Tree garden spraying system and method with adaptive spraying

Abstract

The invention is a spraying system suitable for spraying on a tree garden, comprising a pesticide reservoir (130), at least one nozzle array (140) connected with said pesticide reservoir (130) and including multiple nozzles (141), a carrier (110) allowing at least said nozzles to be carried horizontally, and at least one nozzle control mechanism (142) for controlling the pesticide spraying of each nozzle separately. It is characterized in that it comprises a presence sensor (150) which is provided on the carrier (110) and placed to scan the tree (200) to be sprayed horizontally when the carrier (110) moves horizontally in a first direction (250); it comprises a vertical movement mechanism (181) to allow said presence sensor to scan vertically; said presence sensor and said nozzle array (140) are placed so that first the presence sensor and then the nozzle array (140) become in line with a tree when the carrier (110) moves in a first direction (250); it comprises a distance meter (151) that measures the horizontal movement of the carrier (110); and it comprises a control unit (160) for creating a tree crown area map based on the signal received from said presence sensor (150) and the measurements received from the distance meter (151) and controlling the activation of the pesticide sprayers in the positions corresponding to the tree crown area map created while the carrier (110) moves in the first direction (250) and the deactivation of others.

Description

[0001] TREE GARDEN SPRAYING SYSTEM AND METHOD WITH ADAPTIVE SPRAYING

[0002] TECHNICAL FIELD

[0003] The invention relates to a spraying system suitable for spraying on a tree garden, comprising a pesticide reservoir, at least one nozzle array connected with said pesticide reservoir and including multiple nozzles, a carrier allowing at least said nozzles to be carried horizontally, and at least one nozzle control mechanism for controlling the pesticide spraying of each nozzle separately.

[0004] PRIOR ART

[0005] Tree garden irrigation and spraying can be achieved with the spraying devices that are attached to the downstream of an agricultural vehicle and spray the pesticides on both sides by passing through the gaps in which the trees are located. During the spraying, it is aimed to spray the crown area of the target tree, that is, the part containing the leaves and branches. Since a continuous spraying is carried out, overspraying or underspraying can be done depending on the height of the tree and the crown area.

[0006] The document 2022 / 017399 relates to a garden spraying device, the nozzles of which can be controlled individually, are electrostatically charged, and the tree canopy can be detected and sprayed thanks to the camera distance sensors thereon. The spraying device instantly sends the image information of the trees received from the cameras integrated with the image analysis software to a central electronic control unit, controls the spraying nozzles based on the tree canopy characteristics and applies the appropriate spraying procedure to the trees. However, the detection of the area containing the tree crown (canopy) with the sensors such as cameras increases the cost of the system that will perform this operation, and operations such as image processing increase the processing load of the system. In addition, since the additional lighting will be needed in such systems when there is no daylight, this makes the system even more complicated and costly. In addition, the weather conditions (such as foggy weather) that will make it difficult to get a quality image for the system to work properly reduce the effectiveness of the system, which prevents the effective spraying of the relevant agricultural product or prevents the timely spraying of the product since it has to be waited until the weather condition improves for the effective spraying.

[0007] As a result, all the above-mentioned problems have made it necessary to realize a novelty in the relevant technical field.

[0008] SUMMARY OF THE INVENTION

[0009] The present invention relates to a spraying system and method to eliminate the above- mentioned disadvantages and bring the new advantages to the relevant technical field.

[0010] One object of the invention is to provide a system and a method that allows reducing the amount of the pesticides used when spraying the tree gardens.

[0011] Another object of the invention is to reduce the amount of the wasted pesticides.

[0012] Another object of the invention is to provide a reduced use of the system resources.

[0013] Another object of the invention is to reduce the pesticide waste with less hardware and the reduced system resources compared to the systems in the state of the art.

[0014] Another object of the invention is to enable automatic spraying in foggy or dark weather.

[0015] In order to achieve all the objects which are described above and that will emerge from the detailed description below, the present invention is a spraying system suitable for spraying on a tree garden, comprising a pesticide reservoir, at least one nozzle array connected with said pesticide reservoir and including multiple nozzles, a carrier allowing at least said nozzles to be carried horizontally, and at least one nozzle control mechanism for controlling the pesticide spraying of each nozzle separately. Accordingly, it comprises a presence sensor which is provided on the carrier and placed to scan the tree to be sprayed horizontally when the carrier moves horizontally in a first direction; it comprises a vertical movement mechanism to allow said presence sensor to scan vertically; said presence sensor and said nozzle array are placed so that first the presence sensor and then the nozzle array become in line with a tree when the carrier moves in a first direction; it comprises a distance meter that measures the horizontal movement of the carrier; and it comprises a control unit for creating a tree crown area map based on the signal received from said presence sensor and the measurements received from the distance meter and controlling the activation of the pesticide sprayers in the positions corresponding to the tree crown area map created while the carrier moves in the first direction and the deactivation of others. Thus, the unnecessary spraying is prevented in the areas in which there is no tree crown area, and it is provided that the system resources used are significantly reduced.

[0016] A possible embodiment of the invention is characterized in that said distance meter is an encoder associated with the rotary assembly which provides the horizontal movement of the carrier.

[0017] Another possible embodiment of the invention is characterized in that said presence sensor is an ultrasonic or electromagnetic presence sensor to enable it to function in the foggy environments and dark environments.

[0018] Another possible embodiment of the invention is characterized in that said carrier comprises an agricultural vehicle and a spraying trailer towed by said agricultural vehicle.

[0019] Another possible embodiment of the invention is characterized in that said presence sensor(s) is provided in the agricultural vehicle; whereas the pesticide reservoir and nozzle arrays are provided in the spraying trailer.

[0020] Another possible embodiment of the invention is characterized in that the control unit is configured to create the target crown area map, including the leaf depth information, based the signal received from the presence sensor and to increase or decrease the pesticide spray flow of the nozzles based on the depth information while the carrier moves in the first direction.

[0021] Another possible embodiment of the invention is characterized in that it comprises a horizontal movement mechanism to enable the presence sensor to scan the tree on the horizontal axis.

[0022] Another possible embodiment of the invention is characterized in that it comprises a valve to be controlled by an electrical signal provided for each said nozzle. The invention is also a method performed by a control unit that controls a spraying system suitable for spraying on a tree garden, comprising a pesticide reservoir, at least one nozzle array connected with said pesticide reservoir and including multiple nozzles, a carrier allowing at least said nozzles to be carried horizontally, and at least one nozzle control mechanism for controlling the pesticide spraying of each nozzle separately. Accordingly, the novelty is the steps of: receiving the measurement signals, in which said presence sensor and said nozzle array are placed so that first the presence sensor and then the nozzle array become in line with a tree when the carrier moves in a first direction, from at least one presence sensor which is provided on the carrier, scans the trunks of the trees horizontally when the carrier moves horizontally in a first direction, and is moved by a vertical movement mechanism that allows it to scan the tree vertically; receiving the distance measurements from a distance meter that measures the horizontal movement of the carrier; creating a tree crown area map of the scanned tree based on the signal received from said presence sensor and the measurements received from the distance meter; activating the pesticide sprayers at the locations corresponding to the tree crown area map created and deactivating the others.

[0023] BRIEF DESCRIPTION OF THE FIGURE

[0024] Fig. 1 shows a view of the spraying system.

[0025] Fig. 2 shows a representative view of the presence sensor scanning the tree vertically in a first embodiment of the invention.

[0026] Fig. 3 shows a representative view of the presence sensor scanning the tree horizontally in a first embodiment of the invention. Fig. 4 shows a representative view of the presence sensor scanning the tree vertically in a second embodiment of the invention.

[0027] Fig. 5 shows a representative view of the presence sensor scanning the tree horizontally in a second embodiment of the invention.

[0028] Fig. 6 shows a representative view of the spraying nozzles based on the designated tree crown area.

[0029] Fig. 7 shows a representative view of the spraying nozzles on a tree with a larger tree crown area than in Fig. 6.

[0030] DETAILED DESCRIPTION OF THE INVENTION

[0031] In this detailed description, the subject of the invention is only described with the examples without any limiting effect for a better understanding of the subject.

[0032] Referring to Fig. 1 , the invention is a spraying system (100) that allows spraying the pesticides on trees in the tree gardens. The system creates a tree crown area map representing the tree crown (220) thanks to the signals received from a presence sensor (150) that scans the tree horizontally and vertically and by using this map, the appropriate nozzles (141 ) in a nozzle array (140) are activated to ensure that only the parts containing the tree crown (220) are sprayed with the pesticide.

[0033] In more detail, the spraying system (100) comprises a carrier (110); a pesticide reservoir (130) provided in said carrier (1 10); a nozzle array (140) which comprises multiple nozzles (141 ) associated with said pesticide reservoir (130); a nozzle control mechanism (142) which controls the operation of said nozzles (141 ). In addition, there is a control unit (160) in the system. The control unit (160) controls the nozzle control mechanism (142).

[0034] Said carrier (110) refers to the means which provides the nozzles to move horizontally in the tree garden. The carrier (1 10) may comprise, for example, an agricultural vehicle and a spraying trailer attached downstream thereof. The carrier (110) can also be only an agricultural vehicle. When it moves in a first direction (250) by means of its wheels, it allows the nozzles to scan the trees. The spraying tools of a similar structure are well known in the art.

[0035] The spraying system (100) comprises a presence sensor (150). The presence sensor (150) sends the measurement signals to the control unit (160). The presence sensor (150) can send different signals, for example, if it detects an object in front thereof or not. The presence sensor (150) is positioned to scan the tree trunks (210) when the carrier (110) moves in the first direction (250). For example, it can be placed 90 degrees perpendicular to the side body of the carrier (110), facing outward from the side body. The spraying system comprises a movement mechanism (180) to enable the presence sensor (150) to scan the tree (200). The movement mechanism (180) enables the sensor to scan the tree by changing its inclination. The movement mechanism (180) can be controlled by the drivers (not shown in the figure) controlled by the control unit (160) or directly by the control unit.

[0036] The control unit (160) can comprise a processor unit and a memory unit (162) through which the processor unit reads / writes the data. The processor unit (161 ) can be a microprocessor, CPU, etc. The memory unit (162) can also comprise the memories that allow the data to be stored temporarily and permanently.

[0037] The software consisting of the command lines executed by the processor unit (161 ) may be installed in the memory unit (162). The invention is realized by executing this software. In addition, the previously known data such as the location of the presence sensors (150) on the carrier (110) and the distance of the nozzles (150) to the presence sensor can also be saved in the memory unit.

[0038] The spraying system (100) also comprises a distance meter (151 ) that measures the distance traveled by the carrier (1 10). Thus, when the presence sensor (150) passes in front of a tree, it scans the tree trunk horizontally and produces a signal and by using this signal, the distance traveled and the predetermined and known positions of the nozzles (141 ), it can be determined where the nozzles (141 ) correspond on the tree crown map in order to spray the appropriate parts of the tree crown.

[0039] Referring to Fig. 2, the movement mechanism (180) comprises at least one vertical movement mechanism (181 ) that allows the presence sensor (150) to make a vertical scanning movement. The vertical movement mechanism (181 ) is connected to the presence sensor (150) and allows the presence sensor (150) to move angularly. The vertical movement mechanisms are well known in the art. It is possible to change the perspective of the sensor according to a movement point. For example, it can be provided that the sensor moves angularly on the vertical axis through a 90-degree arc. When the carrier (110) moves in a first direction (250) (Fig. 3), it also scans the tree horizontally, thus, by ensuring that the tree is scanned both on the horizontal axis and on the vertical axis, a crown area map of the tree crown (220) part of the tree (200) can be obtained. The control unit (160) determines which nozzles (141 ) should be activated and when, based on the distance traveled during movement in the first direction (250) according to the crown area map, and provides that the nozzles (141 ) are operated accordingly.

[0040] The controller (160), i.e., the processing unit (161 ) of the controller (160), generates a tree crown area map based on the signals received from the presence sensor (150) and the measurements received from the distance meter (151 ). For example, the tree crown area map can be similar to a 2D side view of the tree crown. The control unit (160) calculates which of the nozzles will correspond to the tree crown area when the carrier (110) moves in the first direction (250) and when, based on the tree crown area map, the location of the nozzles (141 ) and the distance traveled and accordingly ensures that the appropriate nozzles (141 ) are activated. Thus, spraying can only be carried out so as to correspond to the tree crown (220).

[0041] Referring to Fig. 4, the movement mechanism (180) comprises at least one vertical movement mechanism (181 ) that allows the presence sensor (150) to make a vertical scanning movement. The vertical movement mechanism (181 ) is connected to the presence sensor (150) and allows the presence sensor (150) to move angularly. The vertical movement mechanisms are well known in the art. It is possible to change the perspective of the sensor according to a movement point. For example, it can be provided that the sensor moves angularly on the vertical axis through a 90-degree arc. In addition, the movement mechanism (180) also comprises a horizontal movement mechanism (182). The horizontal movement mechanism (182) performs the scanning movement on the horizontal axis, which is performed by the vertical movement mechanism on the vertical axis, enabling the sensor to perform a scanning movement in the horizontal direction in addition to the advancement movement in the first direction (250). The horizontal movement mechanism (182) can indirectly move the sensor by moving the vertical movement mechanism (181 ). The movement mechanism (180) is provided in the carrier (110).

[0042] When the carrier (110) moves in a first direction (250), it also scans the tree horizontally. In addition, the horizontal movement mechanism (182) can make a horizontal scanning movement (Fig. 5) and create a map of the tree crown area even if the vehicle stops. Thus, by ensuring that the tree is scanned both on the horizontal axis and on the vertical axis, a crown area map of the tree crown (220) part of the tree (200) can be obtained. The control unit (160) determines which nozzles (141 ) should be activated and when, based on the distance traveled during movement in the first direction (250) according to the crown area map, and provides that the nozzles (141 ) are operated accordingly.

[0043] Fig. 6 and Fig. 7 show representatively the trees with different trunk widths and therefore different crown areas. The control unit (160) activates the nozzles accordingly based on the designated crown area. Since there is less crown area in Fig. 6 than in Fig. 7, some of the top and bottom nozzles are covered.

[0044] In a possible embodiment of the invention, the control unit (160) also marks the frequency of leaves on the crown area map. It is provided that the flow rate of the nozzles (141 ) corresponding to the parts in which the leaves are denser is higher than the others. Thus, the pesticide is provided to penetrate into the areas consisting of the dense leaves.

[0045] The nozzle control mechanism (142) can be the valves provided for each nozzle (141 ) and stopping or allowing the flow in the nozzle (141 ). Said valves can operate when a signal is received by the control unit (160). Said valves can be the solenoid valves in sizes suitable for the nozzles.

[0046] In a possible embodiment of the invention, the presence sensor (150) is an ultrasonic and electromagnetic sensor. In this way, even in foggy or dark environments, the horizontal and vertical scanning is performed to detect the structure of the tree and spray accordingly.

[0047] The presence sensor (150) is located on one front side (1 11 ) of a vehicle when the carrier (110) moves in the first direction (250), and after the sensor has performed the detection, the nozzle arrays (140) are located on the rear side (1 12) as they perform the appropriate spraying operation. For example, the presence sensors can be positioned on the agricultural vehicle, while the nozzle array (140) can be positioned on the spraying trailer. At this point, the presence sensor (150) and the nozzle array (140) are essentially placed to be longer than the distance between the end of the tree trunk (210) and the beginning of the tree crown (220) in order to eliminate the possibility of the zones remaining un sprayed.

[0048] As is known in the art, multiple nozzle arrays (140) can be provided facing outwards from both sides of the carrier (110). At least one presence sensor (150) for each nozzle array (140) is located on the side of the corresponding nozzle array (140). Thus, while the carrier (110) is traveling in the first direction (250), it sprays the trees on both the righthand and left-hand sides, and thanks to the control unit (160), only the appropriate nozzles are operated while doing this.

[0049] In a possible embodiment of the invention, when the tree trunk (210) is not detected by the presence sensor (150), the nozzles are stopped when the undetected parts are reached.

[0050] In a possible embodiment of the invention, the distance meter (151 ) is an encoder associated with the rotational parts of the carrier (110). For example, it can be associated with the shaft of the carrier (1 10), it can calculate the distance traveled by counting the number of turns made by the shaft, or it generates the data for the calculation.

[0051] The scope of protection of the invention is described in the attached claims and cannot be limited to what is explained in this detailed description for the exemplary purposes. It is clear that a person skilled in the art can produce similar embodiments in the light of what is explained above, without deviating from the main theme of the invention.

[0052] REFERENCE NUMBERS GIVEN IN THE FIGURE

[0053] 100 Spraying system

[0054] 110 Carrier

[0055] 11 1 Front side

[0056] 112 Rear side Agricultural vehicle Spraying trailer Pesticide reservoir Nozzle array Nozzle Nozzle control mechanism Presence sensor Distance meter Control unit Processor unit Memory unit User interface Movement mechanism Vertical movement mechanism Horizontal movement mechanism Tree Tree trunk Tree crown First direction

Claims

CLAIMS1. A spraying system (100) suitable for spraying on a tree garden, comprising a pesticide reservoir (130), at least one nozzle array (140) connected with said pesticide reservoir (130) and including multiple nozzles (141 ), a carrier (1 10) allowing at least said nozzles to be carried horizontally, and at least one nozzle control mechanism (142) for controlling the pesticide spraying of each nozzle separately, characterized in that it comprises a presence sensor (150) which is provided on the carrier (110) and placed to scan the tree (200) to be sprayed horizontally when the carrier (1 10) moves horizontally in a first direction (250); it comprises a vertical movement mechanism (181 ) to allow said presence sensor to scan vertically; said presence sensor and said nozzle array (140) are placed so that first the presence sensor and then the nozzle array (140) become in line with a tree when the carrier (1 10) moves in a first direction (250); it comprises a distance meter (151 ) that measures the horizontal movement of the carrier (1 10); and it comprises a control unit (160) for creating a tree crown area map based on the signal received from said presence sensor (150) and the measurements received from the distance meter (151 ) and controlling the activation of the pesticide sprayers in the positions corresponding to the tree crown area map created while the carrier (1 10) moves in the first direction (250) and the deactivation of others.

2. A spraying system (100) according to claim 1 , characterized in that said distance meter (151 ) is an encoder associated with the rotary assembly that provides the horizontal movement of the carrier (110).

3. A spraying system (100) according to claim 1 , characterized in that said presence sensor (150) is an ultrasonic or electromagnetic sensor to enable it to function in the foggy environments and dark environments.

4. A spraying system (100) according to claim 1 , characterized in that said carrier (110) comprises an agricultural vehicle (1 13) and a spraying trailer towed by said agricultural vehicle (1 13).

5. A spraying system (100) according to claim 4, characterized in that said presence sensor(s) is provided in the agricultural vehicle (1 13); the pesticide reservoir (130) and nozzle arrays (140) are provided in the spraying trailer.

6. A spraying system (100) according to claim 1 , characterized in that the control unit (160) is configured to create the target crown area map, including the leaf depth information, based the signal received from the presence sensor and to increase or decrease the pesticide spray flow of the nozzles based on the depth information while the carrier (1 10) moves in the first direction (250).

7. A spraying system (100) according to claim 1 , characterized in that it comprises a horizontal movement mechanism (182) to allow the presence sensor (150) to scan the tree on the horizontal axis.

8. A spraying system (100) according to claim 1 , characterized in that it comprises a valve to be controlled by an electrical signal provided for each said nozzle.

9. A method performed by a control unit (160) that controls a spraying system (100) suitable for spraying on a tree garden, comprising a pesticide reservoir (130), at least one nozzle array (140) connected with said pesticide reservoir (130) and including multiple nozzles, a carrier (110) allowing at least said nozzles to be carried horizontally, and at least one nozzle control mechanism (142) for controlling the pesticide spraying of each nozzle separately, characterized in that it comprises the steps of- receiving the measurement signals, in which said presence sensor (150) and said nozzle array (140) are placed so that first the presence sensor and then the nozzle array (140) become in line with a tree when the carrier (110) moves in a first direction (250), from at least one presence sensor (150) which is provided on the carrier (1 10), scans the trunks of the trees horizontally when the carrier moves horizontally in a first direction (250), and is moved by a vertical movement mechanism (181 ) that allows it to scan the tree vertically;- receiving the distance measurements from a distance meter (151 ) that measures the horizontal movement of the carrier;- creating a tree crown area map of the scanned tree (200) based on the signal received from said presence sensor (150) and the measurements received from the distance meter (151);- activating the pesticide sprayers at the locations corresponding to the tree crown area map created and deactivating the others.

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