METHOD FOR APPLYING A SPRAY TO A FIELD

Abstract

A method for applying a spray to a field using an agricultural spraying device. The method includes: monitoring a field section of the field having plants, using an optical and/or infrared detection unit; identifying at least one row of plants in the monitored field section using a processing unit; using the processing unit, defining a plant region including the at least one identified row of plants in a specified evaluation portion of the monitored field section, using the at least one identified row of plants and a weed region different from the plant region; ascertaining a plant value of the weed region in the specified evaluation portion of the monitored field section using the processing unit; and applying the spray to the weed region of the specified evaluation portion as a function of the ascertained plant value, using spray nozzles of the agricultural spraying device.

Claims

1-14. (canceled)

15. A method for applying a spray to a field using an agricultural spraying device, the method comprising the following steps: monitoring a field section of the field having plants, using an optical and/or infrared detection unit; identifying at least one row of plants in the monitored field section using a processing unit; defining, using the processing unit, a plant region containing the at least one identified row of plants in a specified evaluation portion of the monitored field section, using the at least one identified row of plants and a weed region different from the plant region; ascertaining a plant value of the weed region in the specified evaluation portion of the monitored field section using the processing unit; and applying the spray to the weed region of the specified evaluation portion as a function of the ascertained plant value, using spray nozzles of the agricultural spraying device.

16. The method as recited in claim 15, wherein the spray is a crop protection chemical.

17. The method as recited in claim 15, wherein, in a direction of travel of the spraying device, a length of the specified evaluation portion is less than a length of the monitored field section.

18. The method as recited in claim 17, wherein a position of the specified evaluation portion in the monitored field section is selected in such a manner, that in the direction of travel of the spraying device, the specified evaluation portion: has, in comparison with the monitored field section, a larger reaction path with respect to a spray region of the following spray nozzle, or is situated centrally in the monitored field section.

19. The method as recited in claim 18, wherein the larger reaction path is a maximum reaction path.

20. The method as recited in claim 17, wherein a position of the specified evaluation portion in the monitored field section is selected as a function of a traveling speed of the spraying device, and is selected in such a manner, that a maximum image resolution in the specified evaluation portion results at the traveling speed of the spraying device.

21. The method as recited in claim 15, wherein the step of identifying the at least one row of plants is performed, using and/or evaluating the entire monitored field section.

22. The method as recited in claim 15, wherein the step of identifying the at least one row of plants is repeated after a defined route section is covered, and/or after defined time intervals, and/or after irregular time intervals, and/or after an executed change of direction of the agricultural spraying device in a defined angular range, and/or when computing time is available, in order to identify a current position of the rows of plants again.

23. The method as recited in claim 22, wherein between the steps of identifying the at least one row of plants for the step and/or steps of defining the at least one plant region, the position of the at least one row of plants in a direction of travel of the spraying device is extrapolated or assumed to be constant.

24. The method as recited in claim 15, wherein the plant value represents a degree of coverage of the weed region by plant material and/or an amount of plant material in the weed region and/or a number of weeds in the weed region.

25. The method as recited in claim 15, wherein the step of applying includes comparing the ascertained plant value to a threshold value, and wherein the step of applying is executed in response to the threshold value being reached, or fallen below, or exceeded.

26. The method as recited in claim 15, wherein the plant region has a variable width, and the width is a function of a stage of growth of a plant of the plant region, situated in the plant region.

27. A control unit, comprising a processing unit; wherein the control unit is configured to: identify at least one row of plants in a field section of a field having plants, the field section being monitored using an optical and/or infrared detection unit; define a plant region containing the at least one identified row of plants in a specified evaluation portion of the monitored field section, using the at least one identified row of plants and a weed region different from the plant region; ascertain a plant value of the weed region in the specified evaluation portion of the monitored field section; and output a control signal in such a manner that a spray is applied to the weed region of the specified evaluation portion as a function of the ascertained plant value, using spray nozzles of an agricultural spraying device.

28. An agricultural spraying device, comprising: an optical and/or infrared detection unit configured to monitor a field section of a field having plants, an optical axis of the optical and/or infrared detection unit having an angle of inclination greater than 0° relative to a vertical line in a direction of travel of the spraying device; a control unit including: a processing unit, wherein the control unit is configured to: identify at least one row of plants in the field section being monitored using the optical and/or infrared detection unit; define a plant region containing the at least one identified row of plants in a specified evaluation portion of the monitored field section, using the at least one identified row of plants and a weed region different from the plant region; ascertain a plant value of the weed region in the specified evaluation portion of the monitored field section; and output a control signal in such a manner that a spray is applied to the weed region of the specified evaluation portion as a function of the ascertained plant value, using spray nozzles of an agricultural spraying device; and the spray nozzles, the spray nozzels being configured to apply the spray to the weed region of the specified evaluation portion as a function of the ascertained plant value.

29. A non-transitory machine-readable storage medium on which is stored a computer program for applying a spray to a field using an agricultural spraying device, the computer program, when executed by a computer, causing the computer to perform the following steps: monitoring a field section of the field having plants, using an optical and/or infrared detection unit; identifying at least one row of plants in the monitored field section using a processing unit; defining, using the processing unit, a plant region containing the at least one identified row of plants in a specified evaluation portion of the monitored field section, using the at least one identified row of plants and a weed region different from the plant region; ascertaining a plant value of the weed region in the specified evaluation portion of the monitored field section using the processing unit; and applying the spray to the weed region of the specified evaluation portion as a function of the ascertained plant value, using spray nozzles of the agricultural spraying device.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0046] FIG. 1 shows a schematic representation of an agricultural spraying device according to an example embodiment of the present invention.

[0047] FIG. 2 shows a schematic representation of a basic geometric layout of the detection unit and spray nozzle relative to each other, according to an example embodiment of the present invention.

[0048] FIG. 3 shows a schematic representation of a monitored field section having a specified evaluation portion, according to an example embodiment of the present invention.

[0049] FIG. 4 shows a flow chart of a method according to an exemplary embodiment of the present invention.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

[0050] In the description below of preferred exemplary embodiments of the present invention, the same or similar reference numerals are used for the elements that are shown in the different figures and function similarly, in which case a repeated description of these elements is omitted.

[0051] A schematic representation of an agricultural spraying device, the entirety of which is denoted by reference numeral 10, is shown in FIG. 1.

[0052] Agricultural spraying device 10 takes the form of a field sprayer 10. Field sprayer 10 is positioned on a mobile land vehicle 12, which takes the form of a towing vehicle 12 or tractor 12.

[0053] Agricultural spraying device 10 includes a spray boom 14. Spray nozzles 16 and optical detection units 18 are situated on spray boom 14. Spray nozzles 14 are designed to apply a spray 20 to weeds 22 of an agricultural plot. Optical detection units 18 take the form of optical cameras 18. Optical cameras 18 each include a filtering unit for extracting a color portion, such as the green color portion of an acquired image, in order to detect weeds 22 and plants 26. As described below in further detail in light of FIG. 2, cameras 18 are positioned in front of spray nozzles 16 in the direction of travel of spraying device 10.

[0054] Agricultural spraying device 10 further includes a delivery unit, which is not shown, and with the aid of which the application quantity and/or a quantity of active agent in the spray 20 to be applied is adjustable or variable.

[0055] Agricultural spraying device 10 also includes a control unit 28, which is connected to optical cameras 18, in order to receive data from them. Control unit 28 includes a processing unit 30, which is configured to execute computational steps and/or image processing steps for carrying out the method of the present invention. Control unit 28 is further configured to output a control signal in such a manner, that spray 20 is applied via spray nozzles 16 as a function of the ascertained plant value.

[0056] FIG. 2 shows a basic geometric layout of a spray nozzle 16 and a detection unit 18 or camera 18 on agricultural spraying device 10. As explained at the outset, a length L(Field), as long as possible, of a field section 32 monitored with the aid of camera 18, is desired and/or advantageous for identifying rows of plants, since in this manner, the number of plants 26 in monitored field section 32, that is, monitored image portion, increases, and consequently, the identification of the rows of plants is made easier. At the same time, when the number of image pixels is limited, the image resolution in the monitored image portion decreases, and consequently, the ability to detect small plant objects also decreases. In addition, a reaction path x(Field) decreases at a constant angle of inclination a. In this case, angle of inclination a is the angle between an optical axis 36 of camera 18 and a vertical line 38 in direction of travel 34 of spraying device 10.

[0057] Together with the traveling speed of spraying device 10, reaction path x, that is, the geometric distance x between monitored field section 32 and a spray region 40 of following spray nozzle 16, yields the maximum reaction time t(max) of the system, that is, of spraying device 10. If more time than t(max) is necessary for image recording, image processing, internal communication times, nozzle and/or valve control, and flight time of the spray, the system, that is, spraying device 10, is not able to carry out locationally correct application. Accordingly, reaction path x and reaction time t(max) predetermine the maximum traveling and/or operating speed of the system, that is, of spraying device 10. Important parameters for increasing x include, above all, a geometric distance d between camera 18 and spray nozzle 16, angle of inclination a of camera 18, and length L(Field) of monitored field section 32, that is, of the acquired image portion at the base of field 24.

[0058] In order to now increase the maximum traveling and/or operating speed, the present invention does not shorten length L(Field) of monitored field section 32, since, as explained above, it is supposed to be as large as possible for identifying rows of plants, but a new (smaller) evaluation portion 42 of monitored field section 32, having a length L(Evaluation), is specified and/or defined. Through this, the image processing is divided up into two parallel processing paths; the step of identifying rows of plants advantageously being carried out in the monitored field section 32 having the greater length L(Field), and the steps of defining plant regions and weed regions, and of ascertaining a plant value, being carried out in the specified evaluation portion 42 having the smaller length L(Evaluation).

[0059] Since length L(Evaluation) of specified evaluation portion 42 in direction of travel 34 of spraying device 10 is less than length L(Field) of monitored field section 32, first of all, the necessary processing time and, consequently, reaction time t(max), decrease due to the lower number of pixels in the image of specified evaluation portion 42. In addition, in the exemplary embodiment shown, the position of specified evaluation portion 42 in monitored field section 32 is selected in such a manner, that in direction of travel 34 of spraying device 10, specified evaluation portion 42 has a larger reaction path x(Evaluation) than monitored field section 32 x(Field) with respect to spray region 40 of following spray nozzle 16. This increases the reaction path x relevant to the application capability. The two factors, lower processing time and increased reaction path, increase the maximum possible traveling and/or operating speed.

[0060] In order to decrease the processing time further, the step of identifying rows of plants 44 is not performed constantly, but only repeated after a defined route section of spraying device 10 is covered. In this context, between the steps of identifying rows of plants 44, the position of rows of plants 44 in direction of travel 34 of spraying device 10 is extrapolated for the steps of defining plant regions 46.

[0061] As FIG. 3 illustrates, the at least one row of plants 44 is identified, e.g., from the measured portion of the color green, with the aid of processing unit 30, in a “processing path” in the (entire) monitored field section 32 and/or the (entire) acquired image of field section 32. On the other hand, in a parallel “processing path,” with the aid of processing unit 30, a plant region 46 containing the at least one identified row of plants 44 is now defined in specified evaluation portion 42 of monitored field section 32, using identified row of plants 44 and a weed region 48 different from plant region 46. In this case, weed region 48 is defined as a region between the rows of plants 44 in specified evaluation portion 42. Weed region 48 is, by definition, a region that only includes weeds 22. In addition, in the parallel “processing path,” a plant value of weed region 48 is ascertained in specified evaluation portion 42 of monitored field section 32.

[0062] The ascertained plant value is used for deciding if and/or how weed region 48 should be treated. In the example shown, the decision as to whether weed region 48 is treated, that is, as to whether spray is dispensed, is made as a function of the weed growth of weed region 48. Therefore, the plant value represents a degree of coverage of weed region 48 by plant material. If the plant value reaches and/or exceeds a predefined threshold value, then spray 20 is applied to weed region 48 with the aid of spraying device 10, in order to treat weed region 48, that is, the weeds 22 in weed region 48.

[0063] FIG. 4 shows a flow chart of an exemplary embodiment of the approach put forward here, in the form of a method 100 for applying a spray 20, in particular, a crop protection chemical 20, to a field 24. Method 100 includes a step of monitoring 102 a field section 32 of field 24 having plants 26, using an optical and/or infrared detection unit 18. Method 100 further includes a step of identifying 104 at least one row of plants 44 in monitored field section 32 with the aid of a processing unit 30. Method 100 further includes a step of defining 106, with the aid of processing unit 30, a plant region 46 including the at least one identified row of plants 44, using the at least one identified row of plants 44 and a weed region 48 different from the plant region 46, in a specified evaluation portion 42 of monitored field section 32. Method 100 also includes a step of ascertaining 108 a plant value of weed region 48 in specified evaluation portion 42 of monitored field section 32 with the aid of processing unit 30. Finally, method 10 includes a step of applying 110 spray 20 to weed region 48 of specified evaluation portion 42 as a function of the ascertained plant value, using spray nozzles 16 of spraying device 10.

[0064] The step of identifying 104 the at least one row of plants 44 may advantageously be repeated only after a defined route section is covered, or in irregular time intervals, or if computing time is available, in order to identify the position of rows of plants 44 again. In this connection, in an extrapolating step 102′, the position of the at least one row of plants 44 in direction of travel 34 of spraying device 10 may be extrapolated between the steps of identifying 104 the at least one row of plants 44 for the steps of defining 106 the at least one plant region 46.

[0065] If an exemplary embodiment includes an “and/or” conjunction between a first feature and a second feature, then this is to be read such that, according to one specific embodiment, the exemplary embodiment includes both the first feature and the second feature, and according to another specific embodiment, the exemplary embodiment includes either only the first feature or only the second feature.