plant and / or said vibration pattern and operating said at least one plant treatment device to apply and / or adjust said force field to induce the vibration pattern corresponding to the treatment of said at least one portion of the plant. In some embodiments, at least one of the treatment channels may be configured as a fluid flow channel. The at least one treatment device may be configured and operated to induce the vibration pattern by generating a controlled airflow with a predetermined flow profile toward the at least portion of the plant through the fluid flow channel. The at least one treatment device may comprise an adjustable opening configured and operable to generate the airflow profile, which is a directional and directed fluid stream that can be directed to induce vibration patterns in one or more specific regions of the at least portion of the plant. / nfrcnn / Lznz / E / Yii In some embodiments, said at least one plant treatment device comprises a vibrating element connected to a contact applicator that is configured and operable to contact said at least portion of the plant while vibrating, thereby applying said force field to said at least portion of the plant and inducing said vibration pattern therein. In some embodiments, said at least one plant treatment device can be configured and operated as a plant pollination device, such that said induced vibration pattern is configured to cause the pollination of at least one flower within said at least portion of the plant. In some modalities, at least one plant treatment device is configured and operable to apply said at least one pulse having a pulse duration of less than 500 milliseconds. In some embodiments, at least one plant treatment device is configured and operable to apply said force field to induce the vibration pattern characterized by a plurality of vibration frequencies, where said default value is 100Hz. In some embodiments, at least one plant treatment device is configured and operable to apply the force field and induce the vibration pattern by generating an airflow that has a predetermined flow profile, and wherein said at least one plant treatment device comprises a fluid valve having a rapid rise time to thereby apply said at least one pulse. The fluid valve may have a rise time of ten milliseconds or less. In some embodiments, the plant treatment device comprises an adjustable opening configured and operable to generate the airflow profile that is a directional and directed fluid stream, and wherein said fluid valve is placed adjacent to said adjustable opening. In some embodiments, the at least one plant treatment device may comprise a filter configured and operable to block microbes, viruses and / or other harmful objects and prevent their delivery to the at least portion of the plant with the airflow or fluid. In some embodiments, the plant treatment apparatus further comprises an additional plant treatment device comprising a substance delivery device configured and operable for distributing or locally spraying one or more treatment substances onto one or more regions of the at least portion of the plant, wherein the treatment substances comprise one or more of the following: a medicament for treating plant diseases, a plant hormone that induces plant growth, a pesticide that kills pests, or a substance that damages plants by preventing growth and / or pollination. The substance delivery device may be associated with one or more treatment channels. The plant treatment device and the additional plant treatment device may be associated with at least one fluid flow channel.The substance delivery device can be configured and operated to spray pollen towards at least one flower within said at least portion of the plant. In some embodiments, said at least one plant treatment device comprises a vibrating element, wherein said control system is configured and operable to provide a predetermined profile of the vibrations of the vibrating element by controlling at least one of the number, frequency, amplitude, and duration of the vibration of the vibrating element. In some embodiments, at least one treatment device is configured and operable to induce vibrations by generating an airflow, wherein the control system is configured and operable to provide the predetermined airflow profile by controlling at least one of the following parameters: number of air pulses in the train, time interval between pulses in the train, number of pulses in each train pulse, time interval between two pulses in each train pulse, pressure amplitude in each pulse, and duration of each pulse. In some embodiments, the number of pulses in the train is one, and the number of pulses in the train pulse is no greater than ten. / nfrcnn / Lznz / E / Yii In some embodiments, the optical sensor and the fluid flow treatment channel are configured with a predetermined fixed relative orientation between the line-of-sight axis of the optical sensor and the propagation axis of the directional fluid flow. This predetermined fixed relative orientation may include an offset and / or an angular difference between the line-of-sight axis of the optical sensor and the propagation axis of the directional fluid flow. At least the portion of the plant being treated may be located within the field of view of the optical sensor. A light-gathering plane of the optical sensor may be located adjacent to a fluid outlet opening of the directional fluid flow. The optical sensor and the fluid outlet opening may be permanently connected. In some embodiments, the plant treatment apparatus further comprises a pollen transport device configured and operable for collecting pollen from a container in a vehicle or in a growing area and delivering the collected pollen to a pistil of at least one flower within that at least portion of the plant. The pollen transport device may have a shaped surface configured to adhere the collected pollen to that surface. In some embodiments, the detection system further comprises one or more environmental sensors configured and operable to provide detection signals indicative of one or more environmental conditions in the vicinity of at least that portion of the plant. The plant treatment apparatus may further comprise an additional plant treatment device comprising an environmental conditioning device configured and operable to modify at least one of the temperature and humidity of an environment within at least that portion of the plant. The control system may be configured and operated to operate that environmental conditioning device. The environmental conditioning device may be associated with one or more treatment channels.The plant treatment device, the substance supply device, and the environmental conditioning device may be associated with at least one fluid flow channel. In some modalities, the control system is configured and operable to process the detection signals and, upon determining that a flower within said at least portion of the plant should be pollinated, generate the corresponding operational data so that said at least one plant treatment device induces said vibrations in the at least portion of the plant. In some embodiments, where the detection system comprises one or more environmental sensors configured and operable to provide detection signals indicative of one or more environmental conditions in the vicinity of said at least portion of the plant, the detection signals may be indicative of conditions unfavorable for pollination, and the control system may generate operational data for said substance delivery system to administer or spray a hormone that induces parthenocarpic fruit growth. The detection signals may be indicative of a disease of said at least portion of the plant or a pest in an environment on said at least portion of the plant, and the control system may generate operational data for said substance delivery system to deliver or spray a drug or a pesticide, respectively. In some embodiments, the plant treatment system further comprises a sterilization and / or cleaning and / or disinfection unit configured and operable to sterilize and / or clean and / or disinfect at least one plant treatment device. The sterilization and / or cleaning and / or disinfection unit may comprise at least one of the following: a hot air blower, a cleaning material applicator, and a sprayer for cleaning, disinfecting, or sterilizing material. In some embodiments, the plant treatment apparatus comprises a navigation and tracking assembly configured and operable to bring the plant treatment apparatus into the vicinity of said at least portion of the plant, thereby enabling the plant treatment system to treat said at least portion of the plant. The navigation and tracking assembly may comprise a robotic arm carrying said plant treatment assembly, and the control system may be configured and operated to controllably move the robotic arm in three dimensions. The navigation and tracking assembly may comprise a ground vehicle configured and operable to controllably transport the plant treatment apparatus to the vicinity of said at least portion of the plant. The navigation and tracking assembly may comprise at least one of the following: one or more optical sensors and a positioning sensor.The navigation and tracking assembly may comprise a configured and operable moment of inertia unit to determine the spatial movement trajectory of the robotic arm to optimize the time and energy of the plant treatment process. In some embodiments, the plant treatment device is mounted on a telescopic arm that is controllable by said control system, in order to adjust the distance between said distal side of said plant treatment device and the at least portion of the plant. In some modalities, the control system is configured and operable to determine, based on such detection signals, whether at least one flower in that portion of the plant is ready for pollination, by comparing such detection signals with reference data comprising images of flowers ready for pollination, and / or by processing such image data to identify the presence of a flower in the image(s) and identify the readiness of the flower(s) for pollination by identifying floral parameters indicative of the existence or absence of pollination, and / or using trained artificial intelligence. In some modalities, the control system is configured and operable to analyze the detection signals from at least the optical sensor and determine a condition of at least a portion of the plant while being treated and after treatment, and generate the corresponding feedback data, allowing decisions to be made about modifying at least one treatment parameter that affects the vibrations induced in at least a portion of the plant. In some embodiments, the plant treatment apparatus further comprises a pollination-inhibiting device configured and operable to prevent pollination of one or more flowers and / or to prevent the growth and flowering of additional flowers within said at least portion of the plant, while minimizing damage to nearby parts of the plant. The pollination-inhibiting device may comprise a laser device configured and operable to irradiate said at least portion of the plant with predetermined laser parameters to thereby damage said at least portion of the plant. / nfrcnn / Lznz / E / Yii In some embodiments, at least one treatment device is configured and operable as a pollination inhibitor device configured and operable to generate said fluid stream with a predetermined high temperature, while maintaining the directionality of the fluid stream by controlling the size of the fluid stream outlet, to burn one or more regions of said at least portion of the plant and prevent the pollination of one or more flowers and / or prevent the growth and flowering of additional flowers within said at least portion of the plant, while minimizing damage to nearby parts of the plant. According to another aspect of the invention, a plant treatment apparatus is provided, comprising: one or more treatment channels and at least one plant treatment device associated with said one or more treatment channels, wherein said at least one plant treatment device is configured and operable to controllably generate and apply a force field to at least a portion of a plant, wherein said force field comprises at least one pulse, wherein each pulse has a rapid rise time, a certain duration and amplitude profile, thereby inducing a vibration pattern in the at least portion of the plant, said vibration pattern being characterized by a plurality of vibration frequencies, including vibration frequencies above a predetermined value, to thereby apply treatment to said at least portion of the plant; A detection system comprising one or more sensors configured and operable to provide detection signals indicative of a condition of said at least portion of the plant, wherein said one or more sensors comprise an optical sensor configured and operable to provide the detection signals indicative of image data of said at least portion of the plant; and a communication utility for data communication with a control system to transmit the detection signals to the control system and receive from the control system operational data for said at least one plant treatment device to induce vibrations corresponding to the treatment for said at least portion of the plant. According to another aspect of the invention, a plant treatment apparatus is provided comprising: one or more treatment channels and at least one plant treatment device associated with said one or more treatment channels, said at least one plant treatment device being configured and operable to controllably generate and apply a force field to at least a portion of a plant, wherein said force field comprises at least one pulse, wherein each pulse has a rapid rise time, a certain duration and amplitude profile, thereby inducing a vibration pattern in the at least portion of the plant, said vibration pattern being characterized by a plurality of vibration frequencies, including vibration frequencies above a predetermined value, thereby applying treatment to said at least portion of the plant; a detection system comprising one or more sensors configured and operable to provide detection signals indicative of a condition of said at least portion of the plant, said one or more sensors comprising an optical sensor configured and operable to provide the detection signals indicative of image data of said at least portion of the plant; and a communication utility for data communication with a control system to transmit the detection signals to the control system and receive from the control system operating data for said at least one plant treatment device to induce vibrations corresponding to the treatment for said at least portion of the plant. According to another aspect of the invention, a plant treatment apparatus is provided comprising: one or more treatment channels and at least one plant treatment device associated with said one or more treatment channels, said at least one plant treatment device / nfrcnn / Lznz / E / Yii being configured and operating to cause specific damage to at least a portion of a plant; A detection system comprising one or more sensors configured and operable to provide detection signals indicative of a condition of said at least portion of the plant, wherein said one or more sensors comprise an optical sensor configured and operable to provide the detection signals indicative of image data of said at least portion of the plant; and a communication utility for data communication with a control system to transmit the detection signals to the control system and receive from the control system operational data for said at least one plant treatment device to cause damage to said at least portion of the plant based on the following or more conditions of said at least portion of the plant: incurable disease, a predetermined number of flowers have already been pollinated. In some modalities, the one or more treatment channels comprise at least one of the following: laser with predetermined intensity and / or wavelength parameters, high temperature air and predetermined flow profile, and substance delivery. According to another broad aspect of the invention, a method for treating plants is provided comprising: - acquire detection data comprising image data of at least a portion of a plant; / nfrcnn / Lznz / E / Yii - analyze said detection data to determine if one or more flowers in said at least portion of the plant are ready for pollination; and - upon detecting one or more flowers ready for pollination, pollinate said one or more flowers ready for pollination by applying a force field to said one or more flowers ready for pollination, generating an airflow having a predetermined flow profile comprising at least one air pulse having a certain amplitude and duration, thereby inducing a vibration pattern in at least the portion of the plant, said vibration pattern being characterized by a plurality of vibration frequencies including vibration frequencies above a predetermined value. In some modalities, the acquisition and analysis of detection data also includes acquiring and analyzing environmental data indicative of the environmental conditions in the vicinity of at least a portion of the plant, and determining whether these environmental conditions prevent pollination, thus allowing for modification of said environmental conditions before pollination. The modification of these environmental conditions before pollination may be as follows: - if such environmental data are indicative of humidity higher than that required for pollination, apply hot air to said environment or at least said portion of the plant; and / nfrcnn / Lznz / E / Yii - if such environmental data are indicative of a humidity lower than that required for pollination, apply humid air to said environment or at least said portion of the plant. According to another aspect of the invention, a method for treating plants is provided comprising: - acquire detection data comprising image data of at least a portion of a plant; - analyze said detection data to determine whether a predetermined number of flowers have been pollinated in said at least portion of the plant; and - by determining that the predetermined number of flowers have been pollinated, inhibiting the pollination of other flowers or preventing the growth and flowering of other flowers in at least a portion of the plant. In some forms, the inhibition of pollination is achieved through one or more of the following: direct a fluid stream of predetermined temperature, temporal and spatial profiles to at least part of said at least portion of the plant; - supply or spray a specific substance to at least part of said at least portion of the plant; / nfrcnn / Lznz / E / Yii - irradiate at least part of said plant with a laser that has predetermined parameters corresponding to the type of plant. In some forms, at least part of said at least portion of the plant comprises a single flower or a region in a single flower. BRIEF DESCRIPTION OF THE DRAWINGS In order to better understand the subject matter described in this document and to illustrate how it can be carried out in practice, some modalities will now be described, by way of non-limiting example only, with reference to the accompanying drawings, in which: Figure 1 illustrates, in block diagram form, an exemplary modality of a plant treatment system according to the invention. Figure 2 illustrates a non-limiting example of a treatment apparatus that induces vibration in at least a portion of a plant by means of airflow. Figure 3 illustrates a non-limiting example of a treatment apparatus that induces vibration in at least a portion of a plant by means of contact. Figures 4a-c illustrate three non-limiting examples of a treatment apparatus that delivers a localized substance or fluid directed at least to a portion of the plant. Figure 5 illustrates a device for controlling the opening of the air flow treatment channel or fluid supply channel. Figure 6 illustrates another non-limiting example of a treatment device that induces vibration in at least a portion of a plant by means of a controlled airflow. Figure 7 illustrates a non-limiting example of a treatment system for supplying pollen to the flower by contact. Figures 8a-c illustrate three non-limiting examples of a treatment apparatus that inhibits pollination in a portion of the plant. Figure 9 illustrates a non-limiting example of mounting the treatment apparatus together with image-forming sensors. Figure 10 illustrates a non-limiting example of mounting the treatment apparatus that induces vibration in at least a portion of a plant by means of contact, together with a cleaning / sterilization / disinfection system. Figure 11 illustrates a non-limiting example of a navigation and tracking suite for use with several different / nfrcnn / Lznz / E / Yii processing devices. Figure 12 illustrates a non-limiting example of mounting several airflow-induced vibration treatment devices on a robotic vehicle. Figure 13 illustrates a non-limiting example of an airflow pattern to induce vibration in at least a portion of a plant. Figure 14 illustrates a non-limiting example of a pollination inhibition apparatus mounted on a robotic vehicle. DETAILED DESCRIPTION OF THE INVENTION Reference is made to Figure 1, which represents a general schematic diagram of the features of a non-limiting embodiment of a plant treatment system 100 for treating at least a portion of a plant, according to the invention. The plant treatment system 100 includes a plant treatment apparatus 102 and a control system 107 connected to and communicating with the plant treatment apparatus 102, for example, via data and / or control lines 107a and 107b. The plant treatment apparatus 102 includes one or more treatment channels 106 and at least one plant treatment device 103 associated with the one or more treatment channels.The plant treatment apparatus 102 also includes a detection system 104 comprising one or more sensors 105 configured and operable to provide, to the control system 107, detection signals 105b indicative of a condition of at least a portion of the plant. Accordingly, the plant treatment system 100 is configured and operable to monitor the plant during all its growth stages, including the flowering stage, pollination, and fruiting, by means of the detection system 104, and once a predetermined plant condition is identified, related to one or more of the plant growth stages, the plant treatment system 100 is configured and operable to apply a corresponding treatment by at least one plant treatment device 103 associated with one or more treatment channels 104.For example, the plant treatment system 100 identifies, using suitable sensors of the detection system 104, a pollination-related condition, such as whether one or more of the plant's flowers are ready to be pollinated. As a result, the plant treatment system 100 operates at least one plant treatment device 103 to pollinate the one or more flowers. In some embodiments, and as will be detailed later, the plant treatment system 100 can monitor the plant's health using suitable sensors of the detection system 104. Upon identifying that the plant is suffering from a specific disease, the plant treatment system operates at least one treatment device 103 to apply a corresponding treatment to the diseased plant, such as administering a suitable drug or medication. As described, the detection system 104 monitors, by means of its one or more sensors 105, a condition of the plant, generates the corresponding detection data 105b and sends the detection data to the control system 107. In addition, a feedback system consisting of the detection system 104, the control system 107 and the link 105c, can be included in the plant treatment system 100 and allows the acquisition of feedback data 105c, for example, by an image sensor, with respect to the state of the plant during the treatment process.The control system 107 receives the sensing and / or feedback data, through data line 107a (or a corresponding plurality of data lines - not shown), and processes the sensing / feedback signals to determine the condition of at least a portion of the plant, then operates the at least one plant treatment device 103, generating operating data and sending it through control line 107b, to apply a corresponding treatment to the at least a portion of the plant. It should be noted that while, in this specific example, the illustration shows that control system 107 is a separate element, it can also be configured in other ways. For example, control system 107 can be an integral part of detection system 104 or at least one treatment device 103, or it can be distributed among them. In that case, the data and control lines are merged into a single transmission / communication line. Furthermore, control system 107 can be located either inside or outside the plant treatment apparatus 102. For example, control system 107 can run on an external server that communicates with the other elements of the plant treatment system 100 via a network, either wired or wireless. The at least one treatment device 103 is configured and operable to apply treatment to at least one portion of the plant by controllably inducing a vibration pattern / profile in that portion. The vibration pattern is adapted to the type of treatment to be applied by controlling, for example, the vibration pattern profile parameters via the control system 107. The at least one treatment device 103 can be configured to apply the vibration pattern to one or more regions in the at least one portion of the plant to achieve the required treatment with minimal energy and / or time. The vibration pattern / profile induced in one or more regions of the at least one portion of the plant can be applied by the plant treatment device 103 in a contact or non-contact manner, as described below. The vibration pattern / profile induced in at least a portion of the plant must consist of a predetermined range of amplitudes, durations, and frequencies that fulfill the desired treatment action on the plant, as described later. For example, to pollinate one or more flowers on a self-pollinating plant, a portion of the plant, or the flower(s) directly, is made to vibrate in a vibration profile that includes a predetermined range of amplitudes, durations, and frequencies. Specifically, as described later, to pollinate flowers, the plant and / or the flower(s) must be vibrated in a range of frequencies, including frequencies above 100 Hz, and for a limited time; otherwise, the flowers may be damaged, or the pollination process may not be effective.Optimal pollination of self-pollinating flowers via buzz pollination (which releases pollen through flower vibration, either directly or via another plant element to which the flowers are attached) is achieved by inducing vibrations in the flowers in a specific way. As mentioned earlier, bombus bees, specifically domesticated for this purpose, are known to induce vibrations in flowers by holding them and shaking their muscles to produce several (approximately 4-5) pulses of vibration, each lasting several tenths of a second, for a total of 2-3 seconds. It is also well known that the vibration frequencies must be 100 Hz or higher.These vibration parameters are essential for optimal results: the need to rupture the pollen sacs within the flower requires a specific amplitude / intensity and vibration frequency, and several pulses may be necessary to ensure all sacs rupture. However, too many pulses, excessively long pulse durations, and excessively high amplitude can damage the flower or prevent the pollen from adhering to the stigma. As mentioned previously, the plant treatment apparatus 102 includes one or more treatment channels 106, where at least one treatment device is associated with one or more of them. The one or more treatment channels include one or more channels that the plant treatment device 103 uses / requires to apply the treatment to the plant. The treatment channel(s) 106 may form an internal part of the plant treatment apparatus or system, or in some cases, they may be external to it. The treatment channel(s) 106 may be an inlet, an intermediate part, or an outlet with respect to the one or more plant treatment devices 103. It should be noted that, in some embodiments, more than one plant treatment device may be associated with a single, common treatment channel. In some embodiments, a single plant treatment device may be associated with more than one treatment channel.For example, treatment channels may include a fluid flow channel configured and operable to provide a fluid flow, whether gaseous, liquid, or aerosol, which the plant treatment device uses to apply the treatment. In one specific example, the plant treatment device uses the fluid flow channel to generate an airflow or to blow air toward one or more regions of at least a portion of the plant. The one or more sensors 105 of the detection system 104, capable of detecting signals indicative of a condition of the plant portion under examination, include at least one optical sensor 105a configured and operable to provide the detection signals indicative of the image data of at least one plant portion. The optical sensor 105a can be configured as any optical sensor known in the art. Specifically, the optical sensor 105a can be a camera pointing directly at the plant portion under examination, or it can have or be associated with an aperture pointing at the plant portion (for example, using an optical fiber while the sensor itself does not have a direct line of sight to the plant portion), or it can have a field of view that includes the plant portion, etc.Image data can indicate a variety of conditions in the plant portion, prompting identification and appropriate treatment using a suitable device. For example, image data can reveal information about plant diseases, the preparation of one or more flowers for pollination, the presence of already pollinated flowers, the distance between the treatment device and at least one portion of the plant, the vibration pattern occurring during treatment of the flower, and so on. / nfrcnn / Lznz / E / Yii Figure 2 represents a non-limiting example of a plant treatment device 103a that applies a force field to at least a portion of a plant to induce vibration of a predetermined profile in at least a portion of the plant, according to the invention. In this example, the treatment device induces the vibration pattern in the at least portion of the plant without contact by applying a force field in the form of a controlled, directional airflow toward the at least portion of the plant.The controlled, directional airflow exiting the distal side of the plant treatment device 103a (the side closest to the treated portion of the plant) and propagating toward the target portion of the plant, for example, a single flower, is actually a defined air / fluid stream with a predetermined temporal profile (e.g., it is configured as a single pulse or as a few pulses with time intervals between them), a spatial profile (including direction and volume, which can be defined, for example, by a propagation axis and stream width), a pressure profile (magnitude), and a frequency content (e.g., it may include a plurality of air pulses with equal or different pressure magnitudes and time intervals between them). Therefore, the treatment device in Figure 2 is associated with a treatment channel that includes a fluid flow channel.The various airflow parameters mentioned above are determined by the control system 107 based on the specific parameters of the plant being treated, / nfrcnn / Lznz / E / Yii, where the specific plant parameters can be obtained through the sensing system 104. In the example described, the treatment device includes a controller 211 that controls the treatment device components through the control lines 212. The controller 211 can be part of the control system 107 or it can be a direct part of the treatment device 103a as described above. In some configurations, the controller 211 is configured to communicate data with the control system 107 to receive from it operating data indicative of the sensing data provided by the sensing system.A compressor 201 compresses air to a predetermined value or to a value determined by the controller 211, which receives the pressure reading from the pressure gauge 201a via the data line 201b and operates the compressor using the control line 212. The compressor 201 compresses the air that fills a tank 202 through pipe 201c. The tank 202 is connected to the fluid flow applicators 203 via pipes 205. Compressed air is supplied to the fluid flow applicators 203 on demand by controlling valves 206 via the controller 211 through the control lines 212. Air can be supplied to the fluid flow applicators 203 independently of each other by controlling each valve 206 separately. Air pressure is further controlled by pressure regulator 208 which is controlled by controller 211 via control line / nfrcnn / Lznz / E / Yii 212. The air compressor 201 can compress air to the maximum value anticipated for use by the device, and by controlling the regulator 208 and the valves 206, each fluid flow applicator 203 can receive a set pressure independently. The air compressor 201 can be equipped with a microbial filter or other filter (not shown) to prevent the delivery of microbes / viruses or other harmful objects through the applicator to plants or plant parts. The tubes 205 can be flexible, to allow the movement of the applicators 203 to direct the air supply to the required part of the plant, by mounting the applicators 203 on movable supports 204, also controlled by the controller 211 through the control lines 212. The fluid flow applicators 203 can provide a predetermined airflow profile (e.g., in the form of a single air pulse or a plurality of air pulses) adjusted to provide the required treatment to at least a portion of the plant. As described, the predetermined airflow profile can be, for example, a sequence of air pulses that intermittently opens and closes the valves 206 at the required times, controlled by the controller 211, and changing the air pressure (i.e., the magnitude) by the regulator 208. Figure 3 represents another non-limiting example of a plant treatment device 103b that applies a force field to at least a portion of a plant to induce vibration of a predetermined desired profile in that at least portion of the plant by means of direct physical contact with it. Accordingly, the treatment device 103b is associated with a treatment channel comprising the application of contact force. The treatment device 103b includes a contact applicator 301 attached to a vibrating element 302, both connected to a support 303. The support 303 can connect the treatment device to a suitable part of the treatment apparatus 102 as described below. The length of the contact applicator 301 can vary depending on the plant being treated. The length can be changed manually by extending or retracting the contact applicator on its clamping element, which attaches it to the vibrating element 302. Alternatively, it can be controlled by a motor 304, which can vary its length using commands from a controller 305. This controller can be configured similarly to controller 211, as described above. The rigidity / firmness of the contact applicator 301 can also vary depending on the target plant. The contact applicator 301 can be rigid if the portion of the target plant to be vibrated is thick, rigid, large, or difficult to vibrate, or more flexible if the portion is small or soft. The vibrating element 302 can be constantly vibrating or can be operated by the controller 305, for example, with the signal from the proximity sensor or force gauge (not shown) located on the applicator's clamping element. The amplitude and frequency of the vibration can also be changed by controlling the vibrating element via the controller 305 to induce the desired vibration in the plant. For example, during the pollination process, to induce a vibration pattern with the required parameters, such as amplitudes and frequencies (around 100 Hz and above), in the flower(s), the plant treatment device 103b can be configured to continuously contact a portion of the plant via the contact applicator while vibrating with the corresponding amplitudes and frequencies. These amplitudes and frequencies are transferred to the plant, causing the desired vibration profile in the flower(s).Alternatively, the plant treatment device 103b can be configured to strike a specific part of the plant, via the contact applicator 301, once or several times, with a predetermined force amplitude / magnitude and for a predetermined period or periods of time, to induce the required vibration profile (in terms of amplitude(s) and frequency(ies)) in the flower(s) to be pollinated. In this latter case, the contact applicator strikes the plant portion for a short period of time and with a predetermined amplitude, to cause the flower or flowers to vibrate at a plurality of frequencies, including frequencies above 100 Hz as described above. Figures 4a-c represent another non-limiting example of a plant treatment device 103c for applying a treatment to at least a portion of a plant, according to the invention. Specifically, the plant treatment device 103c is configured and operable for the targeted and localized delivery of fluid and / or substance to at least a portion of a plant. Accordingly, the treatment device 103c is associated with a treatment channel for dispensing material, and in some embodiments, the treatment channel is a fluid flow channel. The treatment device 103c is similar in some of its features to the treatment device 103a described in Figure 2. The treatment device 103c includes all the elements of the treatment device in Figure 2 with an additional fluid reservoir 401.Tank 401 is connected to pipes 205 through valve 403, which is controlled by controller 211 through a control line 212. Tank 401 can be filled through connector 401a. To supply fluids to a portion of the plant, valve 403 is operated to allow pressurized air to flow from tank 202 and fluid from reservoir 401. Together, the air and fluid mixture is supplied through tubes 205 to fluid flow applicators / openings 203 by opening valves 206. In some embodiments, reservoir 401 may contain a powder, which is supplied to a portion of the plant in the same manner as the fluid. Figure 4b describes another, non-limiting embodiment of the fluid supply treatment device 103c. Here, pressurized air from tank 202 is used to pressurize the fluid in reservoir 401 through pipe 404. The pressure is controlled by compressor 201, which is operated by controller 211. The pressurized fluid in reservoir 401 is delivered to the plant through valve 403, which is controlled by controller 211 via control line 212. Reservoir 401 can also be pressurized by connecting pressurized air through connector 401a. Both non-limiting configurations described in Figures 4a and 4b can be expanded to include more than one tank. An example of such a configuration is shown in Figure 4c with three tanks 401d-f. This configuration allows the treatment device to supply, for example, three types of fluid to the plant, either separately or as mixtures, by controlling the timing of the valves 403 using the controller 211a through the control lines 212. Similarly, a tank 401f can contain a cleaning fluid that rinses the pipe 205, valves 403 and 206, regulator 208, and fluid applicators 203 between the application of the different fluids / materials. Figure 5 represents a non-limiting example of an applicator / orifice 203, shown in Figures 2 and 4, with an adjustable orifice 501 at its distal tip. The figure shows the orifice 203, in its assembly 204, with the tube 205 connected through the valve 206. The adjustable orifice 501 is connected to the controller 211 (not shown) through the control line 502. When used with the fluid delivery system as described in Figures 4a-c, the size of the adjustable orifice can be changed according to the type of fluid. For example, when the fluid is more viscous, the orifice 501 can be enlarged. The size of the orifice can be changed to adjust the fluid application between a directed spray and an aerosol.When used with the airflow device described in Figure 2, the aperture size can be changed to affect the airflow pattern from directed, when the aperture size is large (but not larger than the applicator 203 outlet size), to divergent, when the aperture size is smaller than the applicator 203 outlet size. The size can be changed depending on the type of plant portion to be vibrated, its distance from the applicator 203, or to change the flow rate or pressure amplitude to control the vibration amplitude. When vibration is induced in a large portion of a plant, or when the distance is large, or when the vibration amplitude is large, it is necessary to increase the aperture size to increase the airflow / intensity / amplitude. When the plant portion to be vibrated is close or small, the induced vibration should be gentle, and the aperture size can be reduced accordingly.In general, the size of the opening should be kept to a minimum to minimize airflow and conserve energy, especially when dealing with a battery-powered treatment system / device, or when pressurized air is supplied from a reservoir of the treatment system / device. / nfrcnn / Lznz / E / Yii Figure 6 illustrates another, non-limiting example of a plant treatment device configured to induce vibration in the plant by applying an airflow-controlled force field. This further demonstrates the device's ability to control the airflow at the outlet so that the air pulses reach the plant portion with a sufficiently short rise time and sufficiently high amplitude. This ensures that frequencies above a predetermined value related to the plant being treated, for example, 100 Hz, remain a substantial part of the pulse frequency content, thus contributing significantly to the energy of the applied force field. This enables effective and powerful vibration induction while maintaining energy conservation.In this regard, it is noted that the expression "rise time," as used herein, means the time it takes for a given quantity to rise from a first value to a second value. For the purposes of the present invention, the rise time is the time it takes for a quantity, for example, a force or pressure, to rise from zero to 90%, or more specifically from 10% to 90%, of its second value (which may be the maximum value reached by the force or pressure). As is known in the art, the rise time of a specific quantity and the shape of the pulse define the frequency content of the quantity, i.e., the distribution of energy across the frequencies of the quantity.According to the invention, the plant treatment system is configured to generate at least one pulse with a rise time shaped such that the induced vibration pattern includes vibration frequencies above a predetermined value, matching the specific plant being treated and having a desired energy distribution. It is noted that the frequency content may also include frequencies below the predetermined value, but this is not necessary. Specifically, if the frequency content includes frequencies below the predetermined value, then, for energy conservation, it is preferable that a substantial portion of the force field energy be within the frequencies above the predetermined value.Normally, the rise time is short enough to generate vibration frequencies in the plant above a predetermined value corresponding to the plant being treated, for example, the rise time is in the range of a few milliseconds, for example less than ten milliseconds. Specifically, the device depicted in Figure 6 has a valve, which controls the airflow outlet, located near the airflow outlet opening (either opening 203 or the adjustable opening 501). This prevents temporal or spatial broadening of the air pulse(s) and thus achieves optimal pollination while saving energy. It should be understood that the distance from the valve or outlet opening (203 or 1401 in this example), whichever controls the pulse, to the portion of the plant being treated must be short enough to minimize temporal or spatial broadening of the pulse before it reaches the treated portion. This saves energy and induces vibration frequencies above a predetermined value. To this end, in some embodiments, the valve is located adjacent to the opening, allowing the distal side of the opening to be farther from the plant.In some other modalities, the valve is located at a specific distance from the opening, which requires bringing the distal side of the opening closer to the plant. As shown in this specific example, the device has an opening 203 with an adjustable opening 501 at its distal end. The figure shows the opening 203, in its bracket 204, with the tube 205 connected via the valve 206. All these elements have the functionalities described above. The adjustable opening 501 is connected to the controller 211 via the control line 502. A valve 1401, connected to the controller 211 via the control line 1402, is located immediately upstream of the adjustable opening 501 (and consequently, the distal side of the outlet opening can be maintained at a specific distance from the plant). In this particular configuration, the valve 206 can be optional, or it can be left open or actuated to allow pressurized air to flow only to the required openings if there are multiple openings.Valve 1401 is operated to prevent the air pulse from amplifying before reaching the plant portion. The quick-acting valve 1401 can be operated in conjunction with the adjustable orifice 501 or independently if its opening is suitable. The distal tip of the orifice 501 can be positioned near the plant portion by moving arm 801a or 801b (shown in Figure 11 below) or by mounting robotic arm 901 (shown in Figure 10 below) to position it at the optimal distance from the plant part. Another implementation can be by placing the distal edge of the opening 203 and the valve 1401 (with or without adjustable opening 501) on a telescopic structure 1403. The telescopic structure 1403 can be extended or retracted to position the most distal side (the opening 501 or the valve 1401) at the correct distance from the part of the plant.The stop arm can be mounted on a linear actuator 1405, which is controlled by controller 211 via control line 1406. This actuator positions the stop 1404 in its right extension. The telescopic structure can be retracted automatically by a spring or by moving the stop 1404 back to its retracted position using actuator 1405. Retracting the distal end is important to minimize the risk of unwanted contact with plants while moving the plant treatment device between plants. Air pulses are emitted from the solenoid near the desired part of the plant, minimizing pulse expansion to ensure a rapid rise time and sufficient amplitude when the pulse reaches the plant.A fixed opening distance from the portion of the plant to be vibrated is not optimal since both the induced vibration frequencies and the amplitude(s) must be within a certain range, and since the pulse expands both in time and space, it must be adjusted in each case, and since each inflorescence that needs to be vibrated is structured differently, a feedback mechanism is necessary for the vibrations to be induced optimally. The plant treatment devices illustrated in Figures 2, 3, 5, and 6, together with the control unit 107 and / or the controller 211, allow for the control of all characteristics of the induced vibrations without contact: amplitude, frequency content (e.g., by controlling the rise and fall times of the air pulse amplitude), duration of each pulse (whether applied by contact or without contact), number of pulses, and time between pulses. The control of the characteristics listed above can be predefined or adjusted upon detection of an object to be vibrated, and optionally, it can be adjusted in real time following feedback from the detection system 104, which monitors and detects the induced vibration and determines whether the induced vibrations are sufficient. In the case of force field application by airflow, the air pressure is created by the device described in Figure 2, where the pressure is controlled by the regulator 208.The air pulse train, pulse lengths, and number are controlled by solenoids / valves 206 and / or 1401. The frequency content of the air pulse is controlled by the speed of solenoid / valve 206 and / or 1401 and its distance from the object to be vibrated. The solenoid is preferably small and fast to create short rise times. Once the pulse is released from the solenoid / valve, it begins to broaden over time; therefore, the system can further control the pulse (and its frequency content) by positioning the solenoid / valve at the distal edge of the air opening 203 and by moving the air opening 203 closer to or further from the object, for example, by moving the arms. The distance to the object can be determined by a single imaging device, for example, by determining the size of the object, or by stereoscopic imaging or by LIDAR. Figure 7 illustrates a non-limiting example of a plant treatment device 103d for delivering pollen to at least one flower of a plant. The treatment device 103d is similar to the treatment device shown in Figure 3, with a brush or pad 601 positioned at the distal end of the applicator 301. The brush or pad is brought into contact with the flower of the plant. Pollen preloaded onto the brush / pad 601, for example, by immersing the brush / pad in a pollen reservoir, is delivered to a female organ of the flower by vibrating the brush against the organ by operating the vibrating element 302. The start, duration, frequency, and amplitude of the vibration are controlled by the controller 305. Figures 8a-8c describe non-limiting examples of a pollination-inhibiting plant treatment device 103e that can be used to damage a portion of the plant. In one embodiment, / nfrcnn / Lznz / E / Yii, shown in Figure 8a, the treatment device includes a laser 702 and an applicator 701, through which the laser beam is directed toward the plant portion. The applicator is mounted on a holder 703 connected to a support 204 that can point the beam in the required direction. The laser beam can be pulsed, with long or short picosecond or femtosecond pulses, and can have various wavelengths, for example, in the IR, visible, or UV spectrum. In another configuration, shown in Figure 8b, a stream of hot air is blown towards a portion of the plant, created by the blower 706 and directed towards the plant by the fluid flow applicator / opening 705. The size of the applicator / opening 705 should not be too small (on the order of 1-3 mm) so that the hot air is directional and thus minimizes damage to the surrounding portions of the plant. In another embodiment, shown in Figure 8c, the distal tip of the plant treatment device shown in Figure 2 is configured with the heater 707 and the applicator / opening 708. Air is supplied through the tubes 205 and the valve 206 and heated by the heater 707 before being directed towards the plant through the applicator / opening 708. All components are mounted on the support 204. Figure 9 represents a non-limiting example of a plant treatment apparatus comprising a plant treatment device and a detection system according to the invention. The proximal tips of the plant treatment devices described in Figures 2, 4, and 7 are mounted on the support 204. This support can be mounted on a fixed post 801 as shown in Figure 8. The support 204 can have two angular degrees of freedom to aim the applicator / opening 203 toward a portion of the plant to be treated. An imaging device 803, which forms an optical sensor of the detection system 104, can be mounted on the support 204 adjacent to the opening 203. The imaging device 803 is positioned relative to the opening with a fixed displacement 816.This displacement can be only translational, that is, pointing in the same direction but offset, or it can also have an angular displacement 814. If the line of sight 812 of the imaging device 803 is parallel to the aiming direction 811 of the aperture 203, the displacement is only translational. Another fixed imaging device 804, which forms another optical sensor of the detection system, can be placed on the post 801. This imaging device 804 is offset from the aperture 203 by an offset 817, and the angle 815 is the angle between the aiming direction 811 of the aperture 203 and the line of sight 813 of the imaging device 804. The angle 815 depends on the position of the support 204. One or both imaging devices can be used to aim the aperture 203 towards the portion of the plant to be treated.Both imaging devices can send image data via data lines 806 to controller 211. Controller 211 can determine the position and distance of the plant portion to be treated and, in turn, aim aperture 203 at the target plant portion by controlling the position of bracket 204 via control line 802. The positioning of bracket 204 can be determined using one or both imaging devices. If the offset of the aperture and imaging device is fixed, such as the offset of aperture 203 and imaging device 803, and this offset is known to controller 211, then aperture 203 can be aimed at imaging device 803 with an offset relative to the plant portion being targeted.If the offset is adjustable, as in the case of aperture 203 and imaging device 804, the distance to the target can be measured by image analysis of the image data provided by imaging device 804. With the known translational offset 817, controller 211 can then correctly point the aperture at the target portion of the plant. While this requires the additional distance data, the advantage is that an imaging device located at a large offset from the aperture can see targets not visible to the imaging device located next to the aperture. Two or more imaging devices can solve the problem of hidden targets, or at least increase the likelihood of not missing any targets.In addition, image data from two or more imaging devices placed offset from each other can be analyzed stereoscopically to find the distance to the target. Figure 10 illustrates an example of the assembly of the treatment device 103b described in Figure 3. As described above, the treatment device 103b is configured and operable to induce vibration in a portion of a plant through contact. The treatment device 103b includes the contact applicator 301, its vibrating element 302, the motor 304, the controller 305, and the bracket 303. The bracket connects the treatment device to a manipulator arm 901, which in this specific example includes two arm sections, 901a and 901b, connected by joint 902, with the bracket 303 also acting as a joint. The arm 901 is mounted on a base 903, which can also act as another joint. The arm length and degrees of freedom, determined by the number and length of the arm sections, joints, and their respective degrees of freedom, should be such that all necessary parts of the plant to be treated can be reached by contact, including, but not limited to, the highest and lowest parts of the plant. Furthermore, the overall reach of the manipulator arm may be such that it allows plant parts to be reached from different angles of approach, for example, reaching a leaf from below or reaching a stem from one or more sides. The purpose is to be able to contact plant portions at different angles of approach and avoid damage to other plant portions when approaching, or to allow imaging of plant portions from various angles by configuring the distal tip with one or more imaging devices. Figure 10 also shows a cleaning device 911 intended to clean / disinfect / sterilize the applicator 301 or any other part of a treatment device that comes into contact with the plant, such as a brush / pad 601 described in Figure 6. The cleaning device 911 can be configured as a hot air blower that blows hot air 912, or as a dispenser / sprayer to deliver any other required material 912, whether liquid, aerosol, or spray, onto the applicator 301. The cleaning device 911 can be mounted on the same base 904 as the manipulator arm 901 so that the arm can position the applicator 301 in a fixed position known to be reached by the cleaning material applied by the cleaning device 911.Another option is to place a tank 914 containing cleaning / disinfecting / sterilizing material in a fixed position on the base 904, so that the manipulator arm 901 can submerge the applicator 301, or any other part of the plant treatment device(s) in contact with the plant, into the tank 914 for cleaning / disinfecting / sterilizing. The cleaning time can be controlled by the user or automatically by the control system, according to the completion of the actions taken by the plant treatment device / apparatus, or, for example, by the elapsed time, or by environmental conditions, or by diseases and / or pests known to be present in the growing area or detected by the detection system during operation. Figure 11 shows a non-limiting example of a plant treatment apparatus 102a configured according to the invention. The plant treatment apparatus includes a plurality of plant treatment devices and a sensing system. In this example, a plant treatment device 103b for inducing vibration by contact and a plant treatment device 103a for inducing vibration through airflow are shown, both mounted on the same post 801. The post 801 is placed on the base 903, described in Figure 10, and can be either static or movable. It should be noted that any combination of the treatment devices described in the preceding figures can be mounted together on the post 801. The sensing system includes an optical sensor (imaging device 803) and an array of environmental sensors 1020: a temperature sensor 1020a, a humidity sensor 1020b, and a light / ambient sensor 1020c.These sensors can detect the environmental conditions in the plant's surroundings to treat. As also shown in the figure, the plant treatment apparatus 102a includes a navigation and tracking assembly 1000 configured and operable to bring the plant treatment apparatus into close proximity to at least a portion of the plant, thereby enabling the plant treatment system to treat that portion. The navigation and tracking assembly includes a mobile platform 1001, for example, a ground vehicle, which can transport the treatment apparatus to the plants to be treated. The vehicle 1001 can be a robotic vehicle, with wheels 1002, driven by motors within the vehicle body. The robotic vehicle can approach the plants autonomously using navigation and tracking sensors.For example, a robotic vehicle can be equipped with image sensors 1014 on the front and side, radar (either MW-based or laser-based) 1015 and other peripheral sensors as required. The movement of the robotic vehicle 1001 can be controlled by a dedicated processing unit 1016 and / or by the control system 107. The processing unit 1016 may include wireless communication, a moment of inertia unit, and GPS, with their respective antennas 1018. The processing unit 1016 collects data from cameras, sensors, the moment of inertia unit, and GPS to guide the vehicle 1001 along the plants in the cultivated area. The processing unit controls the motors that operate the wheels 1002 as well as the treatment devices. Wireless communication can be used to communicate with other vehicles to coordinate coverage of the agricultural area or with a central computer.The processing unit 1016 can replace the controller 211, or vice versa, to control the components of the treatment apparatus, namely motors, supports, valves, image sensors, manipulator arms, compressors and regulators, all described in the figures above and partially shown in Figure 11. Although some of the components mentioned are not shown in Figure 11 for the sake of clarity, all the items described in the figures above can be placed on vehicle 1001 to support the treatment device(s). Figure 12 shows another possible, non-limiting configuration of a treatment apparatus carried by vehicle 1001. Two poles, 801a and 801b, carrying one or more treatment devices and, optionally, sensors for the detection system, are positioned on either side of the vehicle to treat plants on both sides simultaneously or alternately (without the need to turn the vehicle). As shown, different treatment devices can be mounted on the same pole to allow, for example, the simultaneous treatment of two or more portions of the plant located at different heights. If a manipulator arm is mounted on a pole (not shown), this shortens the required arm reach, thereby increasing the accuracy of distal tip placement and reducing the motor force, size, and cost required to rotate the arm joints.It should be noted that a non-contact vibration-inducing treatment device normally moves with 2 degrees of freedom, and the contact-based treatment device normally requires at least 3 degrees of freedom (practically more may be required to place the applicator in contact with a portion of the plant), the need to avoid other parts of the plant, as well as the need to place the device at a specific angle with respect to the portion of the plant and the fact that the portion of the plant may be a stem that, for example, may have a random direction / position), which complicates the system. Each transport vehicle can be fitted with more than one support post to treat several plants in parallel, for example, one post on each side (to treat plants on both sides of the row) and / or more than one post, one on each side of the vehicle, to treat two or more consecutive plants simultaneously. As can be seen, the plant treatment system can be a mobile system that can move around an agricultural area and carry the treatment devices adjacent to each plant. The transport / navigation system can be based on wheels, as shown in Figure 10, or on rails or tracks placed along rows of plants in the cultivation area. The rails can have marked locations (e.g., / nfrcnn / Lznz / E / Yii) that can instruct the system to stop at each plant. The rails can be placed on the ground or in the air. Together with the control system, location devices such as GPS and peripheral cameras, the plant treatment system can detect plants, record their location, and track their treatment to return to the same portions / flowers or avoid treating them if they have already been treated. Figure 13 shows a non-limiting example of such a pulse sequence for use in inducing a vibration pattern in a treated part of a plant. The graph shows the pressure output (Y-axis) as a function of time (X-axis) of the air exiting the airflow applicators / openings 203 and / or the adjustable opening 501. The pulse sequence may contain one or more air pulses, as required, to generate the desired vibration pattern. The pulse sequence can be determined based on several factors, such as the type of plant, the part of the plant to which the force is applied (stem, flower, etc.), and the distance to the plant. Furthermore, the pulse sequence can be determined online, based on feedback from the sensing system that provides sensing data regarding the instantaneous vibration pattern developing in the plant part.The example shown includes two pulse trains (SI and S2) with a time separation T3, each pulse train containing three pulses of duration TI, interval T2, and rise time T4. Again, the pulse sequence can include one or more pulse trains, with different time separations (T3) between the pulse trains, each pulse train containing two or more pulses with a range of durations (TI) and intervals (T2). For example, in a non-limiting mode, there can be three trains (SI, S2, S3), with a time separation T3 = 0.5 seconds between trains, each train containing three pulses with intervals T2 = 0.1 seconds, rise times T4 = 5 milliseconds, and each pulse with a duration TI = 0.1 seconds. As mentioned, when used in pollination, the short rise time of the air pulses is crucial for inducing vibrations at multiple high frequencies (e.g., frequencies >100 Hz). In this case, the pulse rise time must be on the order of milliseconds, for example, 10 milliseconds or less, so that the pulse frequency content includes the required frequencies above 100 Hz. This requires a system as described in Figures 2, 5, 6, and 12: a pre-pressurized pressure chamber and a regulator and fast solenoid valves to create air pulses with a rapid rise time. To achieve rapid rise times, the moving element of the solenoid must be small / lightweight, and the electronics must be designed to withstand the solenoid's rapid movement. The linear movement / opening of the solenoid is on the order of several millimeters, suitable for the small, flexible air tubes required for such an implementation.These small solenoids can be placed at the end of air opening 203 or 501, which together with the ability to move the air opening closer to the element to be vibrated, creates a necessary implementation of a system to induce the vibrations required for optimal pollination. As described above, the vibration of flowers to release pollen can be induced by air pressure pulses. This involves the contactless induction / generation of vibration of the flower(s) and / or flower cluster or inflorescence in general, in order to induce pollination. Contactless pollination can reduce the chances of disease and virus transmission and can reduce the chances of damaging the plant through improper contact. Unlike non-directional airflow, such as that provided by air blowers, the invention offers several advantages. Blowers consume much more energy, are not controlled, and therefore the vibration frequency cannot be controlled and the pressure cannot be precisely adjusted. Due to the large airflow and its non-directed and non-localized nature, air blowers can increase the chances of spreading diseases, viruses, and pests. The amount of air, pulse count, duration, and angle with respect to the flowers must match the crop being pollinated, either by user-defined parameters or by predefined parameters after automatic detection of flower types, for example, by vision and algorithm applied in the processing unit. The air pulse sequence (by contact) must have the following properties: 1) the entire sequence should not last longer than several seconds to allow for the treatment of sufficient plants; 2) the pulse length and the distance / spacing between pulses should allow the flowers to vibrate within the required range of frequencies and amplitudes / magnitudes; 3) the pulse pressure and airflow rate should be kept to a minimum to save energy and / or pressure in the tank; 4) the aperture diameter should not be too small, so that the air is diverted and does not reach the flowers, or too large, so that the air is exhausted too quickly. The valve that releases air to the apertures should not be too far from the apertures to maintain the shape of the pulse train and prevent the pulses from expanding before exiting the aperture. The flow parameters should also be optimized to avoid damaging the flowers and / or the plant portion. The plant treatment system / apparatus shown in Figure 12 can be used to pollinate plants. A possible non-limiting method for pollinating the self-pollinating inflorescence of a plant, using the system shown, may include the following steps: 1. Move vehicle 1001 adjacent to the plant using the methods described above; 2. View the plant with the 803 imaging device; 3. Analyze images using processing unit 1016 or control system 107 to determine if at least one flower in the viewed plant portion is ready for pollination. This can be done by: a) comparing such image data with reference data showing the developmental stage or growth phase indicative of the pollination status of one or more flowers, for example, a dataset with images of flowers ready for pollination; b) processing the image data to identify the presence of a flower in the images and its readiness for pollination by identifying floral parameters that indicate the existence or absence of pollination, such as the color and shape of one or more parts of the flower(s); c) using trained artificial intelligence techniques (systems and / or methods). 4. Adjust the position of the applicator / openings 203 to point at the required part of the plant by controlling the supports 204 as described above with respect to figure 9, adjusting the fluid / air flow axis / line 811 according to the image seen by the imaging devices 803 and / or 804 taking into account their respective deviation of the opening 203; 5. Establish the vibration parameters (pressure, number and amplitude of pulses, duration of each pulse and spaces between them) according to the portion of the plant to be vibrated according to the visualization of the imaging devices and / or according to the predefined values ​​defined by portion of the plant and / or distance to the portion of the plant and / or other parameters; / nfrcnn / Lznz / E / Yii 6. Release the sequence of air pulses to vibrate the portion of the plant in a controllable manner. In addition to the pollination method described above, once the air pulse sequence is delivered, the imaging device / camera can detect the flower's vibration. If it does not reach the expected amplitude and / or frequency, the vibration pattern can be adjusted (i.e., a feedback mechanism) in one of the following ways: the pressure can be increased or decreased by controlling the regulator; the pulse duration and time interval between pulses can be changed within a pulse train; or the number of pulses in a pulse train or the number of pulses in a pulse train can be changed to alter the quantity, frequency, and amplitude of vibrations. The pulse direction can also be changed. Instead of targeting the main axis of the inflorescence (rachis) or the plant's largest stem to vibrate multiple inflorescences together and all the flowers together, the pulses can be directed at individual flowers. To avoid the need for pruning, the plant management system can include communication with an operator (via wireless communication or a direct system interface) to predefine the exact plant being pollinated. This allows the algorithm to focus and improve its target detection, as well as determine the number of flowers to be pollinated in each inflorescence or the total number of flowers on each plant. Furthermore, the system can be programmed to detect the plant itself and have predefined parameters for the number of flowers to be pollinated. The plant treatment system / device can use GPS or visual signals to record (from the camera array) the exact position of each visited plant and its flowering status for later reference and reporting to the farmer. The device can also use signals / markers placed in the greenhouse (e.g., barcode markers for each plant or row). The cameras can be high-frequency or any other type, such as infrared, and can have additional illumination at various wavelengths to improve visibility and detection capabilities. As described, the plant treatment system can be equipped with temperature, humidity, and light sensors (Figure 11, 1020ac), or communicate with sensors placed in the growing area and automatically determine whether to start or stop plant treatment (e.g., pollination) according to predefined parameters for each crop (after automatic detection of the crop being pollinated) or user-defined settings. When the plant treatment system / device is equipped with environmental sensors that provide environmental data about the plant's surroundings, a method for pollinating inflorescences based on environmental data may include the following steps: 1. Collect environmental data from the agricultural area; / nfrcnn / Lznz / E / Yii 2. If conditions are suitable for vibration-induced pollination, the system can use treatment devices that utilize air pulses; 3. If conditions are not suitable for vibration-induced pollination, the plant's microenvironment can be pre-conditioned: 3a. If conditions are too dry, the air can be humidified by the plant treatment device described in Figure 4a, for example, where a reservoir can hold water; 3b. If conditions are too humid, the relative humidity can be reduced by heating the air applied to the treated portion of the plant using a heating element (as described in Figure 8c); 4. If conditions do not permit the release of pollen by vibration, and preconditioning components are not available, but pollen can adhere to the female organ, the pollen can be applied locally and directionally by means of the treatment device described in Figures 4a-c, wherein a reservoir contains pollen, and / or the pollen can be administered by means of a contact-based vibratory treatment device as described in Figure 7. 5. If conditions do not permit pollen to adhere to the female reproductive organ, a treatment device such as the one described in Figures 4a-c can be used to spray plant hormones onto flowers to induce parthenocarpic fruit growth. Localized and directional delivery of plant hormones is crucial, as it is necessary to pinpoint the exact location of the female reproductive organ within the flowers, and to reduce the amount of hormones used, both for conservation purposes and because large quantities can damage the plants. The plant treatment system can selectively pollinate flowers. Using visual signals from an array of imaging devices, or a combination of cameras and GPS or other location tracking methods, the system identifies flowers on each plant, determines whether each flower is ready for pollination or has already been pollinated, and determines whether a predefined number of flowers on the specific inflorescence have already been pollinated. The system then decides whether to pollinate a specific flower. Depending on the pollination method, the system will focus only on the flowers to be pollinated. If the pollination device uses vibration, as in Figure 3, selective pollination can be achieved by placing the vibration device adjacent to the flower and setting the vibration amplitude so that adjacent flowers are not pollinated.If the flowers are clustered, the vibration can be timed to coincide with the correct number of flowers ready for pollination by visually assessing the status of all the flowers in the cluster. The same can be achieved with the air pressure method (Figure 4) and the pollen or hormone spraying method described earlier. This method is reversible; that is, if a different number of flowers need to be pollinated, the device can be returned to the plant and pollinate additional flowers. In one configuration of the plant treatment device, described in Figure 3, a vibrating element can be used to pollinate self-pollinating flowers that require vibration to release their pollen onto the female reproductive organ. The amplitude and frequency of the vibration can be adjusted according to user specifications or predefined parameters after automatic flower type detection by vision and algorithm in the processing unit. The placement of the vibrating element must also be appropriate for the crop being pollinated. A set of cameras, mounted on the vehicle and / or the extension arm / pole supporting the plant treatment device and at the device's tip, guides the system to position the vibrating element precisely, whether at the base of each flower, on the rachis of the inflorescence, or on a branch bearing multiple inflorescences. Another form of plant treatment apparatus for pollinating flowers may be based on a brush attached to the distal end of a manipulator arm (Figure 7) and a vibrating tip 301. The arm can guide the brush to a pollen reservoir in the vehicle or to locations in the field to deposit pollen onto the brush. The brush, as well as the vibrating tip, can then be guided to pollinate the flowers by placing the brush next to the female reproductive organ of the flower and gently rubbing (by vibration) the brush against the organ. Returning to Figure 8, several examples of pollination-inhibiting devices are described. By placing such a device on a vehicle, as described in Figures 11 and 12, either alone or in conjunction with other devices described earlier, parts of a plant can be intentionally damaged. For example, with a laser positioned next to the imaging device, once the required number of flowers have been pollinated, the remaining flowers can be intentionally damaged to prevent future pollination. Depending on the plant, the portions to be damaged to inhibit pollination may vary. For example, a self-pollinating flower can be inhibited by damaging its male or female reproductive organs. Figure 14 illustrates a non-limiting example of such a pollination-inhibiting system. A portion of a plant (1300) is shown. The laser (702) is positioned adjacent to the airflow applicator / opening (203), and both are aimed by the bracket (204). The laser can target individual flowers (1302–1305) or a location along the rachis (1301) that will damage all flowers beyond point (1306) (i.e., flowers 1304 and 1305) and prevent further flower development on the rachis. This eliminates the need for pruning, as pollination can also occur spontaneously or naturally through wind and insects, or by handling the plant by farm personnel.Similarly, damage can be caused by hot air (from the heating mechanism described above, set to temperatures that can be predefined by plant type, flower, flower stage, and / or environmental conditions, as detected by the system's imaging devices and / or environmental sensors and analyzed by the processing unit 1016 or the control system 107), or by placing a damaging material in the tank and precisely spraying the flowers from close range without damaging other flowers. This requires an apparatus for the targeted, localized delivery of the substance / fluid, as described in Figure 4. Both targeted and localized substance delivery and targeted and localized hot air delivery, along with control of the amount of substance or the heat of the hot air stream, can minimize damage to surrounding flowers and the surrounding plant(s).Similarly, the laser energy can be minimized to predefined values ​​by plant type, flower, flower state and / or environmental conditions, as well as setting the laser spot size on the target to several millimeters or less (depending on the exact inflorescence to be reached) in order to avoid damage to the surrounding parts of the plant, since the flower organs to be targeted and the rachis of the inflorescence are on the order of several millimeters. With multiple cameras mounted on various supports and posts, each plant can be viewed closely from many angles and heights. This allows for the detection of pests or diseases. The 401 tank described above (shown in Figures 4a-c) can hold other treatment materials (e.g., pesticide), and the air pressure mechanism can be used to spray it or other materials for the localized and efficient treatment of pests, diseases, fungi, etc. The system can notify the user of the finding and its treatment, and on subsequent visits, since the system records the location of each plant, the status of the disease or pest can be updated to ensure the problem was addressed. When the system is configured as described in Figure 4c, i.e., consisting of multiple tanks, several materials can be placed in the same vehicle, and multiple detected diseases or pests can be treated.

Claims

1. A plant treatment system characterized in that it comprises: a plant treatment apparatus comprising: one or more treatment channels and at least one plant treatment device associated with said one or more treatment channels, said at least one plant treatment device being configured and operable to controllably generate a force field and apply the force field to at least a portion of a plant, wherein said force field comprises at least one pulse, wherein each pulse has a rapid rise time, a certain duration and amplitude profile, thereby inducing a vibration pattern in the at least portion of the plant, said vibration pattern being distinguished by a plurality of vibration frequencies above a predetermined value, thereby applying treatment to said at least portion of the plant;and a detection system comprising one or more sensors configured and operable to provide detection signals indicative of a condition of said at least portion of the plant and feedback signals indicative of said vibration pattern, wherein said one or more sensors comprise an optical sensor configured and operable to provide the detection signals and / or feedback signals indicative of image data of said at least portion of the plant;and a control system configured and operable for data communication with said plant treatment apparatus, to receive and process the detection signals and / or feedback signals produced by the detection system, wherein the processing of the detection signals and / or feedback signals comprises determining the condition of said at least a portion of the plant and / or said vibration pattern and operating said at least one plant treatment device to apply and / or adjust said force field to thereby induce the vibration pattern corresponding to the treatment of said at least a portion of the plant.

2. The plant treatment system according to claim 1, characterized in that said at least one of said one or more treatment channels is configured as a fluid flow channel.

3. The plant treatment system according to claim 2, characterized in that said at least one treatment device is configured and operable to induce the vibration pattern by generating a controlled airflow having a predetermined flow profile / nfrcnn / Lznz / E / Yii towards said at least portion of the plant through the fluid flow channel.

4. The plant treatment system according to claim 3, characterized in that said at least one treatment device comprises an adjustable opening that is configured and operable to generate the airflow profile that is a directional and directed fluid stream that can be directed and induce vibration patterns in one or more specific regions in said at least portion of the plant.

5. The plant treatment system according to claim 1, characterized in that said at least one plant treatment device comprises a vibrating element connected to a contact applicator that is configured and operable to contact said at least portion of the plant to apply said force field to said lesser portion of the plant and induce said vibration pattern therein.

6. The plant treatment system according to any of the preceding claims, characterized in that said at least one plant treatment device is configured and operable as a plant pollination device, such that said induced vibration pattern is configured to cause the pollination of at least one flower within said at least portion of the plant.

7. The plant treatment system according to claim 6, characterized in that said at least one plant treatment device is configured and operable to apply said at least one pulse having a pulse duration of less than 500 milliseconds.

8. The plant treatment system according to any of claims 6 or 7, characterized in that said at least one plant treatment device is configured and operable to apply said force field to induce the vibration pattern distinguished by a plurality of vibration frequencies, wherein said default value is 100 Hz.

9. The plant treatment system according to any of claims 6 to 9, characterized in that said at least one plant treatment device is configured and operable to apply the force field and induce the vibration pattern by generating an airflow having a predetermined flow profile, and wherein said at least one plant treatment device comprises a fluid valve having a fast rise time to thereby apply said at least one pulse.

10. The plant treatment system according to claim 9, characterized in that said fluid valve has a rise time of ten milliseconds or less.

11. The plant treatment system according to claim 9 or 10, characterized in that said plant treatment device comprises an adjustable opening configured and operable to generate the airflow profile which is a directional and directed fluid stream and wherein said fluid valve is placed adjacent to said adjustable opening.

12. The plant treatment system according to any one of claims 6 to 11, characterized in that said at least one plant treatment device is configured and operable to apply the force field and induce the vibration pattern by generating an airflow having a predetermined flow profile, and wherein said at least one plant treatment device comprises a filter configured and operable to block microbes, viruses and / or other harmful objects and prevent their delivery to the at least portion of the plant with the airflow or fluid. / nfrcnn / Lznz / E / Yii 13. The plant treatment system according to any of the preceding claims, characterized in that said plant treatment apparatus further comprises an additional plant treatment device comprising a substance delivery device configured and operable to distribute or locally spray one or more treatment substances in one or more regions of said at least portion of the plant, wherein said treatment substances comprise one or more of the following: a medicament for treating plant diseases, a plant hormone that induces plant growth, a pesticide that kills pests, or a substance harmful to plants that prevents growth and / or pollination.

14. The plant treatment system according to claim 13, characterized in that said substance supply device is associated with said one or more treatment channels.

15. The plant treatment system according to claim 14, characterized in that said plant treatment device and said additional plant treatment device are associated with said at least one fluid flow channel.

16. The plant treatment system according to any of claims 13 to 15, characterized in that the substance delivery device is configured and operable to spray pollen towards at least one flower within said at least portion of the plant.

17. The plant treatment system according to any of claims 5 to 16, characterized in that said at least one plant treatment device comprises a vibrating element, wherein said control system is configured and operable to provide a predetermined profile of the vibrations of the vibrating element by controlling at least one of the number, frequency, amplitude, and duration of the vibrations of the vibrating element.

18. The plant treatment system according to any of claims 3 to 4 or 6 to 16, characterized in that said at least one treatment device is configured and operable to induce the vibration pattern by generating an airflow, wherein said control system is configured and operable to provide the predetermined airflow profile by controlling at least one of the following parameters: number of air train pulses, time interval between train pulses, number of pulses in each train pulse, time interval between two pulses in each train pulse, pressure amplitude in each pulse, duration of each pulse. / nfrcnn / Lznz / E / Yii 19. The plant treatment system according to claim 18, characterized in that said number of train pulses is one and wherein said number of pulses in the train pulse is not greater than ten.

20. The plant treatment system according to any of claims 4 or 6 to 16 or 18 or 19, characterized in that the optical sensor and the fluid flow treatment channel are configured with a predetermined fixed relative orientation between the line-of-sight axis of the optical sensor and the directional fluid flow propagation axis.

21. The plant treatment system according to claim 20, characterized in that said predetermined fixed relative orientation comprises a displacement and / or an angular difference between the line-of-sight axis of the optical sensor and the propagation axis of the directional fluid flow.

22. The plant treatment system according to claim 20 or 21, characterized in that said at least portion of the plant being treated is located within the field of view of the optical sensor. / nfrcnn / Lznz / E / Yii 23. The plant treatment system according to claim 21 or 22, characterized in that a light-capturing plane of said optical sensor is located adjacent to a fluid outlet opening of said directional fluid stream.

24. The plant treatment system according to any of claims 21 to 23, characterized in that said optical sensor and said fluid outlet opening are fixedly attached.

25. The plant treatment system according to any of the preceding claims, characterized in that said plant treatment apparatus further comprises a pollen transport device configured and operable to collect pollen from a container in a vehicle or in a growing area and deliver the collected pollen to a pistil of at least one flower within said at least portion of the plant.

26. The plant treatment system according to claim 25, characterized in that said pollen transport device has a shaped surface configured to adhere the collected pollen to said surface. / nfrcnn / Lznz / E / Yii 27. The plant treatment system according to any of the preceding claims, characterized in that said detection system further comprises one or more environmental sensors configured and operable to provide detection signals indicative of one or more environmental conditions in the vicinity of said at least portion of the plant.

28. The plant treatment system according to claim 27, characterized in that said plant treatment apparatus further comprises an additional plant treatment device comprising an environmental conditioning device that is configured and operable to modify at least one of the temperature and humidity of an environment of said at least portion of the plant.

29. The plant treatment system according to claim 28, characterized in that said control system is configured and operable to operate said environmental conditioning device.

30. The plant treatment system according to claim 29, characterized in that said environmental conditioning device is associated with said one or more treatment channels.

31. The plant treatment system according to claim 30, characterized in that said plant treatment device, said substance supply device and said environmental conditioning device are associated with said at least one fluid flow channel.

32. The plant treatment system according to any of the preceding claims, characterized in that the control system is configured and operable to process the detection signals and, upon determining that a flower within said at least one portion of the plant is to be pollinated, generate the corresponding operating data for said at least one plant treatment device to induce said vibrations in the at least one portion of the plant.

33. The plant treatment system according to any of claims 13 to 32, characterized in that said detection system comprises one or more environmental sensors configured and operable to provide detection signals indicative of one or more environmental conditions in the vicinity of said at least portion of the plant, wherein said detection signals are indicative of conditions unfavorable for pollination, and wherein said control system generates operational data for said substance delivery system to administer or spray a hormone that induces parthenocarpic growth of the fruit.

34. The plant treatment system according to any of claims 13 to 33, characterized in that said detection signals are indicative of a disease of said at least portion of the plant or pest in an environment of or on said at least portion of the plant, and wherein said control system generates operational data for said substance delivery system to administer or spray a drug or pesticide, respectively.

35. The plant treatment system according to any of the preceding claims, characterized in that it further comprises a sterilization and / or cleaning and / or disinfection assembly configured and operable to sterilize and / or clean and / or disinfect said at least one plant treatment device.

36. The plant treatment system according to claim 35, characterized in that said sterilization and / or cleaning and / or disinfection assembly comprises at least one of the following: / nfrcnn / Lznz / E / Yii a hot air blower, a cleaning material applicator and a cleaning or disinfection or sterilization material sprayer.

37. The plant treatment system according to any of the preceding claims, characterized in that said plant treatment apparatus comprises a navigation and tracking assembly configured and operable to bring the plant treatment apparatus into a vicinity of said at least portion of the plant to enable the treatment of said at least portion of the plant by the plant treatment system.

38. The plant treatment system according to claim 37, characterized in that said navigation and tracking assembly comprises a robotic arm carrying said plant treatment assembly, and wherein said control system is configured and operable to controllably move the robotic arm in three dimensions.

39. The plant treatment system according to claim 37 or 38, characterized in that said navigation and tracking assembly comprises a land vehicle configured and operable to transport the plant treatment apparatus in a controllable manner to the vicinity of said at least portion of the plant. / nfrcnn / Lznz / E / Yii 40. The plant treatment system according to any of claims 37 to 39, characterized in that said navigation and tracking assembly comprises at least one of the following: one or more optical sensors and a positioning sensor.

41. The plant treatment system according to any of claims 37 to 40, characterized in that said navigation and tracking assembly comprises a moment of inertia unit configured and operable to determine the spatial movement trajectory of the robotic arm to optimize the time and energy of the plant treatment process.

42. The plant treatment system according to any of the preceding claims, characterized in that said plant treatment device is mounted on a telescopic arm that is controllable by said control system, so as to adjust the distance between said distal side of said plant treatment device and the at least portion of the plant.

43. The plant treatment system according to any of claims 12 to 42, characterized in that said control system is configured and operable to determine, based on said detection signals, whether at least one flower in said portion of the plant is ready for pollination, by comparing said detection signals with reference data comprising images of flowers ready for pollination, and / or by processing said image data to identify the presence of a flower in the image(s) and identify the readiness of the flower(s) for pollination by identifying flower parameters indicative of the existence or absence of pollination and / or by using trained artificial intelligence.

44. The plant treatment system according to any of the preceding claims, characterized in that the control system is configured and operable to analyze the detection signals from at least the optical sensor and determine a condition of said at least portion of the plant while being treated and after treatment, and generate the corresponding feedback data, allowing decisions to be made regarding the modification of at least one treatment parameter that affects the vibrations induced in the at least portion of the plant.

45. The plant treatment system according to any of the preceding claims, characterized in that said plant treatment apparatus further comprises a pollination-inhibiting device configured and operable to prevent the pollination of one or more flowers and / or to prevent the growth and flowering of additional flowers within said at least portion of the plant, while minimizing damage to nearby parts of the plant.

46. ​​The plant treatment system according to claim 45, characterized in that said pollination inhibitor device comprises a laser device configured and operable to irradiate said at least portion of the plant with predetermined laser parameters to thereby damage said at least portion of the plant.

47. The plant treatment system according to claim 4, characterized in that said at least one treatment device is configured and operable as a pollination inhibitor device configured and operable to generate said fluid stream with a predetermined high temperature, while maintaining the directionality of the fluid stream by controlling the output size of the fluid stream, to burn one or more regions of said at least portion of the plant and prevent the pollination of one or more flowers and / or prevent the growth and flowering of additional flowers within said at least portion of the plant, while minimizing damage to nearby parts of the plant. / nfrcnn / Lznz / E / Yii 48. A plant treatment apparatus, characterized in that it comprises: one or more treatment channels and at least one plant treatment device associated with said one or more treatment channels, wherein said at least one plant treatment device is configured and operable to controllably generate and apply a force field to at least a portion of a plant, wherein said force field comprises at least one pulse, wherein each pulse has a rapid rise time, a certain duration and amplitude profile, thereby inducing a vibration pattern in the at least portion of the plant, said vibration pattern being distinguished by a plurality of vibration frequencies, including vibration frequencies above a predetermined value, thereby applying treatment to said at least portion of the plant;a detection system comprising one or more sensors configured and operable to provide detection signals indicative of a condition of said at least portion of the plant, wherein said one or more sensors comprise an optical sensor configured and operable to provide the detection signals indicative of image data of said at least portion of the plant; and a communication utility for data communication with a control system to transmit the detection signals to the control system and receive from the control system operational data for said at least one plant treatment device to induce vibrations corresponding to the treatment for said at least portion of the plant.

49. A plant treatment apparatus characterized in that it comprises: one or more treatment channels and at least one plant treatment device associated with said one or more treatment channels, said at least one plant treatment device being configured and operable to controllably generate and apply a force field to at least a portion of a plant, wherein said force field comprises at least one pulse, wherein each pulse has a rapid rise time, a certain duration and amplitude profile, thereby inducing a vibration pattern in the at least portion of the plant, said vibration pattern being characterized by a plurality of vibration frequencies, including vibration frequencies above a predetermined value, thereby applying treatment to said at least portion of the plant;a detection system comprising one or more sensors configured and operable to provide detection signals indicative of a condition of said at least portion of the plant, wherein said one or more sensors comprise an optical sensor configured and operable to provide the detection signals indicative of image data of said at least portion of the plant; and a communication utility for data communication with a control system to transmit the detection signals to the control system and receive from the control system operating data for said at least one plant treatment device to induce vibrations corresponding to the treatment for said at least portion of the plant.

50. A method for treating plants characterized in that it comprises: - acquiring detection data comprising image data of at least a portion of a plant; - analyzing said detection data to determine whether one or more flowers in said at least portion of the plant are ready for pollination; and - upon detecting one or more flowers ready for pollination, pollinating said one or more flowers ready for pollination by applying a force field to said one or more flowers ready for pollination generating an airflow having a predetermined flow profile comprising at least one air pulse having a certain amplitude and duration, thereby inducing a vibration pattern in at least the portion of the plant, wherein said vibration pattern is distinguished by a plurality of vibration frequencies including vibration frequencies above a predetermined value.

51. The method according to claim 50, characterized in that said analysis of said detection data is carried out by comparing said detection data with reference data comprising images of flowers ready for pollination, or by processing said image data to identify the presence of a flower in the image or images and identify the readiness of the flower(s) for pollination by identifying floral parameters indicative of the existence or absence of pollination, and / or using trained artificial intelligence.

52. The method according to claim 50 or 51, characterized in that said vibrations in said one or more flowers ready for pollination are induced by bringing said one or more flowers or at least a part of said at least portion of the plant into contact with a vibrating element.

53. The method according to claim 50 or 51, characterized in that said vibrations in said one or more flowers ready for pollination are induced by applying a directional fluid current directed towards said one or more flowers. / nfrcnn / Lznz / E / Yii 54. The method according to claim 53, characterized in that said directional and directed fluid stream is generated by a sequence of one or more predetermined fluid train pulses.

55. The method according to claim 54, characterized in that said sequence of one or more predetermined fluid train pulses is distinguished by one or more of the following parameters: number of train pulses, time interval between train pulses, pressure amplitude in each pulse, duration of each pulse, time interval between two pulses in each train pulse.

56. The method according to any of claims 53 to 55, characterized in that said fluid is air.

57. The method according to any of claims 53 to 56, characterized in that it further comprises acquiring feedback data on vibrations after inducing said vibrations, allowing decisions to be made regarding the modification of at least one parameter of the directional and directed fluid flow, thereby affecting said vibrations. / nfrcnn / Lznz / E / Yii 58. The method according to any of claims 53 to 57, characterized in that said acquisition and analysis of detection data further comprises acquiring and analyzing environmental data indicative of the environmental conditions in an environment of said at least portion of the plant, and determining whether said conditions do not permit pollination, thereby permitting modification of said environmental conditions prior to pollination.

59. The method according to claim 58, characterized in that said modification of said environmental conditions prior to pollination comprises: - if said environmental data are indicative of a humidity higher than that required for pollination, applying hot air to said environment or said at least portion of the plant; and - if said environmental data are indicative of a humidity lower than that required for pollination, applying humid air to said environment or said at least portion of the plant.

60. A method for treating plants characterized in that it comprises: - acquiring detection data comprising image data of at least a portion of a plant; - analyzing said detection data to determine whether a predetermined number of flowers in said at least portion of the plant have been pollinated; and - upon determining that the predetermined number of flowers has been pollinated, inhibiting the pollination of other flowers or preventing the growth and flowering of other flowers in said at least a portion of the plant, wherein said inhibitory pollination is achieved by directing a fluid stream of predetermined temperature, temporal and spatial profiles to at least part of said at least portion of the plant.

Images