Weed control device

Abstract

A device for damaging weed is provided, the device having a working tool, which is designed to damage the weed; a classification unit, which has positional data of the weed and/or which is designed to detect weeds; a localization unit, which is designed to ascertain a relative position between the working tool and the weed; and a manipulator unit, which is designed to correspondingly position the working tool as a function of the ascertained relative position.

Claims

1. A device for damaging weeds, comprising: a working tool designed to damage the weed; a classification unit at least one of: (i) having positional data of the weed, and (ii) being designed to detect the weed; a localization unit designed to ascertain a relative position between the working tool and the weed; and a manipulator unit designed to correspondingly position the working tool as a function of the ascertained relative position; wherein the working tool is configured to exert a pulse-type pressure in order to damage the weed, and wherein the working tool is a mechanical stamp.

2. The device as recited in claim 1, wherein the classification unit at least one of: (i) has the positional data of the weed in the form of a map, and (ii) detects the weed with the aid of at least one of a camera unit and a laser unit.

3. The device as recited in claim 1, wherein the localization unit ascertains the relative position between the working tool and the weed with the aid of at least one of a camera unit and a laser unit.

4. The device as recited in claim 1, wherein the localization unit is disposed on the manipulator unit next to the working tool.

5. The device as recited in claim 1, wherein the manipulator unit has at least two manipulators each having at least one working tool.

6. The device as recited in claim 5, wherein the at least two manipulators are developed to actuate the working tools independently of one another and to move them within defined working areas.

7. The device as recited in claim 6, wherein the work areas of the working tools extend parallel to one another.

8. The device as recited in claim 7, wherein the working areas of the working tools extend at least one of next to one another and at an offset from one another in a driving direction of the device.

9. The device as recited in claim 1, wherein the mechanical stamp is configured to mechanically press the weed into the ground.

10. The device as recited in claim 1, wherein the manipulator is configured to move the mechanical stamp in all three spatial dimensions.

11. A method for damaging weed, the method comprising: providing a working tool, the working tool includes a mechanical stamp; ascertaining a position of a weed the aid of a classification unit, which at least one of: (i) has positional data of the weed in the form of a map, and (ii) detects the weed with the aid of at least one of a camera unit and a laser unit; ascertaining a relative position between the working tool and the weed with the aid of a localization unit which includes a camera unit; positioning the working tool as a function of the ascertained relative position with the aid of a manipulator unit; and damaging the weed using pulse-type application of pressure by the mechanical stamp to the weed.

12. The method as recited in claim 11, wherein the damaging the weed step includes the stamp mechanically pressing the weed into the ground.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) Below, the present invention will be described in greater detail by way of example on the basis of the figures.

(2) FIG. 1 shows a schematized illustration of a device for damaging weeds according to the present invention.

(3) FIG. 2 shows a schematized plan view of the device according to the present invention with working tools.

(4) FIG. 3 shows a schematized plan view of the device according to the present invention with working tools connected in series.

(5) FIG. 4 shows a schematized plan view of the device according to the present invention with working tools that are connected in parallel and in series one after the other.

(6) FIG. 5 shows a schematized plan view of the device according to the present invention for specific plant rows to be worked on.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

(7) In the following description of preferred exemplary embodiments of the present invention, identical or similar reference numerals are used for the elements that have a similar effect and are shown in the various figures, and a repeated description of the elements is omitted.

(8) FIG. 1 shows a weed-control device according to the present invention, which has been assigned the reference numeral 10 as a whole.

(9) The weed-control device is developed as a mobile platform. For this purpose, weed-control device 10 is equipped with a drive unit 12 that includes wheels 14.

(10) According to the present invention, weed-control device 12 includes a working tool 16, which is disposed on a manipulator 18 of a manipulator unit 20. In the present invention, weed-control device 10 furthermore has a classification unit 23 and a localization unit 24. In the illustrated exemplary embodiment, classification unit 22 and localization unit 24 are separate units, but it is by all means possible that both jointly form one unit (22, 24). In the illustrated exemplary embodiment, classification unit 22 is developed as an imaging system in the form of a camera.

(11) Localization unit 24 is implemented as a visual servoing camera and disposed on a lower manipulator section 26 next to working tool 16. In other words, visual servoing camera 24 hovers above ground 28, where it ascertains the relative positions with respect to working tool 16 in the immediate vicinity of the weed to be worked on.

(12) As may furthermore be gathered from FIG. 1, manipulator unit 20 also includes a positioning unit 30, which actuates manipulator 18. Positioning unit 30 will be described in greater detail in the following text with the aid of FIGS. 2 through 5.

(13) In order to ensure an early detection of the weed, classification unit 22 is disposed in frontal region 34 in driving direction 32 of weed-control device 10. As mentioned at the outset, the classification unit may also be entirely dispensed with and a map that includes the positional data of the weed may be provided in its stead.

(14) In addition, weed-control device 10 includes a control unit 36. Control unit 36 receives the data from classification unit 22 or holds the positional data of the weed in readiness, e.g., in the form of a map and/or by receiving the positional data with the aid of a receive unit. In addition, control unit 36 receives the data type of localization unit 24 and thereby ascertains the precise relative position between the working tool and the weed.

(15) Due to the received control unit 36 accordingly manipulator unit 20 or manipulator 18, so that working tool 16 is able to be brought into a corresponding position in order to damage or destroy the weeds through an application of pressure, preferably using pulse-type triggering.

(16) FIGS. 2 through 5 show different developments or setups of the manipulator unit and the corresponding manipulators. In this instance, three separate manipulators 18 are provided, each having a separate working tool 16. Manipulators 18 are able to be actuated independently of each other and have the capability of moving the working tool inside an entire working area 38 within defined working areas (38.1, 38.2, 38.3).

(17) FIG. 2 shows a parallel connection of the working tools. In other words, working areas 38.1, 38.2, 38.3 are disposed parallel to one another and next to one another in driving direction 32 of weed-control device 10. As a result, each working tool 16 has to travel only relatively short distances so that less time is lost to the positioning.

(18) FIG. 3 shows a series connection of working tools 16. In this instance, each working tool 16 once again has its own working area 38.1, 38.2, 38.3, these working areas being disposed in parallel again; however, in contrast to the specific embodiment shown in FIG. 2, they are situated one after the other in driving direction 32 of weed-control device 10. In this specific embodiment, each working tool 16 is able to pass through entire working area 38, and with the aid of intelligent work and/or driving schedules of control unit 36, it is possible to determine which particular working tool will be used for which plants, so that the driving speed, and thus the working speed, is able to be increased for weed-control device 10.

(19) In the exemplary embodiment of weed-control device 10 shown in FIG. 4, working areas 38.1, 38.2, 38.3 of working tools 16 are disposed next to one another and at an offset to one another in driving direction 32 of weed-control device 10. Once again, each working tool 10 has its dedicated work area, and here, too, the working speed is able to be increased on account of relatively short driving distances.

(20) FIG. 5 shows a weed-control device 10 having working tools 16, which have working areas 38.1, 38.2, 38.3 that are spaced apart from one another. Although the working areas are disposed in parallel and next to each other in driving direction 32 of weed-control device 10, as in the specific embodiment shown in FIG. 2, an intentional gap has been provided between working areas 38.1, 38.2, 38.3 in which no weed control has to take place, so that the travel distances of working tools 16 are able to be shortened even more.