System for semi-automatic and/or automatic weed removal

Abstract

Provided herein is a system for semi-automatic and/or automatic weed removal a system for automatic detection of weeds including an optical sensor and a central server unit, with communication network, an open-loop and/or closed-loop control device and a weed removal device, wherein the optical sensor, the server unit and the open-loop and/or closed-loop control device are in data connection via the communication network, wherein image data of a weed is generated via the optical sensor and transmitted to the server unit, which analyses the transmitted image data such that the weed can be determined, and wherein, via the server unit, in the case of a clear determination of the weed, weed confirmation data is transmitted to the open-loop and/or closed-loop control device which, in response to the weed confirmation data, controls and/or regulates the weed-removal device so that the weed detected by the optical sensor can be removed.

Claims

1. A system for semi-automatic and/or automatic weed removal comprising: at least one system for automatic detection of weeds comprising at least one optical sensor and a central server unit, at least one communication network, at least one open-loop control and/or closed-loop control device and at least one weed-removal device, wherein the at least one optical sensor, the central server unit and the at least one open-loop control and/or closed-loop control device are in data connection via the at least one communication network, wherein image data of at least one weed is generated via the at least one optical sensor and transmitted via the at least one communication network to the central server unit, which analyses the transmitted image data such that the at least one weed can be determined, and wherein via the central server unit, in the case of a clear determination of the at least one weed, weed confirmation data is transmitted via the at least one communication network to the at least one open-loop control and/or closed-loop control device, which, in response to the weed confirmation data, controls and/or regulates the at least one weed-removal device so that the at least one weed detected by the at least one optical sensor can be removed, wherein the central server unit comprises a data analysis module and a plant disease database unit, by which it can be determined on the basis of the transmitted image data of the at least one weed, whether and which diseases of the at least one weed are present, such that the system can automatically decide for the at least one weed whether removing the at least one weed by the at least one weed-removal device is still necessary or whether removing the at least one weed is unnecessary, the removal of the at least one weed by the at least one weed-removal device being unnecessary responsive to determining the at least one weed is going to die from natural weakening due to disease of the at least one weed, and wherein, responsive to determining the at least one weed is healthy, removing the at least one weed that is healthy by the at least one weed-removal device.

2. The system for semi-automatic and/or automatic weed removal according to claim 1, wherein the at least one weed-removal device comprises at least one dispensing nozzle of at least one herbicide for chemical weed removal.

3. The system for semi-automatic and/or automatic weed removal according to claim 1, wherein the at least one weed-removal device comprises at least one mechanical weed-removal device in the form of a gripping device, separating device, pushing device, cutting device, squeezing device, and/or pressing device for mechanical weed removal.

4. The system for semi-automatic and/or automatic weed removal according to claim 1, wherein the at least one weed-removal device comprises at least one heat-generating device and/or optical device for thermal weed removal.

5. The system for semi-automatic and/or automatic weed removal according to claim 4, wherein the at least one heat-generating device and/or optical device comprises a gas burner and/or a laser.

6. The system for semi-automatic and/or automatic weed removal according to claim 1, wherein the at least one weed-removal device comprises at least one compressed air outflow nozzle for pneumatic weed removal.

7. The system for semi-automatic and/or automatic weed removal according to claim 1, wherein the at least one weed-removal device comprises at least one fluid outflow nozzle of at least one pressurized fluid for hydraulic weed removal.

8. The system for semi-automatic and/or automatic weed removal according to claim 7, wherein the at least one pressurized fluid comprises water.

9. The system for semi-automatic and/or automatic weed removal according to claim 1, wherein the at least one weed-removal device comprises at least one electric heat-generating device for electro-thermal weed removal.

10. The system for semi-automatic and/or automatic weed removal according to claim 1, wherein the at least one optical sensor is a digital camera.

11. The system for semi-automatic and/or automatic weed removal according to claim 10, wherein the digital camera is a CCD camera.

12. A vehicle, wherein the system for semi-automatic and/or automatic weed removal according to claim 1 is integrated in said vehicle.

13. The vehicle according to claim 12, wherein the vehicle is an agricultural vehicle.

14. A human-portable and human-actuable weed-removal device, wherein the system for semi-automatic and/or automatic weed removal according to claim 1 is integrated into said human-portable and human-actuable weed-removal device.

15. The system for semi-automatic and/or automatic weed removal according to claim 1, wherein the image data and the weed confirmation data additionally comprise location data.

16. The system for semi-automatic and/or automatic weed removal according to claim 15, wherein the location data comprises GPS data.

Description

BRIEF DESCRIPTION OF THE FIGURES

(1) Further details and advantages of the present invention shall now be explained in more detail by the embodiments in connection with the drawings.

(2) It is shown in

(3) FIG. 1 a schematic representation of a first embodiment of a semi-automatic or automatic weed-removal system according to the invention;

(4) FIG. 2 a schematic representation of a second embodiment of a semi-automatic weed-removal system according to the invention;

(5) FIG. 3 a schematic representation of a third embodiment of a semi-automatic or automatic weed-removal system according to the invention;

(6) FIG. 4 a schematic representation of a fourth embodiment of a semi-automatic or automatic weed-removal system according to the invention;

(7) FIG. 5 a schematic representation of a fifth embodiment of a semi-automatic or automatic weed-removal system according to the invention;

(8) FIG. 6 a schematic representation of a sixth embodiment of a semi-automatic or automatic weed-removal system according to the invention;

(9) FIG. 7 a schematic representation of a seventh embodiment of a semi-automatic or automatic weed-removal system according to the invention; and

(10) FIG. 8 a schematic representation of an eighth embodiment of a semi-automatic or automatic weed-removal system according to the invention.

(11) FIG. 1 shows a schematic representation of a first embodiment of a semi-automatic or automatic weed-removal system 10 according to the invention.

DETAILED DESCRIPTION

(12) The system 10 for semi-automatic or automatic weed removal shown in FIG. 1 comprises a system 12 for automatic weed detection.

(13) The system 12 for automatic weed detection further comprises an optical sensor 14 and a central server unit 16.

(14) The optical sensor 14 is a digital camera 14a, which is formed as a digital CCD camera.

(15) Furthermore, the system 10 for semi-automatic or automatic weed removal comprises a communication network 18 (especially the Internet), an open-loop control or closed-loop control device 20, and a weed-removal device 22.

(16) The weed-removal device 22 can further be positioned within a grid with regard to a reference position of the optical sensor 14.

(17) The weed-removal device 22 can be formed as a chemical, mechanical, thermal, pneumatic, hydraulic or electro-thermal weed-removal device 22, 22a, 22b, 22c, 22d, 22e, 22f in accordance with the weed-removal devices 22a, 22b, 22c, 22d, 22e, 22f as shown in FIGS. 3 to 8. In addition, the optical sensor 14, the server unit 16 and the open-loop control or closed-loop control device 20 are in data connection via the communication network 18.

(18) In addition, the optical sensor 14 or the digital CCD camera 14a generates image data of a weed and transmits it via the communication network 18 to the server unit 16.

(19) The image data also contain GPS data.

(20) The server unit 16 further comprises an automatic image processing unit 28, a weed database unit 30, a weed image database unit 32 and a herbicide database 34.

(21) The server unit 16 further comprises, in addition to a data analysis module 36, a plant disease database unit 38 and a plant pest database unit 40.

(22) All units 28, 30, 32, 34, 36, 38, 40 of the central server unit 16 are also in data connection with each other according to FIG. 1.

(23) The system 10 for semi-automatic or automatic weed removal is integrated into an agricultural vehicle 24 as shown in FIG. 1.

(24) The agricultural vehicle 24 can, for example, be a tractor or a tractor combination.

(25) The tractor combination consists e.g. of the tractor and an attached or fixed attachment (not shown in FIG. 1 in detail).

(26) The function of the semi-automatic or automatic system 10 for weed removal can now be described as follows:

(27) First, image data of one or several weeds are generated by means of the optical sensor 14 or the digital CCD camera 14a and transmitted via the communication network 18 to the server unit 16.

(28) The server unit 16 then analyses the transmitted image data of the weeds in such a way that the respective weed can be determined.

(29) Within the central server unit 16 an analysis of the transmitted image data is therefore carried out by means of the automatic image processing unit 28.

(30) The automatic image detection, which is carried out by means of the automatic image processing unit 28, can orient itself by means of reference points or reference pattern structures of the image information contained in the transmitted images regarding the recorded weed plants.

(31) This analysis serves to match the information on a weed plant contained in the image data with the image data contained in the weed image database unit 32 and to automatically determine the corresponding weed plant in connection with the weed database unit 30.

(32) By means of the data analysis module 36 it is possible, after detection of the weed plant, to automatically provide a suggestion on the basis of the herbicide data contained in the herbicide database unit 34, which suitable herbicide can be used against the previously determined or detected weed.

(33) It is also conceivable, for example, that image data of weed plants, once correctly detected, can also be used, for example that, on the basis of the images transmitted to the central server unit 16, this image information can also be stored in the weed database unit 30.

(34) It is also conceivable that this can only take place after a corresponding confirmation has taken place by a qualified user.

(35) Such a user can be a so-called power user or an employee of the operator who comprises the corresponding knowledge about the weed plants.

(36) On the basis of the transmitted image data of the weed it can be determined additionally by the data analysis module 36 and the plant disease database unit 38 whether and which diseases of the weed are present.

(37) Here, especially on the basis of colour and/or structure or the corresponding changes, it can be detected whether or which weed disease is present. This process is also carried out automatically.

(38) On the basis of the transmitted image data of the weed, which are compared, it is also possible to detect at the same time to what extent plant pests are present.

(39) For this purpose the data stored in the plant pest data base unit 40 is accessed by the data analysis module 36, which is then linked accordingly with the other existing data.

(40) For example, the data contained in the herbicide database unit 34 can be used for herbicides or pesticides accordingly in order to automatically find here a suitable suggestion as well as to which pesticide can be used.

(41) The analysis is based on whether, for example, aphids, beetles, fleas, insects or corresponding feeding patterns can be detected on the transmitted images.

(42) In connection with occurring weed diseases or its infestation by plant pests, it may be possible to link the corresponding location data or GPS data with information concerning weed diseases or the occurrence of plant pests.

(43) From the information concerning the location and occurrence of weed diseases and pests, the System 10, 100 can detect where they occur and transmit this information.

(44) Thus, the system 10 further can automatically decide whether weed removal by the weed-removal device 22 is still necessary due to disease or pest infestation, or whether the weed would die anyway due to this natural weakening and thus would make their removal unnecessary.

(45) In this way, the use of plant protection products can also be significantly reduced or the service life of the weed-removal system 22 can be significantly increased.

(46) However, if the weed clearly determined by the central server unit 16 is healthy or do not show any pest infestation and should therefore be removed by the weed-removal device 22, the server unit 16 proceeds automatically as follows:

(47) In the case of an unambiguous determination of the weed, weed confirmation data are transmitted by means of the server unit 16 via the communication network 18 to the open-loop control or closed-loop control device 20.

(48) The weed confirmation data can also include GPS data, which makes the open-loop control or closed-loop control of the weed-removal device 22 more precise.

(49) The open-loop control or closed-loop control device 20 then controls or regulates the weed-removal device 22 in response to this weed confirmation data so that the weed detected by the optical sensor 14 can be removed.

(50) This case occurs especially if the system 10 is a system 10 automatic weed removal, because the weed-removal device 22 can then automatically remove the weed determined accordingly.

(51) FIG. 2 shows a schematic representation of a second embodiment of a semi-automatic system 100 for weed removal according to the invention.

(52) The second embodiment of this inventive system 100 as shown in FIG. 2 comprises essentially the same structural and functional features as the first embodiment of the semi-automatic or automatic weed-removal system 10 as shown in FIG. 1.

(53) Only the following structural differences in features shall be shown:

(54) System 100 is a semi-automatic weed-removal system 100 and is integrated into a human-portable and human-actuable weed-removal device 26.

(55) Such a device 26 can be, for example, a brush cutter, a brush saw, a gas burner or a pressure sprayer for herbicides.

(56) In addition, the following functional differences in features shall be shown in relation to the first embodiment of the semi-automatic or automatic weed-removal system 10 as shown in FIG. 1:

(57) In the case of integration of this system 100 in the human-portable and human-actuable weed-removal device 26, the open-loop control or closed-loop control device 20 controls or regulates, in response to the weed confirmation data, e.g. a graphic display device on which the weed confirmation data is visible to a user.

(58) As a result of this supporting visual weed confirmation data the user can then remove the corresponding weeds automatically determined by the server unit 16 by means of the weed-removal device 22.

(59) In addition, it is conceivable that through the user's approval of the weed confirmation data (e.g. by actuating an electrical switch) a corresponding approval signal is transmitted to the open-loop control or closed-loop control device 20, whereupon the weed-removal device 22 carries out the weed removal automatically.

(60) FIG. 3 shows a schematic representation of a third embodiment of a semi-automatic or automatic system 200 for weed removal according to the invention.

(61) The third embodiment of this inventive system 200 shown in FIG. 3 comprises essentially the same structural and functional features as the first or second embodiment of the semi-automatic or automatic weed-removal system 10, 100 as shown in FIG. 1 or FIG. 2.

(62) Only the following structural and functional differences in features should be shown:

(63) The weed-removal device 22 comprises, as shown in FIG. 3, an outflow nozzle 22a of a herbicide for chemical weed removal.

(64) The necessary components such as pump, tanks, valves and lines for the dispensing of the pressurized herbicide via the outflow nozzle 22a are also integrated in the System 200.

(65) FIG. 4 shows a schematic representation of a fourth embodiment of an inventive semi-automatic or automatic System 300 for weed removal.

(66) The fourth embodiment of this inventive system 300 shown in FIG. 4 comprises essentially the same structural and functional features as the first or second embodiment of the semi-automatic or automatic weed-removal system 10, 100 as shown in FIG. 1 or FIG. 2.

(67) Only the following structural and functional differences in the features should to be shown:

(68) The weed-removal device 22 comprises a mechanical weed-removal device 22b.

(69) The mechanical weed-removal device 22b is designed in the form of a gripping device, separating device, pushing device, cutting device, squeezing device or pressing device for mechanical weed removal.

(70) FIG. 5 shows a schematic representation of a fifth embodiment of an inventive semi-automatic or automatic system 400 for weed removal.

(71) The fifth embodiment of this inventive system 400 shown in FIG. 5 comprises essentially the same structural and functional features as the first or second embodiment of the semi-automatic or automatic weed-removal system 10, 100 as shown in FIG. 1 or FIG. 2.

(72) Only the following structural and functional differences in features should be shown:

(73) The weed-removal device 22 comprises a gas burner 22c for thermal weed removal.

(74) In this context it is also conceivable to use (at least) one laser instead of a gas burner. The laser can also be added to other methods.

(75) The necessary components such as gas bottle, valves and lines for dispensing of the pressurized gas by means of the gas burner 22c are also integrated into the System 400.

(76) FIG. 6 shows a schematic representation of a sixth embodiment of an inventive semi-automatic or automatic system 500 for weed removal.

(77) The sixth embodiment of this inventive system 500 shown in FIG. 6 comprises essentially the same structural and functional features as the first or second embodiment of the semi-automatic or automatic weed-removal system 10, 100 as shown in FIG. 1 or FIG. 2.

(78) Only the following structural and functional differences in features should be shown:

(79) The weed-removal device 22 comprises a compressed air outflow nozzle 22d for pneumatic weed removal.

(80) The necessary components such as the air compressor, air reservoir, valves and lines for dispensing of the compressed air via the compressed air outflow nozzle 22d are also integrated in the System 500.

(81) FIG. 7 shows a schematic representation of a seventh embodiment of an inventive semi-automatic or automatic System 600 for weed removal.

(82) The seventh embodiment of this inventive system 600 shown in FIG. 7 comprises essentially the same structural and functional features as the first or second embodiment of the semi-automatic or automatic weed-removal system 10, 100 as shown in FIG. 1 or FIG. 2.

(83) Only the following structural and functional differences in features should be shown:

(84) The weed-removal device 22 comprises a fluid outflow nozzle 22e for pressurized water for hydraulic weed removal.

(85) The necessary components such as water pump, water tank, valves and lines for dispensing of the pressurized water via the fluid outflow nozzle 22e are also integrated in the System 600.

(86) FIG. 8 shows a schematic representation of an eighth embodiment of an inventive semi-automatic or automatic system 700 for weed removal.

(87) The eighth embodiment of this inventive system 700 shown in FIG. 8 comprises essentially the same structural and functional features as the first or second embodiment of the semi-automatic or automatic weed-removal system 10, 100 as shown in FIG. 1 or FIG. 2.

(88) Only the following structural and functional differences in features should be shown:

(89) The weed-removal device 22 further comprises an electric heat generating device 22f for electro-thermal weed removal.

(90) The necessary electrical components such as power supply, transformer, switching and control equipment and electrical lines for heating the electrical heat generating device 22f are also integrated into the system 700.

REFERENCE SIGNS

(91) 10 system for semi-automatic or automatic weed removal

(92) 12 system for automatic weed detection

(93) 14 optical sensor

(94) 14a digital CCD camera

(95) 16 central server unit

(96) 18 communication network

(97) 20 open-loop control or closed-loop control device

(98) 22 weed-removal device

(99) 22a herbicide dispensing nozzle

(100) 22b mechanical weed-removal device

(101) 22c heat generating device

(102) 22d compressed air outflow nozzle

(103) 22e fluid outflow nozzle

(104) 22f electrical heat generating device

(105) 24 agricultural vehicle

(106) 26 human-portable and human-actuable weed-removal device

(107) 28 image processing unit

(108) 30 weed database unit

(109) 32 weed image database unit

(110) 34 herbicide database

(111) 36 data analysis module

(112) 38 plant disease database unit

(113) 40 plant pest database unit

(114) 100 system for semi-automatic or automatic weed removal

(115) 200 system for semi-automatic or automatic weed removal

(116) 300 system for semi-automatic or automatic weed removal

(117) 400 system for semi-automatic or automatic weed removal

(118) 500 system for semi-automatic or automatic weed removal

(119) 600 system for semi-automatic or automatic weed removal

(120) 700 system for semi-automatic or automatic weed removal