CAMERA-ASSISTED TILLER

Abstract

The invention relates to agricultural machinery within the scope of precision agriculture technologies, specifically a camera-assisted tiller that detects plant rows via a camera unit and aligns the tiller elements with the plant rows based on the acquired image data, thereby mechanically performing weed control between and within rows.

Description

1 TARIFF CAMERA-ASSISTED TILLER Technical Area The invention relates to agricultural machinery within the scope of precision agriculture technologies, Specifically, it detects plant rows via a camera unit and the resulting image is 5 Aligning the anchor elements with the plant rows according to the data, thus spacing between rows and a camera that mechanically performs weed control along the rows. It relates to the assisted tiller. State of the Art Currently, in the known state of the technique for weed control between rows, there are 10 commonly used. mechanical tillers and partly GPS-based systems. Guidance systems are used. In the classic mechanical inter-row cultivators used in current technology; field structure, Due to planting errors and irregular plant emergence, the plants do not follow an ideal and rigid line. It is not listed. This situation means that the operator constantly 15 during the tilling process. this necessitates intervention and the precision of the process is directly related to the operator experience. It makes them dependent. In manual operation, the operator must pay attention to precise work. Even if it shows, it is not possible to completely eliminate human-induced errors. This does not happen, and a certain degree of plant damage occurs. In addition, in known mechanical systems, the approach of the anchor elements to the plant is 20 The distance is limited. In order to prevent plant damage, tilling equipment (hoeing) (blades, discs, and the like) must be kept at a certain distance from the plant, The situation is that the weeds, especially those located along the row, are not performing as desired. This prevents cleaning. Furthermore, tractor speed is a significant factor in manual systems. This is a parameter, and as speed increases, it becomes more difficult for the operator to visually track the sequence. 25 And consequently, the risk of plant damage increases when working at high speeds. Accuracy decreases, and work efficiency declines at low speeds. The current technology uses GPS-based navigation. In the systems used, high accuracy is achieved along predetermined lines. Progress can be made. However, since these systems do not directly detect the plant; 30 2 It tolerates situations such as in-field variations, planting errors, and plant emergence differences. It is unable to do so. Therefore, in order to reduce plant damage, the equipment is kept away from the plant. They are being positioned, which leads to an increase in uncultivated areas and weeds. This leads to the inadequacy of the struggle. In the current state of the art, it is also possible to obtain image data from the field surface of 5 by processing and determining the position of plant rows and mechanical processing equipment. Camera-based systems that rely on the principle of being guided according to this data also There are some such systems, depending on the image data obtained. The machine's direction of movement or steering system is being controlled; in some cases, however, Each anchor element is moved individually by independent actuators, 10 around the plant. is positioned. However, in these known systems, the alignment function is either... by changing the orientation of the machine / carrier platform or by changing each anchor This is achieved through separate actuators assigned to the element; a fixed the entire anchor group with a movable chassis structure that slides horizontally on the chassis. It is not possible to ensure complete and highly accurate alignment of the sequence. 15 Current mechanical and positioning system-based systems; operator dependency, limited sensitivity, low weed control efficiency, and high risk of plant damage. It has disadvantages. In this context, it is possible to directly detect the plant and obtain the data. capable of converting the foreign object in the line into instantaneous and precise mechanical positioning. A more adaptive system is needed that can also intervene in weed control. 20 In conclusion, due to the negative aspects described above and the current solutions being the subject of discussion... Due to its shortcomings, an improvement is needed in the relevant technical field. It has been made. Purpose of the Invention The invention was created by drawing inspiration from existing situations and addressing the aforementioned drawbacks. 25 It aims to solve the problem. The main purpose of this invention is to monitor plant rows in real time using a camera unit. as detected and the data obtained is moving along the horizontal axis on a fixed chassis via a parallel sliding mechanism that drives the movable chassis and through a hydraulic cylinder it is converted into an instantaneous machine positioning, so that the anchor elements are plant 30 3 A camera-assisted tiller emerged that aligned with the rows with high precision. to place. Another aim of the invention is to place the anchor elements much closer to the plant without damaging it. enabling safe operation both between and on the rows at any distance. effective weed removal and minimizing the risk of plant damage. 5 The goal is to enable downloading. Another aim of the invention is to reduce the dependence of the tilling operation on operator experience. to reduce and improve workflow by ensuring accurate sequence tracking even at higher processing speeds. The goal is to increase its efficiency. Another aim of the invention is to eliminate or significantly reduce the use of chemical herbicides. By enabling mechanical weed control in a way that will significantly reduce environmental impact. Our aim is to contribute to environmentally friendly and sustainable production and organic farming practices. Another aim of the invention is to develop different row spacings for various plant species. an adjustable and modular design that can be used without the need for machine changes The structure is to provide. 15 The structural and characteristic features and all the advantages of the invention are given in the figures below. And thanks to the detailed explanation written with references to these figures, it becomes clearer. This will be understood as such, and therefore the evaluation will also take these forms and detailed explanations into account. This should be done taking that into consideration. Figures to Help Understand the Invention 20 Figure 1 is a perspective view of the tiller machine that is the subject of the invention. Figure 2 shows a top view of the tiller machine that is the subject of the invention. Figure 3 shows the details of the fixed and movable chassis of the tiller machine that is the subject of the invention. It is the appearance. Figure 4 shows the foot unit of the tiller machine, which is the subject of the invention, with 25 attached to it. soil cover element, star protection disc element and blade element included. It is the appearance. 4 Figure 5 shows the foot unit included in the tiller machine, which is the subject of the invention, with the foot unit attached to it. This is a view including the rake element. Figure 6 shows the foot unit included in the tiller machine, which is the subject of the invention, with the foot unit attached to it. This is the appearance including the protective plate element. Figure 7 shows the goose attached to the foot unit of the tiller machine that is the subject of the invention. It is the appearance including the leg element. Figure 8 shows the wheel adjustment mechanism located in the foot unit of the tiller machine that is the subject of this invention. It is the appearance of the mechanism. Explanation of Part References A. Tiller 10 1. Camera unit 2. Control unit 3. Parallel sliding mechanism 4. Hydraulic cylinder 5. Foot unit 15 5a. Foot unit independent hydraulic cylinder. 6. Finger anchor mechanism 7. Fixed chassis 8. Movable chassis 9. Flanged disc wheel 20 10. Lifting hydraulic cylinder 11. Ground cover element 12. Star protection disc element 13. Blade element 14. Harrow element 25 15. Protective plate element 16. Crow's foot element 17. Wheel adjustment mechanism Detailed Description of the Invention This detailed description outlines the preferred configurations of the tiller machine that is the subject of this invention. This explanation is provided solely to facilitate a better understanding of the subject. The tiller machine (A) described in the invention monitors the field surface continuously to determine the planting level. At least one camera unit (1) that detects rows and weeds, from the camera unit (1) The machine determines the position of the plant rows by processing the images taken and 5 by calculating the deviation between the current position and the ideal row position, parallel At least one control unit (2) that generates commands to the sliding mechanism (3), moving will ensure that the chassis (8) and the attached anchor elements are aligned with the plant rows The single chassis (8) moves the movable chassis (7) on the horizontal axis on the fixed chassis (7) While generating lateral movement along the axis, the orientation of the anchor elements relative to the soil is 10 at least one parallel sliding mechanism (3) that holds it in place, coming from the control unit (2) By responding instantly to the commands, the parallel scrolling mechanism (3) is required Equipped with a proportional valve and potentiometer that move the device by the amount of the correction distance. at least one hydraulic cylinder that enables the acquisition of location data with high accuracy. (4), which is attached to the fixed chassis (7) to move on the horizontal axis and 15 At least one movable chassis (8) carrying the anchor elements on it, the fixed structure of the machine the most that forms and carries the movable chassis (8) so that it can move on the horizontal axis a small fixed chassis (7) that enables the removal of weeds between and on the rows. Anchor elements are mounted on it, each of which can be commissioned independently. and at least one foot unit (5) that can be deactivated, 20 belonging to each foot unit (5) and which moves the foot unit (5) independently of the others and independent hydraulic cylinder (5a) with at least one foot unit that lifts when necessary, fixed chassis (7) carrying on the soil and ensuring the maintenance of track depth during progress at least one flanged disc wheel (9), foot units (5) at field ends or obstacles at least one lifting hydraulic cylinder (10) 25 which enables it to be lifted in these situations It includes. The fixed chassis (7) forms the fixed structure of the machine and is connected to the tractor's drawbars. The carrier is the main structure. The fixed chassis (7) carries the movable chassis (8) on the horizontal axis. It is designed to allow it to move. Fixed chassis (7), It counteracts the pulling force transmitted from the tractor and controls all the movement of the machine. It forms the reference structure to which its elements are connected. 6 The movable chassis (8) moves on the fixed chassis (7) along the horizontal axis relative to the fixed chassis (7). It is connected in such a way that it can carry the anchor elements. The movable chassis (8) carries the anchor elements on it. It houses the foot units (5) and the function of aligning to the plant rows is this chassis (8) This is achieved by positioning it on the horizontal axis. The movable chassis (8) is fixed Thanks to the fact that it moves as a whole on the chassis (7), all the anchors carried on it 5 The alignment of the group into plant rows is ensured simultaneously and as a whole; Thus, there is no need to position each anchor element individually. The camera unit (1) is positioned at the front of the machine and continuously monitors the field surface. By displaying this image, the camera unit detects plant rows and weeds. Image data obtained by (1) is controlled to be processed simultaneously. It is transferred to the unit (2). The camera unit (1) enables the direct detection of the plant. because it provides protection against in-field variability, planting errors, and plant emergence irregularities. It offers a counter-adaptive study opportunity. The control unit (2) analyzes the images received from the camera unit (1) and the plants It distinguishes weeds and determines the position of plant rows. Control 15 unit (2), as a result of this analysis, the machine's current position and ideal row position to calculate the deviation value between them and the parallel shifting mechanism (3) It generates the commands that will activate the tractor. The control unit (2) is mounted on the tractor. by the operator through an integrated user interface and control software It is managed so that the operator can independently control each foot unit (5) 20 It can be enabled or disabled. Parallel sliding mechanism (3), commands from the control unit (2) The movable chassis (8) moves along the horizontal axis on the fixed chassis (7) It ensures that the anchor elements are aligned with the plant rows. Parallel The sliding mechanism (3) produces lateral movement in a single axis, while the end effector 25 an additional element that maintains the angle of the anchor element in its position and provides limited passive compliance. It includes degrees of freedom. This allows the anchor element to move within the soil throughout the operation. It maintains a constant orientation; on sloping terrain and surface irregularities. This ensures a more homogeneous process. The parallel sliding mechanism (3) of the tractor Passive freedom of roll, oscillation and directional deviations caused by the drawbars 30 Because it is damped by the voltages, it causes less of the workpiece to be transmitted to the work element. It plays a critical role in ensuring that the plant is not damaged. 7 Hydraulic cylinder (4) is the drive element that moves the parallel sliding mechanism (3). and by instantly responding to the commands from the control unit (2), the movable chassis (8) shifts by the required correction distance. Hydraulic cylinder (4), with proportional valve When driven, the system sensitivity increases; when connected to a potentiometer, however... Location data is obtained regularly and with high accuracy. This allows camera 5 The instantaneous data obtained from the unit (1) is responded to with high precision and the plant Damage is minimized. The foot unit (5) is a hoe that enables the removal of weeds between and on the rows. It is the support unit on which the elements are mounted. The foot unit (5) is different Designed to allow the installation of elements, the movable chassis (8) 10 It is positioned on the foot unit (5), planting in rows of 30 cm to 75 cm. different plant species are processed without the need for any machine modifications. It is designed to be adjustable in order to offer usability. Foot unit (5), adapting to varying soil structures and field conditions in different geographical regions. It is designed in a modular structure in order to provide this, and 15 can be attached to it. By changing the component, it can meet different processing needs. The foot unit independent hydraulic cylinder (5a) belongs to each foot unit (5), and the word the subject is the independent control of the foot unit (5) from the others It provides. Each anchor thanks to the independent hydraulic cylinder (5a) of the foot unit. The element can be activated separately depending on field conditions and plant row position. It can be enabled, disabled, and enabled again when needed. This independent control is performed on foot units (5) at field ends or in obstruction situations It allows for rapid deployment. The finger anchor mechanism (6) is integrated into the foot unit (5), and is particularly suitable for rows It helps to remove the weeds growing on them. Finger hoe 25 mechanism (6), thanks to its flexible structure, can damage plants at close range It is working. Finger hoeing mechanism (6), soil structure and plant root condition when manufactured from polyurethane material and with different Shore A (ShA) hardness When selected within their specified values, the anchor elements minimize root damage. This allows the technician to approach the plant to a distance of 2–4 cm. In this way, the technique's 30 Intervention is not possible because sufficient accuracy cannot be achieved in the systems in their known state. Even weeds that cannot be controlled in rows can be effectively dealt with. 8 Flanged disc wheel (9) carries the fixed chassis (7) on the ground and during movement It is the element that maintains the track depth of the machine. Flanged disc wheel (9) is the element that maintains the track depth of the machine in the field. It ensures that the surface moves in a stable manner and that the anchor elements function properly. It contributes to keeping its depth constant. Lifting hydraulic cylinder (10), foot units (5) at field ends or obstacle 5 It is the element that enables it to be lifted upwards in these situations. Lifting hydraulic cylinder (10) Thanks to this, the machine can quickly adapt to different terrain conditions and When transitioning to non-working positions, the anchor elements are freed from contact with the soil. The ground cover element (11) is one of the elements that can be attached to the foot unit (5), It ensures that the tilled soil is covered over the plant rows. Soil cover element 10 (11) can be attached as needed thanks to the modular structure of the foot unit (5). It can be removed. The star protection disc element (12) is one of the elements that can be attached to the foot unit (5). and involves maintaining the plant row and directing the soil during hoeing. It provides. The star protection disc element (12), the modular structure of the foot unit (5) 15 Thanks to this feature, it can be attached and removed as needed. The blade element (13) is one of the elements that can be attached to the foot unit (5) and is sharp. Thanks to its structure, it works just below the soil, cutting through the root zone of weeds. It enables cutting. The blade element (13), the modular structure of the foot unit (5) Thanks to this feature, it can be attached and removed as needed. 20 The rake element (14) is one of the elements that can be attached to the foot unit (5) and the soil by lightly tilling the surface, the roots of the weeds are exposed and placed on the soil surface. The rake element (14) increases aeration by loosening the soil surface, It allows water to penetrate the soil better and creates a more favorable environment for plant growth. It creates an environment. The modular structure of the rake element (14), foot unit (5) 25 Thanks to this feature, it can be attached and removed as needed. The protective plate element (15) is one of the elements that can be attached to the foot unit (5), It is used specifically to prevent damage to delicate plants. The protective plate element (15) prevents the foot unit (5) from coming into contact with plant roots or during operation. By preventing it from getting too close to the stem, the plant is protected from physical impacts. 9 It protects. The protective plate element (15), the modular structure of the foot unit (5) Thanks to this feature, it can be attached and removed as needed. The goosefoot element (16) is one of the elements that can be attached to the foot unit (5), and is wide Thanks to its surface structure, it works over a wider area underground, targeting weeds. It ensures that the roots are cut. The goosefoot element (16) cuts the soil superficially 5 By working with and loosening the soil, it increases aeration and allows water to penetrate the soil better. It contributes to its modularity. The goosefoot element (16) is the modular foot unit (5). Thanks to its design, it can be attached and removed as needed. The wheel adjustment mechanism (17) ensures precise control of the foot unit (5). For this purpose, setting 10 allows adjustment of the blade depth and wheel height. It is the mechanism. Thanks to the wheel adjustment mechanism (17), the foot units (5) can be adjusted to 20–100 It can work with depths between mm. In an example application of the invention; the tiller (A) is mounted on a chassis fixed to the drawbars of the tractor. It is connected via (7) and starts to move forward in the field. According to the row of plants planted. The foot units (5) are adjusted and if the machine is to be used in the relevant field for the first time, the system 15 Camera calibration is performed via the necessary parameter inputs. While moving forward, the camera unit (1) continuously images the field surface and provides data. It produces; the control unit (2) analyzes this data and determines the position of the plant rows and It calculates the deviation between the machine's current position and the ideal row position. In line with the calculated deviation, the hydraulic cylinder (4) is triggered and the parallel sliding 20 necessary correction on the movable chassis (8) fixed chassis (7) via the mechanism (3) It is slid along the horizontal axis by a distance. In this way, the movable chassis (8) is carried on it. The anchor elements and foot units (5) are precisely aligned with the plant rows. Foot Each foot unit (5) field thanks to its independent hydraulic cylinders (5a). They are checked separately according to the conditions; 25 at field edges or in obstacle situations. The units are lifted up by the lifting hydraulic cylinder (10). Attached to the foot units (5) While weeds between rows are being removed by means of the elements, finger hoes are used. With the mechanism (6), weeds on the row are also dealt with. This setup and Calibration processes are performed only once for each field and stored in the system memory. It is recorded; recalibration is required for subsequent applications in the same field. 30 It's not necessary. In a preferred application of the invention, the hydraulic cylinder (4) proportional valve and It is connected via a potentiometer. In another preferred application of the invention, the finger anchor mechanism (6) available in polyurethane material and different Shore A (ShA) hardness values. It is produced in this way. 5 In another preferred application of the invention, the foot unit (5) is in rows of 30 cm to 75 cm. It is designed to be adjustable within a certain range. In another preferred application of the invention, the foot unit (5) is in a modular structure. It has been arranged. In another preferred application of the invention, a ground cover 10 is attached to the foot unit (5). element (11) is connected. In another preferred application of the invention, a star protection disc is attached to the foot unit (5). element (12) is connected. In another preferred application of the invention, a blade element is attached to the foot unit (5). (13) is connected. 15 In another preferred application of the invention, a rake element is attached to the foot unit (5). (14) is connected. In another preferred application of the invention, a protective plate is attached to the foot unit (5). element (15) is connected. In another preferred application of the invention, a goosefoot element 20 is attached to the foot unit (5). (16) is connected. In another preferred application of the invention, each foot unit (5) has its own It is connected to an independent hydraulic cylinder (5a). In another preferred application of the invention, the wheel adjustment mechanism (17) is the foot the unit (5) working at a depth between 20–100 mm and wheel height 25 It has an adjustment mechanism that allows for adjustment. Thanks to this configuration, the plant rows can be directly viewed with the camera unit (1). detection and processing of the obtained data by the parallel sliding mechanism (3) and hydraulic cylinder 11 (4) Converting it into instant and precise machine positioning In this way, the anchor elements are aligned with the plant rows with high precision; the anchor so that personnel can work safely at a much closer distance to the plant. Thanks to this, both inter-row and line weeds are effectively removed. The risk of plant damage is minimized; from field structure, planting errors and plant 5 Deviations resulting from output irregularities are tolerated, and operator dependency is maintained. The process is being reduced; even at higher processing speeds, the correct sequence is followed. productivity is being increased; the use of chemical herbicides is being eliminated or significantly reduced. reduced to a certain extent and environmentally friendly and sustainable production and organic farming practices Contribution is provided. 10 The camera-assisted tiller (A) that is the subject of the invention is used in all types of agricultural production. In open field farming, especially for plant species planted with row spacing of 30–75 cm, the row spacing is... It can be used for weed control between rows and on rows. Tiller (A), It can be manufactured in a way suitable for mass production in industry, and agricultural machinery manufacturing. It is suitable for industrial application in its field. 15 25

Claims

12 REQUESTS 1. A camera-assisted tiller (A), whose feature is; • By continuously monitoring the field surface, plant rows and weeds can be identified. at least one camera unit that detects grass (1), • at least one movable chassis carrying the anchor elements (8), 5 • forming the fixed structure of the machine and the movable chassis (8) on the horizontal axis at least one fixed chassis that can carry it in a way that allows it to move (7), • the movable chassis (8) and the anchor elements attached to it to the plant rows movable chassis (8) fixed chassis (7) to ensure alignment horizontal movement on the axis and lateral movement on a single axis 10 the best way to keep the orientation of the tiller elements fixed relative to the soil during production. a small parallel scrolling mechanism (3), • by processing the images taken from the camera unit (1) the plant rows determining its position and the machine's current position versus the ideal row position by calculating the deviation between them, the parallel shifting mechanism (3) 15 at least one control unit that generates commands (2), • by instantly responding to commands from the control unit (2) in parallel move the sliding mechanism (3) by the required correction distance Equipped with a proportional valve and potentiometer, it transmits position data. at least one hydraulic cylinder that enables high precision to be achieved 20 (4), • A hoe used to remove weeds between and within rows. each of which is independently commissioned and mounted on its components at least one foot unit that can be removed and deactivated (5), • belonging to each foot unit (5) and the foot unit (5) 25 the most powerful, which moves and lifts independently of others when needed a small foot unit independent hydraulic cylinder (5a), • carrying the fixed chassis (7) on the ground and track during progress at least one flanged disc wheel (9) which ensures the preservation of the depth, • foot units (5) up to 30 at field ends or in obstacle situations at least one lifting hydraulic cylinder (10) that enables its lifting It includes. 13 2. According to claim 1, the tiller is (A) and its feature is; foot unit (5) It must contain at least one connected ground cover element (11).

3. According to claim 1, the tiller is (A) and its feature is; foot unit (5) It must contain at least one connected star protection disc element (12). 5 4. According to claim 1, the tiller is (A) and its feature is; foot unit (5) It contains at least one connected blade element (13).

5. According to claim 1, the tiller is (A) and its feature is; foot unit (5) 10 It must contain at least one connected rake element (14).

6. According to claim 1, the tiller is (A) and its feature is; foot unit (5) It must contain at least one connected protective plate element (15).

7. According to claim 1, the tiller is (A) and its feature is; foot unit (5) It must contain at least one connected crow's foot element (16). 25

Images