MULTI-SPECTRAL CAMERA, MULTI-AXIS INTERVENTION TIP POSITIONING AND MOBILE FOR AUTONOMOUS AGRICULTURAL VEHICLES. PROTECTIVE SHIELD MECHANISM WEED REMOVAL DEVICE

Abstract

The invention relates to a weed removal apparatus for use with autonomous or semi-autonomous agricultural vehicles. The invention includes a multispectral sensing module mounted on a common main carrier body, a multi-axis positioning mechanism with an articulated carrier arm enabling the interchangeable weeding tip to be positioned in multiple axes of motion relative to the target weeding area, and a movable protective shield mechanism providing physical protection around the target weeding area. The interchangeable weeding tip is detachable and attachable via a common connection and mechanical locking mechanism on the tip carrier body and can be mechanically locked in the working position. The weeding tip can be configured as either a laser weeding head or a mechanical tiller tip.The movable protective shield is guided along a defined path, its approach to the target intervention area is mechanically restricted, and it allows access to the target intervention area by the interchangeable intervention tip via its intervention opening. The field of view of the multi-spectral sensing module, the mechanical access area of ​​the interchangeable intervention tip, and the intervention opening of the movable protective shield are arranged in a defined physical and geometric relationship with each other. This provides an integrated agricultural apparatus structure that allows different intervention tips to be used on a common mechanical architecture, enables physical intervention in the targeted area, and creates mechanical protection around the intervention.

Description

1 TARIFF MULTI-SPECTRAL CAMERA FOR AUTONOMOUS FARMING VEHICLES, MULTI-SPECTRAL. AXIAL INTERVENTION TIP POSITIONING AND MOBILITY PROTECTIVE SHIELD MECHANISM WEED REMOVAL DEVICE Technological Field: 5 The invention relates to agricultural machinery, precision farming equipment, agricultural mechanization, and autonomous systems. or technical weed removal devices that can be mounted on semi-autonomous agricultural vehicles It relates to the field. The invention is particularly useful for determining the target intervention zone in agricultural land. The multispectral sensing module, which houses the multispectral camera module, is one of the 10 in question. Multiple systems featuring articulated carrier arms that can be moved according to the target intervention zone. axial positioning system, different physical intervention procedures detachable and replaceable intervention tip for carrying out the task and Mobile protective measures to protect non-target crop plants during intervention. the shield system's main supporting body has defined physical and 15 relative to each other. agricultural weed control devices that are brought together in a spatial relationship It is related. The technical scope of the invention also includes; a multispectral camera module with a specific field of view. camera carrier and protective camera housing that keeps it in place, Arm 20 that allows the articulated carrier arm to be positioned in different axes of movement. segments, motion joints and motion actuators, different intervention points of the same It allows the end carrier body to be used in a detachable and replaceable manner. providing end connection sockets, mechanical locking elements and intervention area movable protective shield components that can create a physical protective boundary around it It includes. 25 The invention includes a replaceable intervention tip; it can be connected to a common tip connection structure. different physical intervention elements such as laser intervention head or mechanical anchor tip can be used alternatively on the same multi-axis positioning system It has a convenient structure. The interchangeable intervention tip has a common tip carrier body and tip. It can be attached and detached via a mounting bracket and has a mechanical locking system. 30 Thanks to its components, it is kept in the working position, allowing different intervention tips to be controlled. allows it to be used on the same carrier and positioning structure. This is provided. In this context, the invention refers to different intervention methods rather than a single specific one. 2 Transporting and mechanically securing intervention probes, target intervention allowing it to be positioned according to its region and modified as needed. It relates to physical transport, connection, and locking structures. The invention also refers to the interchangeable intervention end of the movable protective shield. transport, guidance and target 5 within a defined spatial relationship with mechanical structures that allow it to be moved according to the intervention area It is related to the shielding intervention opening created on the protective shield. establishing a physical connection between the working area of ​​the replaceable intervention tip and via shield distance limiter to the target intervention zone of the protective shield The mechanical limitation of the correct approach movement is also relevant to the 10 inventions. It is among the structural arrangements. The protective shield is included in this structural arrangement. The direction of movement and the working direction of the interchangeable intervention tip are different. not in independent random locations, but the intervention end of the shielding intervention opening a reciprocal positional relationship that will allow it to access the target intervention area It is arranged within. Thus, the fact that the protective shield is mobile allows for intervention 15 without blocking the access of the tip, but physically surrounding the target intervention area. It is combined with a mechanical protection architecture that limits it in this way. The technical scope of the invention also includes a multi-spectral sensing module and a multi-axis system. relative positions of the positioning device on the main carrier body to protect the main carrier body, the vehicle connection mechanism and the detachable 20 It connects to the agricultural vehicle via a mounting bracket and provides sensing and multi-axis capability. Positioning, interchangeable intervention tip and physical protection components in a single unit. mechanical and modular design for carrying together within a mountable apparatus. It includes electromechanical settlement structures. In this respect, the invention allows for the continuous use of a large section of agricultural land or row spacing for 25 seconds. rather than general-purpose weed control equipment that works with a defined target a modifiable intervention that can be directed in a multi-axis manner to the intervention area the tip working in structural and positional relationship with the intervention tip in question a movable protective shield assembly and the mechanical components that support them 30 in the technical field of weed control apparatus where integrated arrangements are made. It is receiving. State of the Art: 3 Weed control in agricultural areas; it provides crop plants with water, nutrients, light, and more efficient use of growing land, preservation of agricultural productivity and production It is important in terms of reducing inputs. For this purpose, chemical control equipment, mechanical tillage tools, cutting or removing agricultural apparatus various agricultural interventions involving physical or energy-based interventions in a specific region 5 These mechanisms are used. In the current state of the art, commonly used weed control methods One of the methods is applying herbicides to agricultural land through spraying elements. It is based on the application of the chemical substance to a specific field. Although it is possible to distribute them in the region, plant row or between rows, the wide 10 In field applications, chemical substances are also used in areas where there are no weeds. It is possible for the crops to be consumed and for non-target crops to be affected by the application. This is possible. This situation only affects the limited area where the weed is present, physically. This increases the need for agricultural equipment capable of performing interventions. Known mechanical weed control equipment includes hoes, cutting elements, scrapers, and rotary tillers. Processing elements and similar parts are used. Some of these pieces of equipment... The processing element is located at a specific interval between rows during the forward movement of the agricultural machinery. Its width is constantly being processed. The processing area is located in the region where the cultivated plant is found. If it gets too close, the plant's roots, stem, or the surrounding soil may be damaged undesirably. It is possible for them to be affected. Especially when weeds and cultivated plants interact with each other. stationary mechanical elements with a large processing area in the areas where they are located in close proximity Targeted intervention can become difficult. One of the technical problems encountered in mechanical weed control devices is... This refers to the physical positioning of the intervention element relative to the target area. Fixed Processing elements with fixed or limited mobility; different 25 weeds The horizontal and vertical positions of the plant rows create a nonlinear geometry. If the field surface is uneven or shows irregularities, the target area should be selected from a suitable location. They may be unable to approach effectively. Therefore, the intervention element needs to be more than one. Mechanical transport and articulated joints that allow positioning along the axis of motion. Movement structures are important. 30 In the current state of technology, a camera consists of an optical sensor and the ability to capture images at different wavelengths. Applications where sensing elements capable of detecting are used on agricultural machinery These elements allow for the observation of the field surface and vegetation. 4 It can provide this. However, field surface detection alone can detect weeds. It does not allow for physical intervention; the field of vision of the sensing element an appropriate spatial relationship between the physical intervention element and its access area It needs to be created. The sensing elements and the mobile intervention elements are independent of each other. 5 The movement of the agricultural vehicle in the structures on which it is positioned, vibrations, due to mechanical tolerances and variations in the terrain surface, these elements Their relative positions may change. This situation affects the observed region. a positional difference occurs between the area physically reached by the intervention tip and the area it reaches. This can cause it to arrive. Therefore, sensing elements and intervention 10 a carrier with a defined common or positional relationship to the mechanical structure that carries the element The arrangement on the construction is important. Common agricultural equipment uses linear motion mechanisms, articulated arms, and various other types of motion. Changing the positions of processing elements using actuators. It is possible. However, a mechanism that allows movement in only one direction, 15 Limited access to targets located at different positions on the field surface. It is able to remain. The intervention tip can approach the target area from different directions and It creates multiple axes of movement so that its horizontal or vertical position can be changed. arm, joint and actuator components within a suitable mechanical architecture It needs to be regulated. 20 Physical methods for removing weeds include cutting, tearing, and removing the root zone. different Intervention methods can be utilized. These intervention methods... Because working conditions vary, a single intervention element cannot cover the entire area. and its use in plant conditions can limit application flexibility. 25 In addition, the intervention element is permanently attached to the carrier mechanism. In order to switch to a different intervention method in the structures, the intervention mechanism A significant portion may need to be disassembled or replaced. This situation additional procedures in terms of maintenance, parts replacement and switching to different operating conditions. This may require different physical intervention points. Therefore, the same carrier structure 30 with a detachable end connection that allows it to be used on the said a locking mechanism that mechanically holds the intervention tip in place during operation It is needed. Mobile intervention elements, such as mechanical tiller tips, are close to the cultivated plant. If used in these areas, the intervention element may come into contact with non-target plants. There is a possibility. Similarly, concentrated energy could be directed towards a specific target area. In the intervention personnel carrying out the work, the target area is also the working area. Limiting this is important. Therefore, only the intervention end 5 not the positioning, but the physical location of the cultivated plants around the intervention zone. The separation and protection of these areas also needs to be addressed in weed control equipment. This is one of the technical problems. Known fixed containment elements provide protection around the intervention area. While it can provide access, the reach of the mobile intervention tip is limited due to their fixed geometries. can limit its area or resize it according to different target locations. It cannot be positioned. Therefore, the intervention tip depends on the working area. movable, can be brought closer to the target area when needed, and can be intervened a protective structure that can be removed from the work area after completion Its use is becoming increasingly important. 15 The protective structure may not be sufficient on its own simply because it is movable. The intervention element from within or by the protective structure. a suitable protective structure on the ground to allow access to the target from a restricted area The presence of an access opening; the operation of the access tip in question. positioned in alignment with the axis and the protective structure 20 to the target area It must be possible to mechanically restrict it from approaching too closely. Thus, the protective element is transformed from a mere passive containment into an intervening mechanism. It becomes a mechanical sub-mechanism that works in physical and positional relationship with its element. It can be brought. Considering the working environments of agricultural machinery, the camera, movable arm, joint, 25 actuator, intervention tip and protective elements must be free from dust, soil particles, plant debris, It may also be exposed to vibrations and mechanical shocks. Therefore... The optical components must be held in a suitable carrier and protective housing, preventing movement. mechanical components can maintain their structural integrity in the agricultural working environment. It needs to be supported in this way. 30 On the other hand, the weed removal device is only permanently attached to a specific agricultural vehicle. its integration in this way allows the device to be used in different vehicles and for maintenance purposes. This can make it difficult to detach the weed trimmer from the vehicle. Therefore, the main part of the weed trimmer... 6 the mechanical connection of the carrier body to the agricultural vehicle and when required A detachable vehicle connection structure that allows for separation also facilitates use and maintenance. It is important in this respect. When these structures are considered together in the current state of the art; perception There is a specific physical distance between the element's field of view and the intervention end's access area. establishing a connection, capable of positioning the intervention end in multiple axes of motion, different The intervention tips can be removed and reattached on the same carrier and mechanically. A protective device that can be moved around the target area, allowing it to be locked onto. carrying a shield and the operation of the intervention aperture and intervention tip of the said shield 10 There are technical requirements for this. In addition, the protective shield's mechanical approach to the target area limiting, guiding the shield along a defined path of movement, and through the intervention opening created on the protective shield of the intervention tip The creation of physical connections within the same apparatus, such as the ability to access the target area; 15 a mechanically limited area of ​​operation for targeted intervention This creates a need for a construction suitable for its implementation. It extracts. Consequently, in the current state of the art, weed detection is achieved through mechanical or to neutralize in an energy-based manner and to move agricultural processing elements 20 Although various solutions exist for its implementation, multispectral sensing is one of them. The module and the multi-axis hinged carrier structure are mounted on a common main carrier body. being located in a defined relative position, common end connection of different intervention ends It can be attached to its housing in a removable and mechanically lockable manner. 25 of the movable protective shield that is in positional relation with the intervention tip Structural improvements in terms of guiding the approach to the target intervention area. There is a need for this, especially regarding the access opening on the protective shield. the intervention tip must be physically connected to the working area and protected. limiting the shield's approach movement with a mechanical distance limiter, While establishing physical protection around the target area, the intervention tip is 30 meters from the target. This reveals the need for an integrated mechanical construction that can maintain accessibility. It extracts. The purpose of the invention: 7 The main purpose of the invention is to create an agricultural vehicle that can be mounted on autonomous or semi-autonomous agricultural vehicles. Multispectral camera for determining the target intervention zone in the area. multispectral detection module carrying the module, according to the target intervention area Multi-axis positioning that can be positioned in multiple motion axes. the mechanism, in a detachable and attachable manner on the said positioning mechanism 5 the portable replaceable intervention tip and physical protection around the intervention area a movable protective shield system forming a protective boundary, a common main carrier body bringing together The aim is to develop a structural weed control apparatus. This will enable multi-axial sensing. Mechanical positioning, replaceable intervention tip and movable physical guard 10 components not as independent pieces of equipment, but as part of the same apparatus construction The aim is to organize them as physical infrastructures that work together. Another objective of the invention is to utilize the multispectral capabilities of the multispectral sensing module. Multi-axis positioning carrying a camera module and a replaceable intervention tip. the arrangement of physical and geometric features determined in relation to each other on the main supporting body 15 The goal is to arrange them in different locations. This structural arrangement allows for multispectral cameras. The module's field of view and the mechanical access area of ​​the replaceable intervention tip. creating a relatively protected position between the main supporting trunk and agriculture. The common carrier of sensing components and intervention components during the vehicle's movement. 20 that is intended. Another objective of the invention is to allow the interchangeable intervention tip to reach the target intervention area. not just in a single direction of movement, but across multiple axes of movement. The goal is to create an articulated load-bearing structure that allows for directional control. For this purpose, the first joint of the first arm segment and the first joint of the second arm segment and the second 25 their arrangement in a dynamic relationship with each other via joints of movement, word The subject is the primary and secondary actuators of the arm and joint components. so that it can be moved by the end carrier body in different horizontal and vertical positions. The aim is to enable them to be brought to these positions. Thanks to this mechanical structure, the end carrier The interchangeable intervention tip located on the body targets 30 different locations. a multi-axis system that allows physical access to intervention zones A positioning system is being created. 8 Another objective of the invention is to improve the intervention side of the multi-axis positioning system. By creating an end connection socket on the end carrier body located at the end section, different A common mechanical feature of interchangeable intervention tips with physical working characteristics The aim is to allow for detachment and reattachment via the connection geometry. End connection. Bring the interchangeable intervention tip of its socket to the working position 5 to guide and hold in a position determined relative to the end carrier body By structuring different intervention points, the same multi-axis positioning can be achieved. a modular mechanical connection architecture suitable for use on the system The aim is to create a complete weed control apparatus. Thus, the entire apparatus or... Only the intervention tip 10 remains unchanged without altering the multi-axis positioning system. It can be disassembled and replaced with a different intervention tip. Another purpose of the invention is to provide a replaceable accessory placed in the end connector socket. unwanted separation, rotation or displacement of the tip relative to the tip carrier body during operation The goal is to create a detachable mechanical locking structure that restricts translational movements. For this purpose, the end locking element, in association with the replaceable intervention end, is locking 15 It is arranged in such a way as to create a mechanical grip with the counter element and when the replaceable intervention tip reaches its working position in the tip connection socket The aim is for these interlocking elements to engage mutually. The mechanical locking mechanism can be released when a tip change is necessary. Thanks to this, the replaceable intervention tip can be separated from the tip connection socket and different 20 an intervention tip by utilizing the same mechanical connection and locking structure of the tip It is intended to be able to be attached to the carrier body. Another purpose of the invention is to create a common end carrier body, end connection socket, and mechanical locking mechanism. The aim is to enable its structure to be used with different physical intervention tips. laser intervention in the form of an application with a replaceable intervention tip 25 The head can be configured as a mechanical anchor tip in another application. and both intervention ends can be removed and reinserted into the same end connector socket. The mechanical system formed by connecting the end locking element and the locking counter element. The aim is to hold it in the working position through a locking mechanism. Thus, intervention tips with different operating principles can be integrated into the same multi-axis 30 from the mechanical transport and positioning capability of the positioning device The aim is to create a common end interface that will allow them to benefit from it. 9 One of the key aims of the invention is to enable the interchangeable intervention tip to target the intervention point. During the redirection to the region, the culture surrounding the target intervention area a physical connection between the plants and non-target areas and the intervention tip's working area The aim is to provide a movable protective shield system that can create a protective boundary. For this purpose... the protective shield is not in the form of a fixed housing element, but rather mounted on the shield carrier 5 supported and able to mechanically change its position according to the target intervention area. It is intended to be structured as a movable protective element. Thus The protective shield can be brought closer to the target intervention area prior to the intervention, being able to remain in the designated protective position during the intervention and the intervention a physical 10 that can be removed from the work area after completion The aim is to create a conservation architecture. Another objective of the invention is to mechanically attach the protective shield to the shield carrier. to support and protect the target intervention zone approach or in question the movement away from the area via the shield movement mechanism The goal is to create a transportation structure capable of achieving this. To this end, Shield 15 the mechanical movement generated by the actuator through the shield's movement mechanism transfer to the shield carrier and the protective shield, thus fixing the protective shield. instead of remaining in one position, it can be moved according to the need for intervention. The aim is to ensure that the protective shield's intervention is mitigated by this movement structure. Approaching the target intervention area beforehand, providing physical protection during the intervention 20 to be kept in position and removed from the intervention area after the intervention is completed The aim is to remove it. Another purpose of the invention is to move the shield by a movement mechanism. the displacement of the protective shield in a free or uncontrolled direction 25 The aim is to create a mechanical guidance structure. For this purpose, the shield guidance element... arrangement in mechanical relation with the protective shield and / or shield carrier, Approach and departure movements of the protective shield from the target intervention zone. during which it follows a repeatable path of motion and according to a replaceable intervention tip The aim is to ensure that it is suitable for maintaining the foreseen physical spatial relationship. 30 Thus, the movement of the protective shield is controlled solely by the action of the shield actuator. not dependent on drive, but through a mechanical guidance geometry The aim is to restrict it. Another purpose of the invention is to create a shield on the protective shield to prevent interference. The opening can be adjusted according to the working direction of the intervention tip or mechanical access. It is about physically associating it with the region. Thus, the protective shield targets the intervention. Modifiable intervention while establishing a physical protection boundary around the region. Target 5 through the limited operating area defined by the shielding intervention opening of its tip. The aim is to enable access to the intervention area. In this way The physical protection function and the intervention end's target access function are the same shield. A structure is being created that is suitable for joint implementation on the construction. Another important objective of the invention is to integrate a movable protective shield system. Through the shield distance limiter, the protective shield's target intervention zone is 10 a structure suitable for limiting its correct movement to a defined mechanical end position The aim is to create a protective shield. Thus, the approach foreseen during the operation keeping it at a distance, not getting too close to the target intervention zone physical limitations and repeatable mechanical operation of the shield The aim is to enable it to be brought to its current position. The mechanical device in question has been in use for the last 15 years. The operation of the replaceable intervention tip of the shield intervention opening in this position. a structural relationship conducive to being in the anticipated reciprocal position with the region The aim is also to create it. Another purpose of the invention is to utilize the laser in an application where the laser intervention head is used. 20 to provide a suitable physical tip structure and the working direction of the laser output aperture The shield intervention opening located on the protective shield is physical and geometric. The aim is to associate it with the working direction of the laser intervention head. Targeted intervention within the physical protection boundary created by the mobile protective shield. 25 that is intended. Another purpose of the invention is to utilize the mechanical anchor tip in practical applications. The anchor tip can be removed and reinstalled into the tip mounting socket via the anchor mounting body. connected in this way and with the end locking element and the locking counter element The mechanical locking relationship it creates allows for operation on the end carrier body. 30 The aim is to allow the mechanical anchor tip to be held in its position. mechanical multi-axis positioning system with interchangeable intervention tip 11 By utilizing the transport structure, it can be directed to the target intervention area. that is intended. Another objective of the invention is to integrate multiple spectral sensors within the multispectral sensing module. mechanically supporting the spectral camera module on the camera carrier and by positioning the optical components inside the protective camera housing. to protect it from external mechanical effects to which it may be exposed in the agricultural work environment The goal is to provide a suitable physical transport and storage structure. Protective camera Multispectral camera via a camera viewing aperture located on its housing. the module's line of sight should be directed towards the agricultural area outside the conservation area and 10 Ensuring that the optical field of view is not obscured by the housing that is intended. Another purpose of the invention is the vehicle connection mechanism and detachable main carrier body. mechanically attached to an autonomous or semi-autonomous agricultural vehicle via a connecting bracket by allowing it to be attached to the weeding apparatus, it can be removed from the vehicle when needed. 15 that can be separated, maintained or have a suitable connection structure The goal is to create a construction that can be mounted on a different type of agricultural vehicle. Another objective of the invention is the sensing module, multi-axis positioning system, the replaceable intervention tip and the movable protective shield assembly are separated from each other. not as independent and scattered pieces of equipment, but together on the main carrier body as physical components that exist within a defined structural and spatial relationship 20 The aim is to regulate the placement of the apparatus on the agricultural vehicle. compaction and detection, positioning, intervention and physical protection an integrated structure suitable for maintaining the relative arrangement between its components The aim is to create. The ultimate goal of the invention is to create a multispectral sensing system carrying a multispectral camera module. the module's multi-axis positioning device with articulated carrier arm, end The carrier body is removable, attachable, and mechanically lockable. the common main carrier body of the intervention tip and the movable protective shield assembly arranged in a defined physical and spatial relationship with one another The aim is to provide a structural weed control apparatus. Movable protective shield 30 in the system, the protective shield is determined via the shield guiding element. Guidance along the path of movement, target via shield distance limiter mechanically limiting its approach to the intervention zone at the final position and shielding 12 the interception opening is opposite to the working area of ​​the replaceable intervention tip. Its location provides physical protection around the target intervention area. The aim is to ensure that the intervention end maintains access to the target while this is being achieved. Additionally, thanks to the common end connection socket and mechanical locking structure, different physical characteristics 5 The intervention points are used on the same multi-axis support structure. The aim is to create a convenient modular apparatus structure. Explanation of the Figures Figure 1: Main support body of the weed control apparatus subject to the invention. multi-spectral sensing module, multi-axis positioning system, Articulated carrier arm, replaceable access tip and movable protective shield assembly 10 A perspective showing the overall structural layout between the vehicle and the vehicle connection system. It is the appearance. Figure 2: The first articulated carrier arm forming the multi-axis positioning mechanism. arm segment, second arm segment, first joint, second joint, first mechanical 15 between the motion actuator and the second motion actuator and the end carrier body. It is a detailed view showing the relationship between connection and movement. Figure 3: The bit mounting socket, bit locking element, and bit carrier located on the bit carrier body. The laser is configured as a replaceable intervention tip with a locking counter element. the intervention head, the laser output aperture, and the movable protective shield assembly 20 detailed diagrams showing the physical and spatial relationship according to the target intervention area. It is the appearance. Figure 4: Anchor mounting body attached to the end carrier body in a detachable manner. with the mechanical anchor tip, through the shield's intervention opening, to the target intervention area. This is a detailed view showing an alternative application method for access. References: 25 1. Weed removal tool 2. Main carrier body 3. Vehicle connection system 4. Detachable mounting bracket 5. Multispectral sensing module 30 6. Multispectral camera module 7. Camera carrier 8. Protective camera housing 13 9. Camera aperture 10. Electronic control module 11. Multi-axis positioning system 12. Articulated carrier arm 13. First arm segment 5 14. Second arm segment 15. First joint 16. Second movement joint 17. First motion actuator 18. Second motion actuator 10 19. End carrier body 20. End connection socket 21. Replaceable inspection tip 22. End locking element 23. Locking counter element 15 24. Laser intervention head 25. Laser exit aperture 26. Mechanical anchor tip 27. Anchor connection body 28. Movable protective shield system 20 29. Protective shield 30. Shield carrier 31. Shield movement mechanism 32. Shield actuator 33. Shield guiding element 25 34. Shield intervention opening 35. Shield distance limiter 36. Target intervention area Description of the Invention: The invention is intended for use with autonomous or semi-autonomous agricultural vehicles. It relates to the structured weed control apparatus (1). Weed control apparatus (1); main carrier that carries the physical components of the apparatus on a common construction the body (2), for mechanically connecting the main carrier body (2) to the agricultural vehicle. 14 vehicle linkage assembly (3), detachable mechanical linkage with vehicle linkage assembly (3). forming the detachable connection bracket (4), target intervention area (36) The multispectral sensing module (5) for observation can be changed. Multiple movements of the intervention end (21) according to the target intervention area (36) multi-axis positioning system for positioning on the axis (11) and 5 To establish a physical protection boundary around the target intervention zone (36) It includes a movable protective shield system (28). Multi-axis positioning replaceable intervention located at the end section of the intervention side of the device (11) The end (21) can be removed and attached and mechanically locked while being transported, while the movable protective shielding device (28) operation of the interchangeable intervention tip (21) 10 It is organized within a physical and spatial relationship determined by its region. In this way multispectral sensing module (5), multi-axis positioning device (11), Replaceable intervention tip (21) and movable protective shield assembly (28), Instead of separate equipment, they are mounted together on the main carrier body (2) They exist as structurally related components. 15 The main support body (2) is the basic support structure of the weed control apparatus (1). It consists of a multi-spectral sensing module (5), multi-axis positioning. the common mechanical arrangement (11) and the movable protective shield arrangement (28) on the carrier, in defined physical and geometric positions relative to each other It is suitable for supporting the multi-axis positioning system (11) 20 Multispectral sensing with the access region of the replaceable intervention tip (21) it carries The relative placement of the module (5) between the observation region of the main components in question They are formed through their physical positions on the carrier body (2). Movable The protective shield assembly (28) can also be replaced on the same carrier structure. 25 The intervention tip (21) can be positionally associated with the working area. It is being transferred. Thus, perception, mechanical positioning, intervention and physical from the fact that the protective components are located on independent load-bearing structures to reduce the relative positional changes that may result and the aforementioned The structural arrangement between the components is suitable for maintaining the apparatus throughout its operation. An integrated mechanical structure is obtained. 30 Main carrier body (2), autonomous or semi-autonomous via vehicle coupling device (3) It can be mechanically attached to the suitable carrier or coupling section of the agricultural vehicle. It is in the structure of the vehicle connection mechanism (3), the weed removal apparatus (1) of the agricultural vehicle. carried on it and along with the forward movement of the agricultural vehicle throughout the work area It forms a mechanical link suitable for movement. Vehicle linkage detachable connection located at the connection between the assembly (3) and the main carrier body (2) The bracket (4) is mechanically held on the vehicle in the working position of the apparatus and If necessary, the connection can be disconnected and the weeding apparatus (1) can be removed from the agricultural vehicle. 5 It is designed to allow separation. Removable connecting bracket (4), unwanted displacement of the main carrier body (2) relative to the vehicle connection assembly (3) will limit and during operation with multi-axis positioning device (11) mechanical transfer from the movable protective shield assembly (28) to the main carrier body (2) 10 connection geometry suitable for conveying loads to the vehicle connection system (3) It is possible to have this. Thanks to this detachable mechanical connection, weed control is possible. The apparatus (1) can be detached from the vehicle for maintenance, parts replacement or transport purposes and suitable It can be remounted onto a different agricultural vehicle with a different connection geometry. Multispectral sensing module (5) located on the main carrier body (2), multispectral camera module (6), camera carrier (7), protective camera 15 physical sensing infrastructure including housing (8) and camera viewing aperture (9) It consists of a multispectral camera module (6), which captures multiple spectral images from the agricultural field. The camera has an optical structure suitable for obtaining images or optical data in the region. The camera carrier (7) is mechanically supported on its carrier (7). The camera carrier (7) is multiple The spectral camera module (6) is physically defined in relation to the main carrier body (2) 20 holding it in position and the camera module's carrier structure during the movement of the apparatus It is arranged in a way that is conducive to the preservation of its location. Multispectral At least one part of the camera module (6) and the camera carrier (7) is used for agricultural work. dust, soil particles, plant debris, and mechanical external factors that may be encountered in the environment with protective camera housing (8) which helps protect them from the effects 25 It is surrounded. The multispectral camera is located on the protective camera housing (8). The camera aperture (9) is located opposite the line of sight of the module (6). The camera viewing aperture (9) is created. The protective camera housing (8) is multiple This will prevent the spectral camera module (6) from obscuring the optical field of view and promise The issue of directing the discussion area to agricultural land outside the conservation zone is possible. 30 It is arranged in a size and location that will provide this. Thus, a multispectral camera With the mechanical protection of the module (6), the optical vision towards the agricultural field is open. This is achieved within the same sensing module construction. 16 The weed control device (1) also includes the electronic control module (10). The electronic control module (10) is located on the main carrier body (2) or on the main carrier so that it can be carried in a housing section mechanically connected to the body (2) is being organized and the multispectral sensing module (5) is located within the apparatus. 5 suitable for establishing electrical connections between electromechanical motion components. It can include connection interfaces. The electronic control module (10), especially the first with motion actuator (17), second motion actuator (18) and shield actuator (32) within the apparatus in a way that can be electrically related It is positioned in this physical location. Thanks to this physical placement, the multispectral sensing module (5), electromechanical 10 of motion actuators and movable protective shield assembly (28). The components can be integrated within a common weed control apparatus (1). However, the structural essence of the invention lies in a specific image processing algorithm, software. It is not dependent on a classification method or decision algorithm, but is electronic. connection of the control module (10) with the physical and electromechanical components of the apparatus 15 as a hardware component suitable for installation within the apparatus construction. It is based on regulation. Determined by the multispectral sensing module (5) on the main carrier body (2). Multi-axis positioning system in physical and geometric relationship (11) It has a multi-axis positioning system (11), interchangeable intervention. 20 different horizontal and vertical directions depending on the target intervention area (36) of the tip (21). the ability to bring them to certain positions and the mechanical access position of the intervention end It forms a transport and movement structure suitable for modification. Many axial positioning device (11); articulated carrier arm (12), articulated carrier arm (12) the first arm segment (13) and the second arm which form the movable carrier sections. segment (14), changing the relative positions of the said arm segments 25 the first movement joint (15) and the second movement joint (16), which enable joints first motion actuator (17) for generating mechanical motion and the end carrying the second actuator (18) and the replaceable intervention tip (21) It includes the carrier body (19). The said arm segments, movement joints and Thanks to the arrangement of motion actuators in a mechanical relationship with each other, end 30 target without being limited to a single fixed working direction of the carrier body (19) suitable for being brought to different physical locations according to the intervention area (36) An articulated mechanical support structure is being created. 17 Within the scope of the invention, the articulated carrier arm (12) and the movable mechanical connection between them a multi which includes the first arm segment (13) and the second arm segment (14) It is a segmented load-bearing structure. First arm segment (13), main load-bearing body (2) between the transport and movement structure on the side and the second arm segment (14) at the end It is positioned in a way that is suitable for mechanical load and motion transmission. The second arm is 5. segment (14) extends from the first arm segment (13) to the end carrier body (19) The end section to which the replaceable intervention tip (21) is carried is the target intervention area (36) It forms the movable arm section which contributes to its positioning. The angular relationship between the first arm segment (13) and the second arm segment (14) By changing their positions, the reach of the articulated carrier arm (12) is increased to end 10 The horizontal and vertical position of the carrier body (19) and the changeable position accordingly. Physical access location of the intervention end (21) relative to the target intervention area (36) It can be changed. The first drive joint (15) is on the main carrier body (2) side of the articulated carrier arm (12). in the section, the first arm segment (13) to the main carrier body (2) or related to it 15 in a way that will allow its angular position to be changed relative to the carrier section It is arranged. The second movement joint (16) is between the first arm segment (13) and the second arm located between segment (14) and the angular relationship of the said arm segments to each other It forms a movable mechanical link that allows for changes in its position. The articulated carrier arm (12) of the first moving joint (15) and the second moving joint (16) 20 Thanks to their arrangement in different physical locations, the first arm The relative movement of the segment (13) and the movement of the second arm segment (14) are the same. It can be realized in a way that will complete the end carrier body (19) with a single not limited by the direction of movement but on multiple axes of motion A mechanical geometry with hinges suitable for its positioning is being created. 25 The first actuator (17) is mechanically connected to the first actuator joint (15). is associated with the first arm segment (13) to the main carrier body (2) or related mechanical movement for changing its position relative to the carrier section It consists of a second motion actuator (18), a second motion joint (16) and a mechanical It is related as follows: first arm segment (13) and second arm segment (14) 30 mechanical motion aimed at changing the relative angular position between them It consists of the first motion actuator (17) and the second motion actuator (18) separately. articulated carrier arm (12) which creates movements through its joints 18 Thanks to their combined effect on the geometry, the end carrier body (19) has different horizontal and They can be brought to vertical positions and are interchangeable, connected to the end carrier body (19). Physical location of the intervention tip (21) relative to the target intervention area (36) It can be changed. The end carrier body (19), the multi-axis positioning device (11) intervention 5 located at the end section on the side and formed by the articulated carrier arm (12) Mechanical for transferring multi-axis movement to the interchangeable intervention end (21) It forms the carrier section. On the end carrier body (19), it is replaceable. End connection for connecting the intervention end (21) in a detachable manner. There is a socket (20). The end connection socket (20) holds the replaceable intervention tip (21) 10 It will accept the conjugate connection section, and the said intervention end will be attached to the end carrier body. (19) will direct the intervention end to the determined working position and the working of the intervention end. mechanical which will contribute to determining the direction relative to the end carrier body (19) It has a connection geometry. Thus, it has different physical operating principles. interchangeable intervention tips (21), common tip carrier body (19) and common tip connection 15 on the same multi-axis positioning device (11) via its housing (20) A common mechanical connection interface suitable for use is being created. The replaceable intervention tip (21) can be removed and inserted into the tip connection socket (20). it connects and moves to the target intervention area with the movement of the end carrier body (19). (36) is positioned according to. The interchangeable intervention tip (21) end connection 20 Thanks to its ability to detach from its housing (20), the main weeding apparatus (1) carrier body (2), multi-axis positioning device (11) or articulated carrier without the need to change the arm (12) with different physical working characteristics The intervention points can be used on the same supporting structure. The aforementioned The demountable structure also allows for the replacement of parts that wear out, are damaged, or require maintenance. 25 the intervention tip (21) independently of the other mechanical components of the apparatus to be separated from the connection socket (20) and replaced with another with a suitable connection geometry It is suitable for connecting an intervention tip. The operation of the replaceable intervention tip (21) which is placed in the end connection socket (20) During this time, unwanted separation, rotation and / or translation relative to the end carrier body (19) 30 end locking element (22) and locking counter in order to restrict movement. element (23) is used. The end locking element (22), end carrier body (19) or end On the connection socket (20) side; the locking counter element (23) is replaceable intervention. 19 mutually conjugated mechanical parts which can be found in the connection section of the end (21) It forms locking zones. Replaceable intervention tip (21), tip connection end locking when inserted into the slot (20) until the specified working position. element (22) and locking counter element (23) mechanically hold together forming and the replaceable intervention tip (21) on the tip carrier body (19) 5 It maintains its working position. This applies if a tip change is necessary. Mechanical grip can be loosened, replaceable intervention tip (21) tip connection It can be removed from its housing (20) and is compatible with the same connection and locking geometry. A different intervention tip can be attached to the tip carrier body (19). The invention has a replaceable intervention tip (21) in one application form, laser intervention 10 The laser intervention head (24) is configured as the end connection. It has a connection section compatible with the mechanical connection geometry of its socket (20) and end The carrier body (19) can be detached and attached and locked with the end locking element (22). through the mechanical locking structure formed by the element (23) in the working position It is in a handheld form. On the laser intervention head (24), the working head 15 There is a laser output aperture (25) positioned according to the direction. Laser output The aperture (25) physically defines the exit area of ​​the laser intervention head (24). It creates a limited opening, and the working direction of that opening is the target. Multi-axis positioning that can be directed to the intervention zone (36) It is related to the motion geometry of the system (11). The laser output aperture (25) 20 physical location also shield interference in the mobile protective shield arrangement (28) It can be arranged in such a way as to create a mutual positional relationship with the opening (34). In another application form of the invention, the replaceable intervention tip (21) is a mechanical anchor. The mechanical anchor tip (26) is configured as the target interceptor. to the weed in the region (36), to the root zone of the weed or to the 25 of the root zone in question. Mechanical work suitable for physically intervening in the surrounding soil. It has the geometry of the mechanical anchor tip (26), through the anchor connection body (27) the tip. The anchor connection body is attached to the connection socket (20) in a removable and attachable manner. (27), a connection section matching the connection geometry of the end connection socket (20) It includes and locks the mechanical anchor tip (26) with the end locking element (22) and the corresponding locking element 30 By taking advantage of the mechanical locking structure formed by the element (23), the end carrier This allows the body (19) to be held in the working position. The laser intervention head (24) and the mechanical anchor tip (26) have different physical working capabilities. Although they have the same principles, the end carrier body (19), end connection socket (20) and as alternative interchangeable access points via a mechanical locking structure. It is available for use. The invention is around non-target crop plants and the target intervention area (36) One of the basic mechanical infrastructures for the physical protection of areas is 5 It is a movable protective shield system (28). The movable protective shield system (28), Physical and positional determined by the working area of ​​the replaceable intervention tip (21) is regulated within the relationship and the protective shield (29), the mechanical of the protective shield the shield carrier (30) which is carried as a protective shield to the target intervention zone (36) the shield movement mechanism for moving according to (31), the aforementioned 10 the shield actuator (32) which creates the movement, determining the direction of movement of the shield shield guidance element (33), intervention tip to the target intervention area the shield intervention opening (34) which allows access and the target of the protective shield a shield that mechanically restricts approach movement towards the intervention zone It includes the distance limiter (35). These components are independent of each other. not as protective parts, but to produce, transmit the movement of the protective shield (29), It simultaneously performs the functions of guiding, limiting, and establishing a positional relationship with the intervention end. structurally interconnected in a way that will be realized within a mechanical sub-mechanism. They are related. Protective shield (29) provides physical protection around the target intervention area (36) 20 to create the boundary and the working area of ​​the replaceable intervention tip (21) and the surroundings A physical separation occurs between the cultivated plants found or non-target areas. It is a mechanical protection element suitable for bringing. The geometry of the protective shield (29), can delimit at least part of the perimeter of the target intervention zone (36) and Physical 25 of the working area of ​​the replaceable intervention tip (21) from non-target areas It is arranged in such a way as to contribute to its separation. Protective shield (29), not as a fixed containment element, but supported via a shield carrier (30) and via the shield movement mechanism (31) according to the target intervention area (36) as a movable mechanical element capable of approaching and receding It is structured. Thanks to this structure, the protective shield (29) targets 30 before intervention. They can be brought closer to the area and are in a position of physical protection during the intervention. can be retained and removed from the work area after the intervention is completed. It can be removed. 21 The protective shield (29) is mechanically supported on the shield carrier (30). Shield carrier (30), movable protective shield assembly (28) of the protective shield (29) by the structural position inside and the shield movement mechanism (31) intermediate carrier connection suitable for transferring the generated movement to the protective shield (29) It consists of the shield carrier (30), the shield movement mechanism (31) and the shield 5 Thanks to its arrangement in mechanical relationship with the guiding element (33), the protective The movement of the shield (29) does not only take the form of free displacement, on the determined direction of movement according to the target intervention zone (36) This is done. Thus, the shield carrier (30) protects the shield (29) 10 as foreseen according to the replaceable intervention tip (21) and shield intervention opening (34). mechanical carrier that contributes to maintaining the positional relationship during movement It functions as an element. The shield movement mechanism (31) targets the intervention zone of the protective shield (29). (36) necessary for bringing it closer or moving it away from the region in question 15 The motion transmission structure for transferring mechanical motion to the shield carrier (30) It consists of a shield actuator (32), a shield movement mechanism (31) and a mechanical system. It is associated with the actuator that will move the shield movement mechanism (31) This provides the movement generated by the shield actuator (32), shield movement. via its mechanism (31) to the shield carrier (30) and from there to the protective shield (29) It is transferred. Thus, the protective shield (29) is targeted before the intervention 20 approaching the region (36), determined protective work during the intervention holding it in position and targeting the intervention after the intervention is completed It is possible to remove it from the region (36). Shield actuator (32), rather than an element that directly carries the movement of the protective shield (29) the shield movement 25 which drives the mechanism (31) and the movement through the shield carrier (30) as an electromechanical drive element that enables transfer to the shield (29) It is being organized. Shield guiding element (33), of the protective shield (29) and / or shield carrier (30) determined during the movement of the shield movement mechanism (31) mechanical 30 that enables movement along a direction or path of motion It forms the guiding structure. Shield guiding element (33), shield carrier (30) or the relevant fixed carrier section of the movable protective shield assembly (28) arranged in mechanical relationship, the protective shield (29) is free, uncontrolled or 22 It restricts displacement in a way that deviates from the planned course of action. In this way, the protective shield (29) allows approaching and moving away from the target intervention zone (36). It follows a repeatable movement path during its movements and shields intervention. depending on the working direction of the interchangeable intervention tip (21) of its opening (34). Mechanical guidance suitable for maintaining the predicted physical position 5 is provided. A shield intervention opening (34) has been created on the protective shield (29). Shield Intervention opening (34), the target intervention area of ​​the protective shield (29) (36) It can be changed in the working location, creating a physical protection boundary around it. 10 from the intervention end (21) within the said protection boundary to the target intervention area (36) is positioned in such a way as to allow access. Shield intervention The geometry of its opening (34) and its position on the protective shield (29) can be changed. the working direction or mechanical access area of ​​the intervention end (21) is opposite to the working direction or mechanical access area. It is organized within the physical relationship. Thus, the protective shield (29) is not the target. While establishing a physical boundary between the regions and the intervention area, it is modifiable. 15 Access of the intervention end (21) to the target intervention area (36) is not completely blocked and the intervention tip, the limited working area defined by the shield intervention opening (34) It can be directed to the target area via this route. The interchangeable intervention tip (21) is configured as a laser intervention head (24) In the application mode, the shield intervention aperture (34) and the laser output aperture (25) work 20 A predetermined physical and geometric relationship is established between the directions. The laser intervention head (24) is positioned on the working position on the end carrier body (19). When brought, the direction of the laser output aperture (25) is protected by the protective shield (29) through the shield intervention opening (34) located in the target intervention area (36) are positioned in a way that can be directed. Thanks to this arrangement, 25 protective shield (29), physical protection boundary around the target intervention zone (36) When creating the laser output aperture (25), the working direction of the target area is clear. is held and the working area of ​​the laser intervention head (24) is shielded intervention opening (34) is spatially related to the limited physical space it defines. 30 where the interchangeable intervention tip (21) is configured as a mechanical anchor tip (26) In the application method, the shield intervention opening (34) is the target of the mechanical anchor tip (26). size, location and that will allow physical access to the intervention area (36) It is arranged in line with the study. Multi-axis positioning system (11) 23 The mechanical anchor tip (26) is directed to the target intervention area (36) by its movement. The physical protection boundary created by the protective shield (29) around the target area through the access zone defined by the shield intervention opening (34) It can be directed to the target. Thus, the working area of ​​the mechanical anchor tip (26) Protective shield between surrounding cultivated plants or non-target areas (29) 5 by creating physical separation and more limited mechanical intervention. A mechanical connection suitable for implementation in the working area is provided. The movable protective shield assembly (28) also includes the shield distance limiter (35) It includes. Shield range limiter (35), target of protective shield (29) During its movement toward the intervention zone (36), the defined approach limit was 10 It is a mechanical termination element that physically prevents overshoot. Shield distance limiter (35), protective shield (29), shield carrier (30), shield movement fixed counter area of ​​mechanism (31) or movable protective shield assembly (28) They can be arranged on it in a way that creates mutual mechanical support. Protective shield (29), shield actuator (32) and shield movement mechanism (31) 15 When the shield distance is moved towards the target intervention zone (36) via the shield limiter (35) by creating mechanical contact and stop at the specified end position This restricts the forward movement. Thus, the protective shield (29) works Its position is not only dependent on the amount of movement of the shield actuator (32), A physical mechanical final position can be described in a repeatable manner. 20 The shield at the final position created by the shield distance limiter (35) intervention opening (34), working direction of the replaceable intervention tip (21) or It can be brought to the anticipated reciprocal position with the access zone. Target intervention area (36), physical intervention of weeding apparatus (1) It refers to the limited agricultural work area to which it is directed for implementation. 25 and is not a structural component of the apparatus, but rather a physical and positional difference between components. This is the study area used in explaining the relationship. Multispectral sensing module (5), through the multispectral camera module (6) and camera aperture (9) The subject is located in a position suitable for observing the field of study, while being multi-axial. positioning device (11) end carrier body (19) and attached replaceable 30 suitable for positioning the intervention tip (21) relative to the target intervention area (36). It forms the mechanical movement structure. The movable protective shield system (28) protective shield (29) physical protection around the same target intervention area (36) 24 It is arranged in such a way as to bring it to the working position that will create the boundary. Thus target interference zone (36), field of view of multispectral sensing module (5), the access area of ​​the replaceable intervention tip (21) and the protection of the protective shield (29) It forms the common reference area of ​​the spatial relationship between the regions. In the working arrangement of the weed removal apparatus (1), the main carrier body (2), vehicle connection 5 autonomous or semi-autonomous operation via the device (3) and detachable connection bracket (4) mechanically attached to the appropriate carrier section of the agricultural vehicle It is being transported. Multispectral radiation is observed as the agricultural vehicle moves across the working area. sensing module (5), its determined physical position on the main carrier body (2) It moves along with the vehicle while protecting it. Multispectral camera module (6), camera 10 mechanically supported on its carrier (7) and protective camera housing (8) The camera inside is directed towards the agricultural area via the viewing aperture (9). The electronic control module (10) and the multispectral sensing module (5) are integrated into the apparatus. establishing an electrical connection between the electromechanical motion components found The suitable hardware component is located within the apparatus. Target intervention 15 In order to provide physical access to the region (36) the first motion actuator (17) via the first actuator joint (15) and the second actuator (18) second actuator The movements created through the joint (16) are the first arm segment (13) and the second arm By changing the relative positions of the segment (14), the end of the articulated carrier arm (12) The appropriate physical 20 of the section's end carrier body (19) according to the target intervention area (36) It brings it to an accessible position. The physical to be performed on the end connection socket (20) on the end carrier body (19) Depending on the intervention, a replaceable intervention tip (21) is inserted. Replaceable intervention tip (21), conjugate connection geometry of the tip connection socket (20) They are directed to the designated work location via this and the said work is 25 when it reaches its position end locking element (22) and locking counter element (23) thanks to the mechanical grip created between them, the tip carrier body (19) It is fixed. The replaceable intervention tip (21) is a laser in the form of an application. intervention head (24), in another application form as mechanical anchor tip (26) It can be configured. When the laser intervention head (24) is used, the laser output is 30 aperture (25), target intervention by movement of multi-axis positioning system (11) while creating the working direction that can be directed to the region (36); mechanical anchor When the end (26) is used, the anchor connection body (27) is connected to the end connection socket (20). by forming a mechanical connection, the mechanical anchor tip (26) is placed in the target intervention area (36) It allows for physical manipulation. Before the intervention is carried out or the replaceable intervention tip (21) intervention With its position, the movable protective shield system (28) works It is moved to its position. The mechanical movement generated by the shield actuator (32) is 5 shield movement mechanism (31), shield movement mechanism (31) shield It is transferred to the carrier (30) and from the shield carrier (30) to the protective shield (29). During movement, the shield guiding element (33), the protective shield (29) and / or by enabling the shield carrier (30) to move along the designated path mechanically 10 the deviation of the shield from its predicted direction of movement It is limiting. The protective shield (29) towards the target intervention zone (36) its progress at the mechanical end position created by the shield distance limiter (35) is stopped. In this working position, the protective shield (29), target interference forming a physical protection boundary around the region (36) and shield intervention opening (34), working direction of the replaceable intervention tip (21) or mechanical 15 It is located opposite the access zone. The interchangeable intervention tip can be replaced once the protective shield (29) reaches its working position. (21), target through the access zone defined by the shield intervention opening (34) It can be directed to the intervention zone (36). Protective shield (29), target intervention The region (36) can be replaced with cultivated plants and non-target areas around it. 20 while creating a physical protection boundary between the working area of ​​the intervention end (21), Shield interference gap (34) is the limited range through which the interference end can maintain access to the target. It leaves the working area open. Multi-axis positioning system (11), physical of the replaceable intervention tip (21) within the said limited working area This allows for the position to be changed. Thus, multispectral sensing 25 module (5), multi-axis positioning device (11), detachable and mechanical Lockable / replaceable intervention tip (21) with movable protective shield the system (28) not as independent subsystems but as a common main carrier body (2) an integrated system that works in physical and spatial relationship with each other It forms the apparatus construction. 30 In terms of structural integrity of the invention, the multispectral sensing module (5), multi-axis positioning device carrying replaceable intervention tip (21) (11) and the movable protective shield assembly (28) on the same main carrier body (2) 26 It is important that they are located in predetermined physical and geometric positions relative to each other. This arrangement carries the field of view of the multispectral camera module (6). between the mechanical access area of ​​the replaceable intervention tip (21) and the main carrier body (2) is suitable for creating a protected relative position. Articulated carrier The arm (12) provides access to different target locations of the interchangeable intervention tip (21) 5 while providing; end connection socket (20), end locking element (22) and locking counter element (23), common mechanical connection and locking architecture of different physical intervention ends It allows for its use via a movable protective shield system. (28) being in positional relationship with the interchangeable intervention tip (21), shield the intervention opening (34) is opposite the working area of ​​the intervention end 10 positioning and the protective shield (29) target intervention zone (36) a complementary mechanical structure suitable for creating mobile physical protection around it It creates. In one application of the invention, the weeding device (1) can be used to advance the agricultural machinery. 15 on the main carrier body (2) in the specified working position according to the direction It is being moved. Multispectral sensing module (5), the physical apparatus of the agricultural field. before or simultaneously with reaching the intervention zone on the main carrier body (2) in a way that is suitable for observation It is positioned. Multi-spectral sensing module (5) with multi-axis The positioning device (11) is located on the same main carrier body (2) 20 Thanks to this, the field of view of the multispectral camera module (6) can be changed. Relative geometric relationship between the mechanical access zone of the intervention end (21) The apparatus can be protected via its supporting structure. This allows the agricultural vehicle to be protected. During its movement, the sensing and intervention components are independent carriers. not on, but moving together on the common main carrier body (2) and relative 25 They function as physical components whose positions can be maintained. In another application form of the invention, the laser intervention head (24) is attached to the end connection socket. (20) is installed and the end locking element (22) and the locking counter element (23) Thanks to the mechanical grip it creates, it works on the end carrier body (19). It is kept in position. Multi-axis positioning system (11), laser intervention 30 positioning the head (24) according to the target intervention area (36) mobile protector shielding system (28), protective shield (29) around the same target intervention area It brings it to a position where it will create physical protection. The operation of the protective shield (29) 27 upon reaching its position, the shielding opening (34), laser intervention head (24) positioned opposite the working direction of the laser output aperture (25) on it. Thus, the working direction of the laser output aperture (25) is the shield through the limited area defined by the intervention opening (34) to the target intervention area (36) while the protective shield (29) can be directed, 5 around the target intervention zone Working area of ​​the laser intervention head (24) with cultivated plants and non-target areas It creates a physical protective boundary between them. In another application form of the invention, the mechanical anchor tip (26), anchor connection body (27) It is connected to the end connection socket (20) in a detachable manner via and the end mechanical 10 formed by the locking element (22) and the locking counter element (23) Thanks to the locking relationship, the end carrier body (19) is in the working position on the body (19). It is held. The first motion actuator (17) and the second motion actuator (18), formed by the first moving joint (15) and the second moving joint (16) respectively The movements change the geometry of the articulated carrier arm (12) and the mechanical anchor. It allows the tip (26) to approach the target intervention area (36). 15 Protective shield (29), physical protection around the target intervention area (36) When the shield intervention opening (34) is brought to its position, the mechanical anchor tip (26) It is located opposite the working and access area. Thus, the mechanical anchor end (26), through the limited access zone defined by the shield intervention opening (34) Physical intervention on the weed, the weed's root zone, or the soil around the roots 20 while being able to do so, the protective shield (29) is the surrounding cultivated plants and non-target plants. It creates a physical separation between the areas and the mechanical intervention zone. The replaceable intervention tip (21) can be removed and inserted into the tip connection socket (20) and The mechanical lockable connection of the weeding apparatus (1) is the only modular end 25 that prevents structural dependence on a physical intervention method It forms its architecture. The laser intervention head (24) and the mechanical anchor tip (26) are the same. These are not components that are mandatory at the time, but rather working conditions and what will be carried out. Alternatively on the end carrier body (19) depending on the type of physical intervention These are the applications of replaceable intervention tips (21) that can be used. In both applications the end carrier body (19), end connection socket (20), end locking element (22) and 30 common mechanical connection and locking architecture of the locking counter element (23) Thanks to its use, different intervention tips can be configured in a multi-axis positioning system. (11) by taking advantage of the transport and movement structure to the target intervention area (36) 28 It can be steered. Thus, when the intervention tip is changed, the main carrier of the apparatus is also steered. body (2), articulated carrier arm (12) or multi-axis positioning a modular physical structure that does not require modification of its (11) is provided. The movable protective shield assembly (28), the replaceable intervention tip (21) laser 5 regardless of whether it is configured as an intervention head (24) or a mechanical anchor tip (26) in a way that can be used as a common physical protection infrastructure The protective shield (29) is mechanically mounted on the shield carrier (30). being moved, the movement created by the shield actuator (32) shield movement mechanism (31) is transferred to the shield carrier (30) and to the protective shield (29) and shield 10 on the determined path of movement by means of the guiding element (33) It is guided by the shield distance limiter (35), the target of the protective shield (29). its movement towards the intervention area (36) at the determined mechanical end position while limiting the shielding intervention gap (34), the interchangeable intervention used positioned opposite the working direction or access area of ​​the end (21) 15 It can be brought. In the application where the laser intervention head (24) is used, the shield intervention opening (34), with the working direction of the laser exit opening (25); mechanical anchor In the application where the tip (26) is used, the physical reach area of ​​the mechanical anchor tip It is positionally related. Thus, the protective shield (29) is a specific single Instead of a fixed housing specific to the intervention tip, it is physically 20 with different intervention tips. It forms a harmoniously functioning, mobile protective subsystem. In different application forms of the invention, the main carrier body (2), vehicle connection the mechanism (3), the detachable mounting bracket (4), the camera carrier (7), the protective camera housing (8), articulated carrier arm (12), first arm segment (13), second arm segment (14), end carrier body (19), end connection socket (20), shield 25 Geometric dimensions of the carrier (30) and shield guiding element (33) and their mutual The placements depend on the attachment geometry of the agricultural machinery to be used, the row spacing, and the target crop. size and physical operation of the selected replaceable intervention tip (21) It can be differentiated according to requirements. This includes dimensional and geometric aspects. differences; multispectral sensing module (5), multi-axis positioning 30 the device (11), the replaceable intervention tip (21) and the movable protective shield the physical structure (28) is determined by each other on the common main carrier body (2) and being in positional relation, the interchangeable intervention tip (21) can be removed 29 It can be carried in a way that is attachable and mechanically lockable, and the protective shield (29) based on the basic principle of moving the intervention tip in positional relation with the intervention tip. It does not change the structural arrangement. First actuator (15), second actuator (16), first actuator (17), second actuator (18), end locking element (22), locking counter element (23), 5 Shield movement mechanism (31), shield actuator (32), shield guiding element (33) and the physical implementation forms of the shield distance limiter (35) the components fulfilling their described mechanical or electromechanical functions It can be realized with different constructions, provided that the structural essence of the invention is: multispectral sensing module (5), multi-axis positioning system (11) and 10 on the common main carrier body (2) of the movable protective shield assembly (28) their arrangement in a defined physical and geometric relationship with each other; articulated The interchangeable intervention end (21) of the carrier arm (12) can be moved in multiple axes of motion. to be able to position; the replaceable intervention tip (21) to the tip carrier body (19) It can be detached and reattached and mechanically locked; protective 15 The shield (29) moves by being guided through the shield guiding element (33). to be able to; shield distance limiter (35) target of the protective shield mechanically restricting its approach to the intervention zone (36) and shielding intervention opening (34) with the working area of ​​the replaceable intervention tip (21) It is based on mutual physical intercourse. 20 As a result of the structural arrangements described, the weed removal apparatus (1) is attached to the agricultural vehicle. the main carrier body (2) which can be attached in a detachable manner, agricultural area The multispectral sensing module (5) for observation can be changed. Multiple movements of the intervention end (21) according to the target intervention area (36) multi-axis positioning system (11) which enables positioning on the axis, 25 The different physical intervention tips can be removed from the common tip carrier body (19) end connection structure that allows for attachment and mechanical locking, and mobile physical protection around the target intervention zone (36) to assemble the protective shield system (28) within the same apparatus construction It brings. The multispectral sensing module (5) can be replaced with a field of view of 30 Relative location of the main carrier between the mechanical access zone of the intervention end (21) While the body (2) is protected, the protective shield (29) guides the movement and the shield Thanks to the mechanical end position defined by the distance limiter (35) the target It can create a physical protection boundary around the intervention zone (36). Shield intervention opening (34) with the working area of ​​the replaceable intervention tip (21) Their reciprocal positioning means that intervention occurs within the physical protection boundary in question. It enables the tip to maintain access to the target area. Thus, the invention; Physical hardware for multispectral sensing, multi-axis mechanical 5 positioning, detachable and lockable intervention tip architecture, and movable protective shield system structural on a common supporting structure. It forms a weed control apparatus (1) that integrates as a weed control device.

Claims

31 REQUESTS 1. The invention is intended for use with autonomous or semi-autonomous agricultural vehicles. The weed control apparatus (1) has the feature that the components of the apparatus are connected by a common carrier. a main supporting body (2) which is located on the construction, the main 5 on the carrier body (2) suitable for observing the agricultural field. a positioned multispectral sensing module (5), switchable interference its tip (21) has more than one axis of movement relative to the target intervention area (36) a multi-axis with articulated carrier arm (12) for positioning positioning mechanism (11), the multi-axis positioning a terminal carrier body located at the end section of the intervention side of the device (11) 10 (19), the replaceable intervention tip (21) can be removed from the end carrier body (19) attachable and to the specified working position an end connection with a mechanical connection geometry for guidance socket (20), replaceable intervention tip connected to the end connection socket (20) (21) Unwanted separation, rotation and / or translation relative to the end carrier body (19) 15 mutual efforts to maintain the working position by restricting movements an end locking element (22) that forms a mechanical grip and a locking counter element (23), mobile physical protection around the target intervention area (36) a mobile protective shield system (28) for creating interchangeable intervention within the mobile protective shield system (28) 20 a tip (21) that can be moved in positional relation with the working area protective shield (29), the target intervention zone of the protective shield (29) (36) on a defined path during approach and departure movements a shield guiding element (33) for its progress, protective shield (29) 25 on the interchangeable intervention tip (21) target intervention area (36) an access shield opening (34) that allows access and a protective shield (29) determined approach movement toward the target intervention zone (36) a shield distance limiter (35) that limits the mechanical end position including; multispectral sensing module (5), multi-axis positioning the same main carrier 30 of the system (11) and the mobile protective shield system (28) physical and geometric relationship determined in relation to each other on the body (2) arranged within the multispectral sensing module (5) field of view main carrier between the mechanical access zone of the replaceable intervention tip (21) forming a relative position protected via the body (2); changeable 32 intervention end (21) end connection socket (20), end locking element (22) and The end carrier body (19) is removed via the locking counter element (23) and attachable and mechanically lockable in the working position. and the protective shield (29) determined by the shield distance limiter (35) The intervention opening of the shield in its mechanical end position (34), changeable 5 with the working direction or mechanical access area of ​​the intervention end (21) characterized by being in a reciprocal physical and spatial relationship. is being done.

2. According to claim 1, the weed control apparatus (1) has the following characteristics; the main support body (2) 10 for mechanical connection to an autonomous or semi-autonomous agricultural vehicle a vehicle linkage assembly (3) and main carrier body (2) with vehicle linkage assembly (3) a detachable connecting bracket that forms a detachable mechanical connection between them (4) is characterized by its inclusion.

3. According to claim 1, the weed control apparatus (1) has the feature of multispectral sensing. module (5) obtains optical data in more than one spectral region from the agricultural field 15 a multispectral camera module suitable for (6), the said multi The spectral camera module (6) is mechanically mounted on the main carrier body (2). a camera carrier (7) supporting at least multispectral camera module (6) a protective camera housing (8) surrounding and protecting a part of it and word Subject of the protective camera housing (8) is multispectral camera 20 a camera view located opposite the line of sight of the module (6) It is characterized by having an opening (9).

4. According to claim 3, the weed control apparatus (1) has the feature of multispectral sensing. between module (5) and the electromechanical motion components within the apparatus containing connection interfaces suitable for establishing electrical connections and the main carrier 25 on the body (2) or mechanically associated with the main carrier body (2) by containing an electronic control module (10) carried in the enclosure compartment It is characterized by...

5. According to claim 1, the weed control apparatus (1) has the characteristic of being multi-axial. The articulated carrier arm (12) of the positioning mechanism (11) contains 30 a first arm segment arranged in a movable mechanical relationship with another (13) and a second arm segment (14), the main carrier of the first arm segment (13) a first movement to change the angular position relative to the body (2) joint (15), the first arm segment (13) and the second arm segment (14) to each other 33 a second movement joint for changing their angular positions (16), a first motion joint mechanically associated with the first motion joint (15) a mechanically coupled actuator (17) and second motion joint (16) It is characterized by containing a second motion actuator (18).

6. According to claim 5, the weed control apparatus (1) has the following characteristics; the first arm segment is 5 (13) main carrier body (2) with the carrying structure on the side and the second arm segment (14) positioned in a way that facilitates the transfer of mechanical load and motion between them and the second arm segment (14) from the first arm segment (13) to the end carrier body (19) extending correctly the end carrier body (19) and the interchangeable attached to it 10 It is possible to change the physical access location of the intervention end (21) It is characterized by being arranged in a way that will provide this.

7. According to claim 1, the weed removal apparatus (1) has the following feature; end connection socket. (20) into at least one connection section of the replaceable intervention end (21). to be placed, fitted upon, or mechanically connected enabling and interchangeable 15 with different physical working characteristics use of intervention tips (21) on the common tip carrier body (19) It is characterized by having a suitable mechanical connection geometry.

8. According to claim 7, the weed removal apparatus (1) has the feature of; end locking. on the end carrier body (19) or end connection socket (20) of the element (22) and connection 20 of the interchangeable intervention end (21) of the locking counter element (23). in this section, by creating mutually compatible mechanical locking zones positioning and replaceable intervention tip (21) determined operation unwanted separation, rotation and / or translational movements in position It is characterized by the formation of mutual mechanical adhesion aimed at its limitation. is being done. 25 9. According to claim 8, the weed control apparatus (1) has the characteristic of being replaceable. with the mechanical connection geometry of the intervention end (21) and the end connection socket (20) as a laser intervention head (24) with compatible connection section configuration and the head on the laser intervention head (24) 30 having a laser output aperture (25) positioned according to the working direction It is characterized by...

10. According to claim 8, the weed control apparatus (1) has the characteristic of being replaceable. intervention tip (21), weed in the target intervention area (36), weed physical intervention in the root zone or the soil surrounding the root zone 34 its configuration as a convenient mechanical anchor tip (26) and the mechanical The anchor tip (26) can be attached to the end connection socket (20) in a removable and attachable manner. It is characterized by having an anchor connection body (27) for its connection. is being done.

11. According to claim 1, the weed control apparatus (1) has the following features; movable guard 5 a shield assembly (28) a shield that mechanically carries the protective shield (29) carrier (30), a shield carrier (30) is intended to be moved. shield movement mechanism (31) and the mechanical movement it generates shield movement via mechanism (31) to the shield carrier (30) and the protective shield (29) It is characterized by containing a shield actuator (32) that transmits. 10 12. According to claim 11, the weed control apparatus (1) has the feature of shield guiding. element (33), shield carrier (30) or mobile protective shield assembly (28) the protective shield by being in mechanical contact with the fixed carrier section (29) during the approach and departure movements to the target intervention area (36) 15 that will enable it to progress along a defined and repeatable path of movement It is characterized by its arrangement in this manner.

13. According to claim 11, the weed control apparatus (1) is characterized by its shield intervention. the opening (34), the protective shield (29) target intervention zone (36) It can be changed in the working position, creating physical protection around it. the target intervention from within the said protection boundary (21) 20 by arranging it in a size and location that will allow it to access the region (36) It is characterized by...

14. According to claim 11, the weed control apparatus (1) has the following features: shield distance limiter (35), protective shield (29), shield carrier (30), shield movement mechanism (31) or fixed counterpart of movable protective shield assembly (28) 25 in a way that will create mutual mechanical support on the region positioning and protective shield (29) target intervention zone (36) It is characterized by limiting its correct movement to a defined mechanical end position. is being done.

15. According to claim 14, the weed control apparatus (1) has the following feature; shield distance 30 the shield intervention at the mechanical end position determined by the limiter (35) the working direction of the opening (34), the replaceable intervention tip (21) or its position opposite the mechanical access zone and the protective shield (29) while establishing physical protection around the target intervention zone (36) 35 access of the replaceable intervention tip (21) to the target intervention area (36) It is characterized by being organized in a way that will sustain it.

16. According to claim 9, the weeding device (1) has the feature of laser intervention. working position of the head (24) working position of the laser output aperture (25) the direction of the shield intervention (29) located on the protective shield 5 through the area defined by its opening (34) to the target intervention area (36) located in mutually favorable physical and geometric positions that allow for orientation It is characterized by...

17. According to claim 10, the weeding apparatus (1) has the characteristic of a mechanical hoe tip. (26), the shield intervention opening (34) on the protective shield (29) 10 through the mechanical access zone it defined, to the target intervention zone (36) to the weed, to the root zone of the weed, or to the soil surrounding the root zone It is characterized by being located in a physically accessible position.

18. According to claim 3, the weed control apparatus (1) has the feature of multispectral sensing. module (5) and multi-axis positioning device (11) on the same main carrier 15 on the body (2) in their respective physical and geometric positions by being located in the field of view of the multispectral camera module (6) main carrier between the mechanical access zone of the replaceable intervention tip (21) It is characterized by forming a relatively secure settlement protected over the trunk (2). is being done. 20 19. According to claim 11, the weed control apparatus (1) has the feature of a shield actuator. (32) through the shield movement mechanism (31) which creates mechanical movement. Transfer to the shield carrier (30) and the protective shield (29), shield guidance on the designated path of movement of the element (33) of the protective shield (29) 25 in mechanical relationship with the shield carrier (30) in such a way as to enable its advancement the presence of the shield distance limiter (35) the target of the protective shield (29) approaching the intervention zone (36) at the determined mechanical final position the limitation and the intervention opening of the shield in the mechanical end position in question (34) working direction or mechanical access of the replaceable intervention tip (21) It is characterized by its location opposite the region. 30 20. According to claim 8, the weed control apparatus (1) has the characteristic of being replaceable. intervention tip (21), laser intervention head (24) or mechanical anchor tip (26) Configuring it as an alternative intervention tip selected from among the lasers mechanical connection of the end connection socket (20) of the intervention head (24) 36 through the connection section compatible with its geometry and the mechanical anchor tip (26) The same end carrier body (19) through the anchor connection body (27), end connection socket (20), consisting of end locking element (22) and locking counter element (23). Detachable and replaceable based on a mechanical linkage and locking architecture. It is characterized by its usability. 5

Images