In this invention a Web Server based distributed cellular system to provide 21st century total digital precision agriculture to small and uneducated poor farmers is proposed. A service model is used to avoid farmers owning any equipment and a system's provided service agent becomes on ground mentor of the farmer. The invention uses plurality of low cost mini Dynamic Remotely Operated Navigation Equipment (DRONEs), automated mini robots-size of a shoe box mini AGBOTs wirelessly connected to a remote central Web Server. The central web server system uses agricultural specialists to provide farmers 21st century technology to manage their farms and increase crop yields, save amount of fertilizers used and irrigation needed without owning any equipment. Photogrammetry and radio metric images obtained from multi spectral camera mounted on these mini DRONEs allows agronomists, and other specialists at the central server site to offer all crop management functions. Data analytics, Artificial Intelligence, AI, tools used at the remote server will provide forecast on expected yield of various crops to plan for buffer stocks, and also information to insurance companies on crops affected in case of natural disasters like hail storms, floods and droughts. And thus providing quick and timely relief to affected farmers and produce growers. The system uses Autonomous mini AGBOT DRONE with its built in AI tools to weed the farms and thus avoiding use of herbicides, costly and harmful to farmers as well our environment. The mini AGBOTs can be used with the canopy of crop plants and can analyze soil samples in the field. DRONEs provide selected spraying of fertilizer and fungicide to the crop.

A mobile microwave system and method for controlling the growth of weeds present in soils, such as those of agricultural fields includes a microwave unit having a microwave generator for generating microwaves within a frequency range suitable for controlling weed growth. A phased array antenna system includes a plurality of antenna elements for emitting a focused microwave beam within a target area. At least one controllable phase shifter is coupled between the microwave unit and the plurality of antenna elements. The phase shifter is configured for shifting a microwave phase of a part of the microwaves in order to adjust a direction of the emitted microwave beam. The microwave beam direction is steerable to align the target area with a position of a target weed plant. The system is mountable to a vehicle or includes a drive for moving the system.

A mobile microwave system and method for controlling the growth of weeds present in soils, such as those of agricultural fields includes a microwave unit having a microwave generator for generating microwaves within a frequency range suitable for controlling weed growth. A phased array antenna system includes a plurality of antenna elements for emitting a focused microwave beam within a target area. At least one controllable phase shifter is coupled between the microwave unit and the plurality of antenna elements. The phase shifter is configured for shifting a microwave phase of a part of the microwaves in order to adjust a direction of the emitted microwave beam. The microwave beam direction is steerable to align the target area with a position of a target weed plant. The system is mountable to a vehicle or includes a drive for moving the system.

An apparatus for controlling weeds, which includes a tine formation adapted to remove or disrupt targeted weeds, and a tine support assembly adapted to support the tine for movement about a first control axis in a generally vertical direction between an engaged position wherein the tine formation in use contacts a ground surface for removal or disruption of targeted weeds and a disengaged position wherein the tine formation is substantially retracted from the ground surface. The tine support assembly is further adapted to support the tine for movement about a second control axis in a generally horizontal direction. The tine support assembly further includes a first actuation mechanism adapted to effect movement of the tine about the first control axis, and a second actuation mechanism adapted to effect movement of the tine about the second control axis. The apparatus also includes a sensing system for sensing aspects of an environment and generating data indicative thereof, and a classification system for identifying target weeds within the environment on the basis of the data from the sensing system. A control system is adapted to activate the first and second actuation mechanisms of the tine support assembly in accordance with a predetermined control logic thereby sequentially to position the tine for disruptive contact with the targeted weeds.

An apparatus for controlling weeds, which includes a tine formation adapted to remove or disrupt targeted weeds, and a tine support assembly adapted to support the tine for movement about a first control axis in a generally vertical direction between an engaged position wherein the tine formation in use contacts a ground surface for removal or disruption of targeted weeds and a disengaged position wherein the tine formation is substantially retracted from the ground surface. The tine support assembly is further adapted to support the tine for movement about a second control axis in a generally horizontal direction. The tine support assembly further includes a first actuation mechanism adapted to effect movement of the tine about the first control axis, and a second actuation mechanism adapted to effect movement of the tine about the second control axis. The apparatus also includes a sensing system for sensing aspects of an environment and generating data indicative thereof, and a classification system for identifying target weeds within the environment on the basis of the data from the sensing system. A control system is adapted to activate the first and second actuation mechanisms of the tine support assembly in accordance with a predetermined control logic thereby sequentially to position the tine for disruptive contact with the targeted weeds.

Systems and methods for disturbing soil are described. The systems may include an elliptical motion mechanism, a shaft coupled to the elliptical motion mechanism, wherein the elliptical motion mechanism is configured to move the shaft in an elliptical path, and a hoe blade coupled to the shaft such that the hoe blade in an initial position is proximate to a soil surface, and wherein a face of the hoe blade is located in a plane intersecting the plane of the elliptical path, and wherein the soil-disturbing apparatus is configured to receive a signal to operate the elliptical motion mechanism, and in response to receiving the signal, operate the elliptical motion mechanism so the hoe blade is moved in an elliptical path, and whereby a portion of the hoe blade elliptical path falls below the soil surface to disturb the soil.

Systems and methods for disturbing soil are described. The systems may include an elliptical motion mechanism, a shaft coupled to the elliptical motion mechanism, wherein the elliptical motion mechanism is configured to move the shaft in an elliptical path, and a hoe blade coupled to the shaft such that the hoe blade in an initial position is proximate to a soil surface, and wherein a face of the hoe blade is located in a plane intersecting the plane of the elliptical path, and wherein the soil-disturbing apparatus is configured to receive a signal to operate the elliptical motion mechanism, and in response to receiving the signal, operate the elliptical motion mechanism so the hoe blade is moved in an elliptical path, and whereby a portion of the hoe blade elliptical path falls below the soil surface to disturb the soil.

A method and a module for picking weeds or plants with an implement provided on an agricultural vehicle is provided. The method comprises capturing images of a field traveled by the agricultural vehicle, the field comprising weeds and crops. The method also comprises generating a map from the captured images, comprising coordinates of the weeds and crops; determining, based on the coordinates of the weeds and crops, at least one picking location that maximizes a number of weeds to be picked in a single take and one offset for the implement to follow for arriving at the optimal location; moving the implement along the offset; and picking weeds at the optimal location with the implement.

The present invention relates to a tool carrier unit (1) for attachment to an agricultural vehicle. The tool carrier unit comprises a tool carrier (2) for carrying at least one tool for an agricultural purpose, and a height adjustment assembly (5) comprising at least one linear actuator (6, 6′) coupled to the tool carrier such that the tool carrier can be raised and lowered. The height adjustment assembly (5) comprises a linear bearing (10) comprising a guide rail and a slide element movably engaged to each other so that the guide rail and the slide element are allowed to move relative to each other in a linear movement along the length of the guide rail. The tool carrier unit (1) comprises at least one mounting bracket (12, 12′) comprising coupling means (16) for mechanically coupling the tool carrier unit to the vehicle. The linear bearing (10) is arranged between the mounting bracket (12, 12′) and the tool carrier (2) such that the tool carrier and the mounting bracket are movable relative each other, wherein the at least one linear actuator (6:6′) comprises a body and a piston linearly movable relative to the body, and the body and the piston are attached to the mounting bracket (12, 12′) and the tool carrier (2) respectively, such that the linear actuator (6, 6′) can raise and lower the tool carrier (2) with respect to the mounting bracket (12, 12′).

A method for monitoring the mechanical automated removal of weeds comprising emitting ultrasonic waves in a direction perpendicular to the direction of the soil by means of at least one ultrasonic distance sensor, determining the distance to the soil, emitting electromagnetic radiation in the direction of the soil by means of at least one radiation source, registering the intensity of electromagnetic radiation reflected or scattered there by at least one optical detector arranged on the hoeing machine, using the registered intensity to determine whether the tillage has been sufficient to lead to a removal of weeds and/or whether too much dust has been whirled up, detecting shear and/or bending stresses at individual tools using strain gauges and comparing these stresses with calibration values, detecting airborne sound waves using at least one microphone, and comparing the registered airborne sound spectra with airborne sound spectra registered in advance in the case of a faultless weed removal.