Hydraulic system for spraying weed control fluid and intelligent autonomous spraying system for agricultural crops

Abstract

The present invention discloses a hydraulic system for spraying weed control fluid which is arranged on a robotic platform (10) capable of moving autonomously among a crop and is provided with electromechanical arms (11), the hydraulic system comprising tanks (100, 200) for storing weed control fluid provided with fluid level sensors, tanks (100, 200) being in fluid communication with: weed control fluid spraying arrangements provided with spraying conduits (C1, C1'), registers (101, 201), hydraulic pumps (103, 203), solenoid valves (106, 206) and intelligent sprinkler nozzles (110); weed control fluid bypass arrangements provided with bypass conduits (C2, C2') and solenoid valves (107, 207); weed control fluid supply arrangements provided with supply conduits (C3, C3') and a solenoid valve (108, 208); and weed control fluid discard arrangements provided with discard conduits (C4, C4') and valves (109, 209). The invention further discloses an intelligent autonomous spraying system for agricultural crops associated with the hydraulic system for spraying weed control fluid.

Description

“HYDRAULIC SYSTEM FOR SPRAYING WEED CONTROL FLUID AND INTELLIGENT AUTONOMOUS SPRAYING SYSTEM FOR AGRICULTURAL CROPS” Field of Invention

[0001] The present invention relates to the field of devices for destroying and / or controlling weeds. More specifically, the invention relates to an intelligent, autonomous spraying system for agricultural crops that identifies, classifies, and sprays selected plants. Description of the State of the Art

[0002] Despite the high degree of mechanization in the agricultural process, some harvesting tasks are still performed manually. Additionally, pest control in crops is still carried out using agrochemicals, and the use of these products accounts for a significant portion of agricultural production costs.

[0003] Notably, reducing the use of agrochemicals represents an increase in efficiency both by improving productivity and by reducing costs and environmental impacts.

[0004] There is no state-of-the-art solution that reduces the use of agrochemicals and pest control by a robot in a fully autonomous manner.

[0005] Given the difficulties present in the state of the art, there is a need to develop a technology capable of identifying pests and controlling them effectively, because the earlier they are identified in the field, the more effective the fight against these pests will be, reducing the amount of chemical input and reducing production losses. Purpose of the invention

[0006] The objective of the present invention is to develop an intelligent, autonomous and continuous spraying system, designed to maintain, identify, classify and spray when necessary on a constant basis, thus keeping the cultivation area free of weeds.

[0007] Another objective of the invention is to provide a significant advance in the area of ​​agriculture, enabling non-GMO and organic crops, contributing to the development of sustainable and effective solutions in crop management. Brief Description of the Invention

[0008] In order to achieve the objectives listed above, the present invention proposes an autonomous robotic platform with an articulated arm system, equipped with a hydraulic system for spraying weed control fluids and an intelligent autonomous spraying system for agricultural crops, sensors for recognition and intelligent sprinkler nozzles, makes use of innovative technology for detecting and monitoring weeds, enabling the application of chemicals and nutrients in a precise and efficient manner, in real time and uninterruptedly, thus generating great savings in resources and labor.

[0009] In a first aspect, the invention discloses a hydraulic system for spraying weed control fluid, the hydraulic system comprising weed control fluid storage tanks provided with fluid level sensors, the tanks in fluid communication with: weed control fluid spraying arrangements provided with spray conduits, registers, hydraulic pumps, solenoid valves and intelligent sprinkler nozzles; weed control fluid bypass arrangements provided with bypass conduits and solenoid valves; weed control fluid supply arrangements provided with supply conduits and a solenoid valve; and weed control fluid disposal arrangements provided with disposal conduits and valves.

[0010] In another aspect, the invention relates to an intelligent autonomous spraying system for agricultural crops that has electronic communication with the hydraulic system for spraying plants. weeds, the intelligent autonomous spraying system comprising: memory devices for storing data on images of pests and diseases in crops and data on flow, pressure and flow parameters of a weed control fluid; a device provided with instructions to compare images obtained in real time of crops with the images of pests and diseases in crops stored in the memory device; a device provided with instructions and memory configured to generate maps of plant germination, failures and vegetative indices; a device provided with instructions to monitor and control the level in the tanks, the flow, pressure and flow of a weed control fluid; cameras; and compartments.

[0011] The device equipped with instructions for comparing images obtained in real time of crops with images of pests and diseases in crops stored in the memory device is configured to classify the plants of a crop.

[0012] Furthermore, the device equipped with instructions to monitor and control the flow is instructed to open the valves, start the pumps, open the solenoid valves, close the valves and close the solenoid valves when a plant in a crop is classified as a weed.

[0013] The invention was designed to be used on a robotic platform, aiming at autonomous locomotion and real-time monitoring of the crop.

[0014] The invention uses an artificial intelligence algorithm based on deep learning (green on green), which autonomously identifies weeds in the crop, in addition to a system of overlapping layers analyzing between streets (green on brown), among other systems, it communicates in real time with the intelligent spraying system embedded in the robotic platform itself that makes decisions related to opening nozzles and determines the amount of chemical needed for the weed in question.

[0015] The invention introduces an innovative approach to field operations, based on continuous monitoring and control of the field, week after week. This approach allows weed control in their early stages, preventing the development of resistance, minimizing environmental contamination, reducing nutrient competition, and, in the long term, reducing the seed bank, in addition to mitigating other adverse factors. Brief Description of the Drawings

[0016] The present invention will be described in more detail below, with reference to the attached figures which, in a schematic manner and not limiting the inventive scope, represent examples of its implementation. The drawings show: - Figure 1 illustrates the autonomous robotic platform on which the invention is installed; - Figure 2 illustrates the hydraulic system for spraying weeds proposed by the invention; - Figure 3 illustrates, in perspective, a method for installing cameras on the electromechanical arms of the invention; - Figure 4 illustrates a modality for the arrangement of the cameras in the system proposed by the invention; - Figure 5 illustrates the smart sprinkler nozzles of the invention; - Figure 6 illustrates a flowchart of functions performed by the invention. Detailed Description of the Invention

[0017] Below is a detailed description of a preferred embodiment of the present invention, which is exemplary and in no way limiting. However, it will be clear to one skilled in the art, from reading this description, possible additional embodiments of the present invention still comprised of the essential and optional features below.

[0018] As can be seen in Figure 1, the systems proposed by the invention were designed to be used in conjunction with a platform robotics 10 equipped with electromechanical arms 11, the robotic platform 10 already being included in the state of the art as revealed in patent document BR 10 2022 019820 9, which allows autonomous locomotion and real-time monitoring of the crop.

[0019] In a first aspect, as illustrated in Figure 2, the invention provides a hydraulic system for spraying weed control fluid arranged on a robotic platform 10 capable of moving autonomously in a crop and is provided with electromechanical arms 11, the hydraulic system comprising weed control fluid storage tanks 100 and 200 provided with fluid level sensors, the tanks 100 and 200 in fluid communication with: weed control fluid spraying arrangements provided with spraying conduits C1 and C1', registers 101 and 201, hydraulic pumps 103 and 203, solenoid valves 106 and 206 and intelligent sprinkler nozzles 110; weed control fluid bypass arrangements provided with bypass conduits C2 and C2', solenoid valves 107 and 207;weed control fluid supply arrangements provided with supply lines C3 and C3' and solenoid valves 108 and 208; and weed control fluid discharge arrangements provided with discharge lines C4 and C4' and valves 109 and 209.;

[0020] In one embodiment of the invention, the weed control fluid spraying arrangements are further provided with filters 102 and 202 disposed downstream of the registers 101 and 201.

[0021] In another embodiment of the invention, the weed control fluid spraying arrangements are further provided with pressure sensors 105 and 205.

[0022] In another embodiment of the invention, a flow valve 104 establishes fluid communication between conduits C1 and C2 and a flow valve 204 establishes fluid communication between conduits CT and C2'.

[0023] In a preferred embodiment of the invention, the intelligent sprinkler nozzles 110 are arranged at the rear of the electromechanical arms 11, as can be seen in Figure 5.

[0024] In another aspect, the invention proposes an intelligent autonomous spraying system for agricultural crops that has electronic communication with the hydraulic system for spraying weeds.

[0025] The intelligent autonomous spraying system comprising: memory devices for storing data on images of pests and diseases in crops and data on flow, pressure and flow rate parameters of a weed control fluid; a device provided with instructions for comparing images obtained in real time of crops with the images of pests and diseases in crops stored in the memory device; a device provided with instructions and memory configured to generate maps of plant germination, failures and vegetative indices; a device provided with instructions for monitoring and controlling the level in tanks 100 and 200, the flow, pressure and flow rate of a weed control fluid; cameras 120; and compartments 121.

[0026] Preferably, the device provided with instructions to compare images obtained in real time of crops with images of pests and diseases in crops stored in the memory device classifies the plants of a crop.

[0027] In a preferred embodiment of the invention, the device provided with instructions to monitor and perform flow control is instructed to open registers 101 and 201, start pumps 102 and 202, open solenoid valves 106 and 206, close valves 109 and 209 and close solenoid valves 108 and 208 when a plant of a crop is classified as a weed.

[0028] In one embodiment of the invention, the device provided with instructions for monitoring and controlling the flow is instructed to open the valves solenoids 107 and 207 when the weed control fluid pressure exceeds a threshold value.

[0029] In another embodiment of the invention, the device provided with instructions for monitoring and controlling the flow is instructed to open valves 109 and 209 and close solenoid valves 106, 206, 108 and 208 in a weed control fluid discharge operation.

[0030] In one embodiment of the invention, the device provided with instructions for monitoring and controlling flow is instructed to open solenoid valves 108 and 208 and close valves 109 and 209 in a weed control fluid supply operation.

[0031] In another embodiment of the invention, the device provided with instructions for monitoring and performing flow control is instructed to stop the operation of the pump 103 when the fluid level sensor of the tank 100 indicates a level equal to a minimum fluid level in the tank 100 and to stop the operation of the pump 203 when the fluid level sensor of the tank 200 indicates a level equal to a minimum fluid level in the tank 200.

[0032] In another embodiment of the invention, the device provided with instructions for monitoring and controlling the flow is instructed to close the solenoid valve 109 when the tank level sensor 100 indicates a level equal to a maximum fluid level in the tank 100 and to close the solenoid valve 209 when the tank level sensor 200 indicates a level equal to a maximum fluid level in the tank 200.

[0033] In one embodiment of the invention, compartments 121 are provided with electrical leads and printed circuit board mounting.

[0034] In another embodiment of the invention, as can be seen in Figures 3 and 4, the cameras 120 are fixed to support rods 122, said support rods 122 being mounted on the electromechanical arms 11, so as to cover the entire frontal region of the robotic platform 10.

[0035] In one embodiment of the invention, the cameras 120 are configured to send the images taken on-site to a device having instructions for comparing real-time images of crops with images of pests and diseases in crops stored on the memory device.

[0036] In one embodiment, the device provided with instructions to compare images obtained in real time of crops with images of pests and diseases in crops stored in the memory device is provided with an artificial intelligence algorithm based on deep learning, trained to identify different pests and diseases in crops.

[0037] This deep learning-based artificial intelligence algorithm autonomously identifies pests in the form of eggs, larvae, caterpillars, or insects already cataloged in its database, or it can even add new records in the event of an unknown pest occurring.

[0038] Disease identification using an artificial intelligence algorithm based on deep learning is carried out on the plant, including color, vigor, and spots already cataloged in a database.

[0039] After pests and diseases are identified by the deep learning-based artificial intelligence algorithm, this information is sent in real time to a device equipped with instructions and memory configured to generate maps of plant germination, failures, crop phenological stages and vegetative indices, among others.

[0040] After capturing the image, the image processing system makes the necessary adjustments, mainly correcting the camera's 2D view to an angle aligned with the terrain plane.

[0041] Additionally, formatting is performed to optimize image resolution and quality. The artificial intelligence system then processes the image, identifying and classifying all the plants present.

[0042] The street identification system then performs additional analysis to detect any plants that were not previously identified.

[0043] The intelligent spraying system then determines which plants should be sprayed based on predefined mission parameters. The system then activates the nozzles to perform the spraying, also controlling hydraulic parameters such as pressure and flow, among others. The deep learning-based artificial intelligence algorithm communicates in real time with the intelligent spraying system, enabling autonomous mapping of the soil seed bank, as illustrated in Figure 6.

[0044] From the detailed description of the innovative weed detection and monitoring technology, it is clear that the invention enables the application of chemicals and nutrients precisely and efficiently, in real time and uninterruptedly, thus generating significant savings in resources and labor.

[0045] The mission is intelligently created based on the planting date, phenological data, climate, and area history. The system determines the mission's execution, increasing chemical efficiency and avoiding environmental damage to external areas.

[0046] It should be noted that the modality of the invention described here in this descriptive report has the purpose of clarifying and providing descriptive sufficiency for the invention, however the scope of protection of the invention is delimited by the claims.

Claims

CLAIMS 1. HYDRAULIC SYSTEM FOR SPRAYING WEED CONTROL FLUID characterized by the fact that it is arranged on a robotic platform (10) capable of moving autonomously in a crop and is equipped with electromechanical arms (11), the hydraulic system comprising tanks (100, 200) for storing weed control fluid equipped with fluid level sensors, the tanks (100, 200) in fluid communication with: weed control fluid spraying arrangements equipped with spray ducts (C1, CT), registers (101, 201), hydraulic pumps (103, 203), solenoid valves (106, 206) and intelligent sprinkler nozzles (110); weed control fluid bypass arrangements provided with bypass conduits (C2, C2'), solenoid valves (107, 207); weed control fluid supply arrangements provided with supply conduits (C3, C3') and a solenoid valve (108, 208);and weed control fluid disposal arrangements provided with disposal conduits (C4, C4') and valves (109, 209).; 2. HYDRAULIC SYSTEM, according to claim 1, characterized by the fact that the weed control fluid spraying arrangements are further provided with filters (102, 202) arranged downstream of the registers (101, 201).

3. HYDRAULIC SYSTEM, according to claim 1 or 2, characterized by the fact that the weed control fluid spraying arrangements are further provided with pressure sensors (105, 205).

4. HYDRAULIC SYSTEM, according to any one of claims 1 to 3, characterized by the fact that a flow valve (104) establishes fluid communication between the conduits (C1) and (C2) and a flow valve (204) establishes fluid communication between the conduits (CT) and (C2').

5. HYDRAULIC SYSTEM according to any one of claims 1 to 4, characterized in that the intelligent sprinkler nozzles (110) are arranged at the rear of the electromechanical arms (11).

6. INTELLIGENT AUTONOMOUS SPRAYING SYSTEM FOR AGRICULTURAL CROPS characterized by the fact that it has electronic communication with the hydraulic system for spraying weeds as defined in any one of claims 1 to 5, the intelligent autonomous spraying system comprising: memory devices for storing data on images of pests and diseases in crops and data on flow, pressure and flow parameters of a weed control fluid; a device provided with instructions for comparing images obtained in real time of crops with the images of pests and diseases in crops stored in the memory device; a device provided with instructions and memory configured to generate maps of plant germination, failures and vegetative indices;a device provided with instructions to monitor and control the level in the tanks (100, 200), the flow, the pressure and the output of a weed control fluid; (11) cameras (120); and compartments (121); in which the device provided with instructions to compare images obtained in real time of crops with images of pests and diseases in crops stored in the memory device classifies the plants of a crop; in which the device provided with instructions to monitor and control the flow is instructed to open the valves (101, 201), start the pumps (102, 202), open the solenoid valves (106, 206), close the valves (109, 209) and close the solenoid valves (108, 208) when a plant of a crop is classified as a weed.; 7. The intelligent autonomous spraying system of claim 6, wherein the device provided with instructions for monitoring and controlling the flow is instructed to open the solenoid valves (107, 207) when the pressure of the weed control fluid exceeds a threshold value.

8. INTELLIGENT AUTONOMOUS SPRAYING SYSTEM, according to claim 6, characterized by the fact that the device provided with instructions to monitor and perform flow control is instructed to open the valves (109, 209) and close the solenoid valves (106, 206, 108, 208) in a weed control fluid discharge operation.

9. INTELLIGENT AUTONOMOUS SPRAYING SYSTEM, according to claim 6, characterized by the fact that the device provided with instructions to monitor and perform flow control is instructed to open the solenoid valves (108, 208) and close the valves (109, 209) in a weed control fluid supply operation.

10. INTELLIGENT AUTONOMOUS SPRAYING SYSTEM, according to claim 6, characterized by the fact that the device provided with instructions to monitor and perform flow control is instructed to stop the operation of the pump (103) when the tank fluid level sensor (100) indicates a level equal to a minimum fluid level in the tank (100) and to stop the operation of the pump (203) when the tank fluid level sensor (200) indicates a level equal to a minimum fluid level in the tank (200).

11. INTELLIGENT AUTONOMOUS SPRAYING SYSTEM, according to claim 6, characterized by the fact that the device provided with instructions to monitor and perform flow control is instructed to close the solenoid valve (109) when the tank level sensor (100) indicates a level equal to a maximum fluid level in the tank (100) and to close the solenoid valve (209) when the tank level sensor (200) indicates a level equal to a maximum fluid level in the tank (200).

12. INTELLIGENT AUTONOMOUS SPRAYING SYSTEM, according to claim 6, characterized in that the compartments (121) are provided with electrical conductors and printed circuit board assembly.

13. INTELLIGENT AUTONOMOUS SPRAYING SYSTEM, according to claim 6, characterized by the fact that the cameras (120) are fixed to support rods (122).

14. INTELLIGENT AUTONOMOUS SPRAYING SYSTEM, according to claim 13, characterized by the fact that said support rods (122) are mounted on the electromechanical arms (11).

15. INTELLIGENT AUTONOMOUS SPRAYING SYSTEM, according to claim 6, characterized by the fact that the cameras (120) are arranged so as to cover the entire frontal region of the robotic platform (10).

16. SPRAYING SYSTEM, according to claim 6, characterized by the fact that the cameras (120) are configured to send the images taken on site to a device provided with instructions to compare images obtained in real time of crops with the images of pests and diseases in crops stored in the memory device.

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