Tree garden spraying system and method

Abstract

The invention is 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 (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. Accordingly, the novelty is that it comprises at least one presence sensor (150) which is provided on the carrier (110) and scans the trunks of the trees horizontally when the carrier (110) moves horizontally in a first direction (250); 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 determining the diameter of a tree trunk (210) based on the signal received from said presence sensor (150) and the measurements received from the distance meter (151), applying the determined diameter of the tree trunk (210) as input to a mathematical model that is trained with multiple diameters of the tree trunk (210) and their corresponding tree crown areas and gives the corresponding crown area as output when it receives the diameter of the tree trunk (210) as input, determining a target crown area based on the crown area information obtained from the mathematical model and for controlling the activation of the pesticide sprayers in the positions corresponding to the specified target crown area and the deactivation of others.

Description

[0001] TREE GARDEN SPRAYING SYSTEM AND METHOD

[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 spraying can be achieved with the spaying 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 disinfested thanks to the distance sensors with camera 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 sprayer 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 good image reduce the effectiveness of the system, which prevents the effective spraying of the relevant agricultural product or prevents the timely spraying of the product by waiting for the weather condition to improve for the effective disinfesting.

[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 information processing resources.

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

[0014] Another object of the invention is to provide an automatic spraying also in the unsuitable environmental conditions (fog, lack of light, etc.).

[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 at least one presence sensor which is provided on the carrier and scans the trunks of the trees horizontally when the carrier moves horizontally in a first direction; 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; it comprises a distance meter that measures the horizontal movement of the carrier; and it comprises a control unit for determining the diameter of a tree trunk based on the signal received from said presence sensor and the measurements received from the distance meter, applying the determined diameter of the tree trunk as input to a mathematical model that is trained with multiple diameters of the tree trunk and their corresponding tree crown areas and gives the corresponding crown area as output when it receives the diameter of the tree trunk as input, determining a target crown area based on the crown area information obtained from the mathematical model and for controlling the activation of the pesticide sprayer nozzles in the positions corresponding to the specified target crown area 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. Thus, the cost of the system is reduced.

[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 mathematical model is an artificial intelligence model. Thus, the calculation of the intermediate values allows the system to continuously improve itself and sprays the area with an increased accuracy.

[0019] Another possible embodiment of the invention is characterized in that it comprises a user interface that allows the user to input the type of tree to be sprayed; said mathematical model is trained with multiple diameters of the tree trunk, their corresponding tree crown areas and the tree types that have them, and gives the tree crown area as output when it receives the tree type and trunk diameter as input; the control unit is arranged to determine a target crown area based on the crown area information given as output by applying the tree type information and the determined trunk diameter received from the user interface to said mathematical model. 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.

[0020] Another possible embodiment of the invention is characterized in that said presence sensor(s) is provided in the agricultural vehicle; the pesticide reservoir and nozzle arrays are provided in the spraying trailer.

[0021] Another possible embodiment of the invention is characterized in that the control unit is arranged to adjust the spray flow rates of the nozzles operating based on the target tree area. The inadequate spraying, which is caused by the fact that the centers of some trees contain deeper and denser leaf areas, is also prevented.

[0022] Another possible embodiment of the invention is characterized in that the nozzle array is provided one on each side of the carrier; at least one presence sensor is provided for each side nozzle array.

[0023] 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.

[0024] 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 and scans the trunks of the trees horizontally when the carrier moves horizontally in a first direction; receiving the distance measurements from a distance meter that measures the horizontal movement of the carrier; determining the diameter of a tree trunk based on the signal received from said presence sensor and the measurements received from the distance meter; determining a target crown area based on the crown area information obtained from the mathematical model by applying the determined diameter of the tree trunk as input to a mathematical model that was trained with multiple diameters of the tree trunk and their corresponding tree crown areas and gives the corresponding crown area when receiving the diameter of the tree trunk as an input activating the pesticide sprayer nozzles at the locations corresponding to the designated target crown area and deactivating the others.

[0025] Another possible embodiment of the invention is characterized in that said mathematical model is an artificial intelligence model.

[0026] Another possible embodiment of the invention is characterized in that the tree type to be sprayed is received as input from a user interface; said mathematical model is trained with multiple diameters of the tree trunk, their corresponding tree crown areas and the tree types that have them, and gives the tree crown area as output when it receives the tree type and trunk diameter as inputs; the control unit is arranged to determine a target crown area based on the tree type information received from the user interface and the crown area information given as output by applying the determined trunk diameter to said mathematical model.

[0027] BRIEF DESCRIPTION OF THE FIGURE

[0028] Fig. 1 shows a view of the spraying system.

[0029] Fig. 2 shows a representative view of the spraying nozzles based on the determined tree crown area.

[0030] Fig. 3 shows a representative view of the spraying nozzles on a tree with a larger tree crown area than in Fig. 2. Fig. 4 shows a representative view of the diameter measurement of the presence sensor.

[0031] DETAILED DESCRIPTION OF THE INVENTION

[0032] 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.

[0033] Referring to Fig. 1 , the invention is a spraying system (100) that allows spraying the pesticides on trees in tree gardens. Thanks to the presence sensor (150), the system provides the diameters of the tree trunks to be determined, the tree crown (220) is estimated based on the trunk diameter with a mathematical model, and the appropriate nozzles in the nozzle array (140) are operated to spray only the estimated area of the tree crown (220).

[0034] The diameters of the tree trunks and the area of the tree crowns are correlated with each other. For example, it is described in the document G.E. Hemery, P.S. Savill , S.N. Pryor “Applications of the crown diameter-stem diameter relationship for different species of broadleaved trees”.

[0035] 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 associated with said pesticide reservoir (130); a nozzle control mechanism (142) which controls the operation of said nozzles. In addition, there is a control unit (160) in the system. The control unit (160) controls the nozzle control mechanism (142).

[0036] 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.

[0037] 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.

[0038] 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.

[0039] A mathematical model is loaded in the memory unit (162). Said model may be of a type that has previously been trained and operates offline. Said mathematical model was trained with the information on multiple diameters of the tree trunk (210) and tree crown area. When it receive the diameter of a tree trunk (210) as input, it gives a corresponding area of the tree crown (220) as output.

[0040] The spraying system (100) also comprises a distance meter (151 ) that measures the distance traveled by the carrier (110). Thus, the presence sensor (150) generates a signal by scanning the tree trunk horizontally while passing in front of a tree, and the diameter of the tree trunk (210) can be calculated using this signal and the distance traveled.

[0041] The controller (160), i.e., the processing unit (161 ) of the controller (160), calculates the diameter of a tree trunk (210) based on the signals received from the presence sensor (150) and the measurements received from the distance meter (151 ). The control unit (160) then applies the diameter information of the tree trunk (210) as an input to the mathematical model. It determines a target crown area based on the tree crown (220) area estimation received from the mathematical model as an output. This crown area refers to the crown area of the tree that is scanned by the presence sensor (150). The control unit (160) can also predict the time when the spray sequences will coincide with the tree based on the distance traveled in the first direction (250). At this point, the distance between the presence sensor (150) and the nozzle array (140) is determined 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 unsprayed. The control unit (160) selects the appropriate nozzles according to the determined target crown area and activates them. Thus, spraying can only be carried out so as to correspond to the tree crown (220). The memory unit (162) records the positions of the nozzles on the nozzle array (140). Spraying can be carried out by selecting the appropriate ones according to the determined target crown area.

[0042] Fig. 2 and Fig. 3 show representatively the trees with different trunk widths and therefore different crown areas. The control unit (160) activates the nozzles accordingly based on the determined crown area. Since there is less crown area in Fig. 2 than in Fig. 3, some of the top and bottom nozzles are switched off.

[0043] Fig. 4 shows the signal generation for the presence sensor (150) to scan and detect the diameter of the tree trunk (210).

[0044] In a possible embodiment of the invention, the control unit (160) determines the nozzles in the parts of the crown area near the center, increases the flow rate of the specified nozzles, determines the nozzles at the edges of the crown area, and decreases the flow rate of these nozzles. The control unit (160) can adjust the flow rate of the nozzles between the edge and the center to varying magnitudes based on their distance from the center.

[0045] The nozzle control mechanism (142) can be the valves provided for each nozzle and stopping or allowing the flow in the nozzle. 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 sensor. In a possible embodiment of the invention, the presence sensor (150) is an electromagnetic sensor. Therefore, it is provided that the diameters of the tree trunk (210) are measured in foggy or dark environments and the spraying is done 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 presence sensor (150) 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.

[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 turned off when the undetected parts are reached.

[0050] The mathematical model is able to give the tree crown (220) area matching the trained diameter values as an output. It can perform a completion (interpolation) for the intermediate values.

[0051] In a possible embodiment of the invention, the mathematical model is an artificial intelligence model. It is trained with the training data and makes the classifications accordingly. Since the artificial intelligence models are well-known in the art, they are not described in particular here. The operations can be performed using one of the appropriate artificial intelligence models known in the art.

[0052] In a possible embodiment of the invention, the different mathematical models are trained for different types of trees. In this embodiment, a user interface (163) associated with the control unit (160) is provided. By means of the user interface (163), it is provided that the tree type in the tree garden to be sprayed is entered as an input. The control unit (160) continues the operations by running the mathematical model based on the tree type received as input.

[0053] For example, when an apple input is received from the user interface (163), a mathematical model trained with the apple trees runs. For example, the mathematical model can be trained with the data of tree type, tree trunk (210) diameter, tree crown (220) area. The tree crown (220) area can comprise the expressions or mathematical formulas to describe the shape of the tree crown (220) that does not resemble the traditional shapes.

[0054] 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.

[0055] 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.

[0056] REFERENCE NUMBERS GIVEN IN THE FIGURE

[0057] 100 Spraying system

[0058] 110 Carrier

[0059] 11 1 Front side

[0060] 112 Rear side

[0061] 113 Agricultural vehicle

[0062] 114 Spraying trailer

[0063] 130 Pesticide reservoir

[0064] 140 Nozzle array

[0065] 141 Nozzle

[0066] 142 Nozzle control mechanism

[0067] 150 Presence sensor

[0068] 151 Distance meter

[0069] 160 Control unit

[0070] 161 Processor unit

[0071] 162 Memory unit

[0072] 163 User interface

[0073] 200 Tree

[0074] 210 Tree trunk 220 Tree crown

[0075] 250 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 at least one presence sensor(150) which is provided on the carrier (1 10) and scans the trunks of the trees horizontally when the carrier (1 10) moves horizontally in a first direction (250); 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 (1 10); and it comprises a control unit (160) for determining the diameter of a tree trunk (210) based on the signal received from said presence sensor (150) and the measurements received from the distance meter (151 ), applying the determined diameter of the tree trunk (210) as input to a mathematical model that is trained with multiple diameters of the tree trunk (210) and their corresponding tree crown areas and gives the corresponding crown area as output when it receives the diameter of the tree trunk (210) as input, determining a target crown area based on the crown area information obtained from the mathematical model and for controlling the activation of the pesticide sprayers in the positions corresponding to the specified target crown area 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 sensor 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 mathematical model is an artificial intelligence model.

5. A spraying system (100) according to claim 1 , characterized in that it comprises a user interface (163) that allows the user to input the type of tree to be sprayed; said mathematical model is trained with multiple diameters of the tree trunk (210), their corresponding tree crown areas and the tree types that have them, and gives the tree crown area as output when it receives the tree type and trunk diameter as input; the control unit (160) is arranged to determine a target crown area based on the crown area information given as output by applying the tree type information and the determined trunk diameter received from the user interface (163) to said mathematical model.

6. 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).

7. A spraying system (100) according to claim 6, characterized in that said presence sensor(s) is / are provided in the agricultural vehicle (1 13); the pesticide reservoir (130) and nozzle arrays (140) are provided in the spraying trailer.

8. A spraying system (100) according to claim 1 , characterized in that the control unit (160) is arranged to adjust the spray flow rates of the nozzles operating based on the target tree area.

9. A spraying system (100) according to claim 1 , characterized in that the nozzle array (140) is provided one on each side of the carrier (110); at least one presence sensor (150) is provided for each side nozzle array (140).

10. 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.11 . 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) forcontrolling 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 (1 10) moves in a first direction (250), from at least one presence sensor (150) which is provided on the carrier (1 10) and scans the trunks of the trees horizontally when the carrier moves horizontally in a first direction (250); receiving the distance measurements from a distance meter (151 ) that measures the horizontal movement of the carrier; determining the diameter of a tree trunk (210) based on the signal received from said presence sensor (150) and the measurements received from the distance meter (151 ); determining a target crown area based on the crown area information obtained from the mathematical model by applying the determined diameter of the tree trunk (210) as input to a mathematical model that was trained with multiple diameters of the tree trunk (210) and their corresponding tree crown areas and gives the corresponding crown area when receiving the diameter of the tree trunk (210) as an input activating the pesticide sprayers at the locations corresponding to the determined target crown area and deactivating the others.

12. A method according to claim 1 1 , characterized in that said mathematical model is an artificial intelligence model.

13. A method according to claim 1 1 , characterized in that- the tree type to be sprayed is received as input from a user interface (163); said mathematical model is trained with multiple diameters of the tree trunk (210), their corresponding tree crown areas and the tree types that have them, and gives the tree crown area as output when it receives the tree type and trunk diameter as inputs;- the control unit is arranged to determine a target crown area based on the tree type information received from the user interface (163) and the crown areainformation given as output by applying the determined trunk diameter to said mathematical model.

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