Abstract

A plant treatment system comprises a spray boom capable of moving over an area to be treated, the boom being provided with a plurality of spray nozzles distributed over the boom and supplied by a spray control device, a set of cameras capable of taking images of an area to be treated, and a digital processing device capable of analyzing the images taken by the camera, identifying plants to be treated, and applying instructions to the spray control device in view of spraying locally, and at times determined depending on the displacement of the boom, a nominal product dose on the plants to be treated. A plant treatment system comprises a spray boom capable of moving over an area to be treated, the boom being provided with a plurality of spray nozzles distributed over the boom and supplied by a spray control device, a set of cameras capable of taking images of an area to be treated, and a digital processing device capable of analyzing the images taken by the camera, identifying plants to be treated, and applying instructions to the spray control device in view of spraying locally, and at times determined depending on the displacement of the boom, a nominal product dose on the plants to be treated. According to the invention, the system further comprises an error detection device capable of providing an error signal to the spray control device in case of an error, the spray control device being configured to apply by means of a plurality of nozzles, in downgraded mode, a generally uniform dose of a product to at least part of the area to be treated. A plant treatment system comprises a spray boom capable of moving over an area to be treated, the boom being provided with a plurality of spray nozzles distributed over the boom and supplied by a spray control device, a set of cameras capable of taking images of an area to be treated, and a digital processing device capable of analyzing the images taken by the camera, identifying plants to be treated, and applying instructions to the spray control device in view of spraying locally, and at times determined depending on the displacement of the boom, a nominal product dose on the plants to be treated. According to the invention, the system further comprises an error detection device capable of providing an error signal to the spray control device in case of an error, the spray control device being configured to apply by means of a plurality of nozzles, in downgraded mode, a generally uniform dose of a product to at least part of the area to be treated. For use in cultivated or non-cultivated spaces.

IPC Classes  ?

• A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
• A01C 23/00 - Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
• A01C 23/04 - Distributing under pressureDistributing mudAdaptation of watering systems for fertilising-liquids
• A01M 21/04 - Apparatus for destruction by steam, chemicals, burning, or electricity
• B05B 1/20 - Perforated pipes or troughs, e.g. spray boomsOutlet elements therefor
• B05B 12/04 - Arrangements for controlling deliveryArrangements for controlling the spray area for controlling time, or sequence, of delivery for sequential operation or multiple outlets
• B05B 12/12 - Arrangements for controlling deliveryArrangements for controlling the spray area responsive to condition of liquid or other fluent material discharged, of ambient medium or of target responsive to conditions of ambient medium or target, e.g. humidity, temperature

Abstract

A system for treating plants includes a spray boom provided with a plurality of spray nozzles distributed over the boom and fed by a spray control device, a set of cameras capable of taking images of an area to be treated, and a digital processing device capable of analyzing the images taken by the camera, identifying plants to be treated, and applying instructions to the spray control device in view of spraying at least one product onto plants to be treated, A system for treating plants includes a spray boom provided with a plurality of spray nozzles distributed over the boom and fed by a spray control device, a set of cameras capable of taking images of an area to be treated, and a digital processing device capable of analyzing the images taken by the camera, identifying plants to be treated, and applying instructions to the spray control device in view of spraying at least one product onto plants to be treated, According to the invention, the spray nozzles and the spray control device are configured to apply a generally uniform dose of a product to the area to be treated, independently of the identification of the plants to be treated in the images, and to apply locally a complementary dose of a product to plants to be treated identified by the digital processing device. A system for treating plants includes a spray boom provided with a plurality of spray nozzles distributed over the boom and fed by a spray control device, a set of cameras capable of taking images of an area to be treated, and a digital processing device capable of analyzing the images taken by the camera, identifying plants to be treated, and applying instructions to the spray control device in view of spraying at least one product onto plants to be treated, According to the invention, the spray nozzles and the spray control device are configured to apply a generally uniform dose of a product to the area to be treated, independently of the identification of the plants to be treated in the images, and to apply locally a complementary dose of a product to plants to be treated identified by the digital processing device. To be used in particular in agriculture or in the treatment of non-cultivated spaces.

IPC Classes  ?

• A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass

Abstract

A system for treating plants, in particular in agriculture, comprising a spray boom (RP) provided with a plurality of spray nozzles (BPi) supplied by a spray control device, and comprising a set of cameras (CAk) capable of capturing images of an area to be treated, a digital processing device capable of analyzing the images captured by the camera, identifying plants to be treated and applying commands to the spray control device with a view to selectively spraying a product on plants to be treated, each camera (CAk) being capable of capturing images of the crop area. A system for treating plants, in particular in agriculture, comprising a spray boom (RP) provided with a plurality of spray nozzles (BPi) supplied by a spray control device, and comprising a set of cameras (CAk) capable of capturing images of an area to be treated, a digital processing device capable of analyzing the images captured by the camera, identifying plants to be treated and applying commands to the spray control device with a view to selectively spraying a product on plants to be treated, each camera (CAk) being capable of capturing images of the crop area. According to the invention, the system comprises a memory in which mapping data relating to mapping between a camera reference system and a spraying reference system are stored, and the digital processing circuit is capable, on the basis of said mapping data, of applying, to the images captured by each camera (CAk), subdivision data (Gk) for subdividing the image into cells corresponding to spray areas on the ground that are to be sprayed by respective spray nozzles, in order to thereby directly determine, from said subdivision data, at least one nozzle to be activated and its activation time when a plant to be treated is identified in a given cell of the image.

IPC Classes  ?

• A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
• G05B 19/4155 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme

Abstract

A sorting device for sorting agricultural products coming from a bulk flow and a corresponding method are described. A sorting device includes an image acquisition unit; an image processing unit configured to identify and analyze each product in the bulk flow; a decision unit configured to determine the products to be separated; a separation unit arranged to separate at least some of the products coming from the bulk flow; and a unit for conveying the agricultural products in the form of bulk flow. The sorting device may further include means for turning over the agricultural products on themselves, mounted in the conveying unit facing the image acquisition unit, and configured to allow an exposure to the image acquisition unit, of the different parts of the conveyed agricultural products.

IPC Classes  ?

• B07C 5/342 - Sorting according to other particular properties according to optical properties, e.g. colour
• B07C 5/36 - Sorting apparatus characterised by the means used for distribution

Abstract

Disclosed is a plant treatment system that includes a spray boom (10, 100) provided with a plurality of spray nozzles (110a, 110b) distributed over the boom (10, 100) and supplied by a spray controller (120), an image capture system comprising at least one camera (210) capable of taking images of a zone to be treated, and a digital processing device (220) capable of analyzing the images taken by said camera or cameras (210), identifying plants to be treated and applying instructions to the spray control device with a view to spraying at least one product onto plants to be treated. According to the invention, the spray nozzles (110a, 110b) and the spray control device (120) are configured to apply a generally uniform dose of a product to the zone to be treated, independently of the identification of plants to be treated in the images, and to apply locally a complementary dose of a product to plants to be treated identified by the digital processing device. The invention is intended to be used in particular in agriculture or in the treatment of non-cultivated spaces.

IPC Classes  ?

• A01C 21/00 - Methods of fertilising
• A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
• A01M 21/04 - Apparatus for destruction by steam, chemicals, burning, or electricity
• B05B 1/20 - Perforated pipes or troughs, e.g. spray boomsOutlet elements therefor
• B05B 12/12 - Arrangements for controlling deliveryArrangements for controlling the spray area responsive to condition of liquid or other fluent material discharged, of ambient medium or of target responsive to conditions of ambient medium or target, e.g. humidity, temperature

Abstract

Disclosed is a plant treatment system that includes a spray boom (10) capable of moving over a zone to be treated, the boom being provided with a plurality of spray nozzles (110a, 110b) distributed over the boom (10) and supplied by a spray controller (120), a set of cameras (210) capable of taking images of a zone to be treated, and a digital processing device (220) capable of analyzing the images taken by the cameras, identifying plants to be treated and applying instructions to the spray control device with a view to spraying, locally and at times determined according to the movement of the boom, a nominal dose of product on plants to be treated. According to the invention, the system further comprises a fault detection device (300) capable, in the event of a fault, of delivering a fault signal to the spray control device, the spray control device being configured then to apply a generally uniform dose of a product to at least a portion of the zone to be treated using a plurality of nozzles (110a, 110b) in a downgraded mode. The invention is applicable to cultivated or uncultivated spaces.

IPC Classes  ?

• A01C 23/00 - Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
• A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
• B05B 1/20 - Perforated pipes or troughs, e.g. spray boomsOutlet elements therefor

Abstract

Disclosed is a plant treatment system that includes a spray boom (10, 100) provided with a plurality of spray nozzles (110a, 110b) distributed over the boom (10, 100) and supplied by a spray controller (120), an image capture system comprising at least one camera (210) capable of taking images of a zone to be treated, and a digital processing device (220) capable of analyzing the images taken by said camera or cameras (210), identifying plants to be treated and applying instructions to the spray control device with a view to spraying at least one product onto plants to be treated. According to the invention, the spray nozzles (110a, 110b) and the spray control device (120) are configured to apply a generally uniform dose of a product to the zone to be treated, independently of the identification of plants to be treated in the images, and to apply locally a complementary dose of a product to plants to be treated identified by the digital processing device. The invention is intended to be used in particular in agriculture or in the treatment of non-cultivated spaces.

IPC Classes  ?

• A01C 21/00 - Methods of fertilising
• A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
• A01M 21/04 - Apparatus for destruction by steam, chemicals, burning, or electricity
• B05B 1/20 - Perforated pipes or troughs, e.g. spray boomsOutlet elements therefor
• B05B 12/12 - Arrangements for controlling deliveryArrangements for controlling the spray area responsive to condition of liquid or other fluent material discharged, of ambient medium or of target responsive to conditions of ambient medium or target, e.g. humidity, temperature
• G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints

Abstract

Disclosed is a plant treatment system that includes a spray boom (10) capable of moving over a zone to be treated, the boom being provided with a plurality of spray nozzles (110a, 110b) distributed over the boom (10) and supplied by a spray controller (120), a set of cameras (210) capable of taking images of a zone to be treated, and a digital processing device (220) capable of analyzing the images taken by the cameras, identifying plants to be treated and applying instructions to the spray control device with a view to spraying, locally and at times determined according to the movement of the boom, a nominal dose of product on plants to be treated. According to the invention, the system further comprises a fault detection device (300) capable, in the event of a fault, of delivering a fault signal to the spray control device, the spray control device being configured then to apply a generally uniform dose of a product to at least a portion of the zone to be treated using a plurality of nozzles (110a, 110b) in a downgraded mode. The invention is applicable to cultivated or uncultivated spaces.

IPC Classes  ?

• A01C 23/00 - Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
• A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
• B05B 1/20 - Perforated pipes or troughs, e.g. spray boomsOutlet elements therefor
• G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints

Abstract

A system for treating plants for use in agriculture, comprising a spray boom provided with a plurality of spray nozzles supplied by a spray control device, the apparatus comprising a set of cameras capable of capturing images of a crop area, a digital processing device capable of analyzing the images captured by the camera, identifying plants to be treated and sending commands to the spray control device with a view to selectively spraying a product on plants to be treated, the apparatus also comprising an arrangement for lighting the crop area captured by the cameras. According to the invention, the lighting arrangement comprises a plurality of projectors distributed along the boom and having fields of illumination such that each point of a scene captured by a camera receives light from at least two projectors in at least two different orientations in a plane passing through the point and the projectors in question.

IPC Classes  ?

• A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
• A01C 23/00 - Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
• B05B 12/16 - Arrangements for controlling deliveryArrangements for controlling the spray area for controlling the spray area
• G03B 15/02 - Illuminating scene
• G06V 10/145 - Illumination specially adapted for pattern recognition, e.g. using gratings

Abstract

A weeding system for an agricultural weeding vehicle including at least one camera for mounting on an agricultural vehicle to acquire an image of a portion of a field while the agricultural vehicle is moving. The system also includes a spraying unit to be mounted on the agricultural vehicle, a control unit to receive images from the camera, generate a weed species detection signal and selectively cause the spraying of a chemical agent by the spraying unit on the basis of the weed species detection signal. The control unit executes a training-based algorithm based on a set of reference images labeled to indicate the presence or not of at least one weed species in the images.

IPC Classes  ?

• A01M 21/04 - Apparatus for destruction by steam, chemicals, burning, or electricity
• G06F 18/214 - Generating training patternsBootstrap methods, e.g. bagging or boosting
• G06T 7/00 - Image analysis
• G06T 7/70 - Determining position or orientation of objects or cameras
• G06V 20/10 - Terrestrial scenes
• G06V 20/56 - Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle

Abstract

A weeding system for a railway weeding vehicle including at least one camera for mounting on a railway vehicle to acquire an image of a portion of a railway track while the railway vehicle is moving. The system also includes a spraying unit to be mounted on the railway vehicle, a control unit to receive images from the camera, generate a weed species detection signal and selectively cause the spraying of a chemical agent on the basis of the weed species detection signal. The control unit executes a training-based algorithm based on a set of reference images labeled to indicate the presence or not of at least one weed species in the images.

IPC Classes  ?

• G06K 9/62 - Methods or arrangements for recognition using electronic means
• B61L 23/04 - Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
• E01H 11/00 - Control of undesirable vegetation on roads or permanent ways of railwaysApplying liquids, e.g. water, weed-killer, bitumen, to permanent ways
• G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
• G06N 20/00 - Machine learning

Abstract

A system for treating plants in particular in agriculture comprises a spray boom (RP) provided with a plurality of spray nozzles (BPi) supplied by a spray control device, and also comprises a set of cameras (CAk) capable of capturing images of an area to be treated, and a digital processing device capable of analyzing the images captured by the camera, identifying plants to be treated and applying commands to the spray control device with a view to selectively spraying a product on plants to be treated, each camera (CAk) being capable of capturing images of the crop area. According to the invention, the system comprises a memory in which correspondence data between a camera data repository and a spray data repository is stored, and the digital processing circuit is capable, on the basis of said correspondence data, of applying, to the images captured by each camera (CAk), subdivision data (Gk) for subdividing the image into cells corresponding to spray areas on the ground that are to be sprayed by respective spray nozzles, to thereby directly determine, from said subdivision data, at least one nozzle to be activated and its activation time when a plant to be treated is identified in a given cell of the image.

IPC Classes  ?

• A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass

Abstract

The invention concerns a sorting device (1) for sorting agricultural products (P) originating from a bulk flow, comprising: - an image acquisition unit (6), - an image processing unit (8) configured to identify and analyse each product (P) in the bulk flow, - a decision unit (10) configured to determine the products to be separated, - a separation unit (4) designed to separate at least some of the products originating from the bulk flow, and - a unit (2) for conveying agricultural products (P) in the form of a bulk flow. The sorting device (1) also comprises a means (18) for turning over the agricultural products (P) on themselves, mounted in the conveying unit (2) opposite the image acquisition unit (6), and configured to allow an exposure to the image acquisition unit (6) of different parts of the conveyed agricultural products (P). The invention further relates to the corresponding sorting method.

IPC Classes  ?

• B07C 5/342 - Sorting according to other particular properties according to optical properties, e.g. colour

Abstract

The invention concerns a sorting device (1) for sorting agricultural products (P) originating from a bulk flow, comprising: - an image acquisition unit (6), - an image processing unit (8) configured to identify and analyse each product (P) in the bulk flow, - a decision unit (10) configured to determine the products to be separated, - a separation unit (4) designed to separate at least some of the products originating from the bulk flow, and - a unit (2) for conveying agricultural products (P) in the form of a bulk flow. The sorting device (1) also comprises a means (18) for turning over the agricultural products (P) on themselves, mounted in the conveying unit (2) opposite the image acquisition unit (6), and configured to allow an exposure to the image acquisition unit (6) of different parts of the conveyed agricultural products (P). The invention further relates to the corresponding sorting method.

IPC Classes  ?

• B07C 5/342 - Sorting according to other particular properties according to optical properties, e.g. colour

Abstract

A system for treating plants for use in agriculture, comprising a spray boom provided with a plurality of spray nozzles supplied by a spray control device, the apparatus comprising a set of cameras capable of capturing images of a crop area, a digital processing device capable of analysing the images captured by the camera, identifying plants to be treated and sending commands to the spray control device with a view to selectively spraying a product on plants to be treated, the apparatus also comprising an arrangement for lighting the crop area captured by the cameras. According to the invention, the lighting arrangement comprises a plurality of projectors distributed along the ramp and having fields of illumination such that each point of a scene captured by a camera receives light from at least two projectors in at least two different orientations in a plane passing through the point and the projectors in question.

IPC Classes  ?

• A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
• A01B 79/00 - Methods for working soil
• A01M 9/00 - Special adaptations or arrangements of powder-spraying apparatus for purposes covered by this subclass
• A01M 21/04 - Apparatus for destruction by steam, chemicals, burning, or electricity

Abstract

A system for treating plants for use in agriculture, comprising a spray boom provided with a plurality of spray nozzles supplied by a spray control device, the apparatus comprising a set of cameras capable of capturing images of a crop area, a digital processing device capable of analysing the images captured by the camera, identifying plants to be treated and sending commands to the spray control device with a view to selectively spraying a product on plants to be treated, the apparatus also comprising an arrangement for lighting the crop area captured by the cameras. According to the invention, the lighting arrangement comprises a plurality of projectors distributed along the ramp and having fields of illumination such that each point of a scene captured by a camera receives light from at least two projectors in at least two different orientations in a plane passing through the point and the projectors in question.

IPC Classes  ?

• A01B 79/00 - Methods for working soil
• A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
• A01M 9/00 - Special adaptations or arrangements of powder-spraying apparatus for purposes covered by this subclass
• A01M 21/04 - Apparatus for destruction by steam, chemicals, burning, or electricity

Abstract

A weed control system (2) for an agricultural sprayer (1) comprising a camera (3) and a spraying unit (4) with several supply modules, a nozzle (9) and a controller module to receive a weed species detection signal and to control the spraying of chemical agent. The weed control system (2) also comprises a weed species identification unit (5) with a communication module, a memory module and a processing module having several parallel processing cores. Each parallel processing core performs a convolution operation between a sub-matrix constructed from nearby pixels of the image and a predefined kernel stored in the memory module to obtain a feature representation sub-matrix of the pixel values of the image. The processing module computes a probability of presence of a weed species from the feature representation matrix and generates a weed species detection signal.

IPC Classes  ?

• B05B 12/12 - Arrangements for controlling deliveryArrangements for controlling the spray area responsive to condition of liquid or other fluent material discharged, of ambient medium or of target responsive to conditions of ambient medium or target, e.g. humidity, temperature
• G06T 7/70 - Determining position or orientation of objects or cameras
• A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
• G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
• G06K 9/62 - Methods or arrangements for recognition using electronic means
• G06K 9/78 - Combination of image acquisition and recognition functions
• H04N 5/225 - Television cameras

Abstract

A weeding system for a railway weeding vehicle comprises: * at least one camera adapted to be mounted on a railway vehicle to acquire an image of a portion of a railway track while said railway vehicle is travelling on a train track, said image comprising a matrix of pixel values, * a spraying unit adapted to be mounted on said railway vehicle, * a control unit adapted to receive images from said camera, generate a weed species detection signal and selectively cause the spraying of a chemical agent by the spraying unit on the basis of said weed species detection signal. The control unit is adapted to execute in a running mode a training-based algorithm, the training being based on a set of reference images labeled so as to indicate the effective presence or not of at least one weed species in said images, Each of said reference images comprises a pair of a so-called nighttime image and a so-called daytime image of the same scene. Said labeling is performed on the daytime images and applied to the corresponding nighttime images. The training is based on the labeled nighttime images. In the running mode, the algorithm receives nighttime real images.

IPC Classes  ?

• B61L 23/04 - Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
• E01H 11/00 - Control of undesirable vegetation on roads or permanent ways of railwaysApplying liquids, e.g. water, weed-killer, bitumen, to permanent ways

Abstract

A weeding system for an agricultural weeding vehicle comprises: * at least one camera adapted to be mounted on an agricultural vehicle to acquire an image of a portion of a field while said agricultural vehicle is travelling in said field, said image comprising a matrix of pixel values, * a spraying unit adapted to be mounted on said agricultural vehicle, * a control unit adapted to receive images from said camera, generate a weed species detection signal and selectively cause the spraying of a chemical agent by the spraying unit on the basis of said weed species detection signal. The control unit is adapted to execute in a running mode a training- based algorithm, the training being based on a set of reference images labeled so as to indicate the effective presence or not of at least one weed species in said images, Each of said reference images comprises a pair of a so-called nighttime image and a so-called daytime image of the same scene. Said labeling is performed on the daytime images and applied to the corresponding nighttime images. The training is based on the labeled nighttime images. In the running mode, the algorithm receives nighttime real images.

IPC Classes  ?

• G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints

Abstract

determining information on the position of the target plant (15) in the image (51); on the basis of distance information between the camera (42) in question and the ground, of the orientation of its viewing axis, of a speed of advance of the agricultural machine and of said information on the position of said target plant (15) in the image (51), selecting at least one nozzle (34) to be activated to spray the target plant (15) with the agricultural product (26); determining an activation time of the or each selected nozzle; and transmitting an activation command to the or each nozzle (34) to trigger the spraying of said target plant (15).

IPC Classes  ?

• A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
• A01M 9/00 - Special adaptations or arrangements of powder-spraying apparatus for purposes covered by this subclass
• G06K 9/62 - Methods or arrangements for recognition using electronic means
• G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
• G06K 9/78 - Combination of image acquisition and recognition functions
• G06T 7/00 - Image analysis

Abstract

A weeding system for a railway weeding vehicle comprising a camera and a spraying unit with several supply modules, a nozzle and a controller module to receive a weed species detection signal and to command the spraying of chemical agent. The weeding system also comprises a weed species identification unit with a communication module, a memory module and a processing module having several parallel processing cores. Each parallel processing core performs a convolution operation between a sub-matrix constructed from nearby pixels of the image and a predefined kernel stored in the memory module to obtain a feature representation sub-matrix of the pixel values of the image. The processing module computes a probability of presence of a weed species from the feature representation matrix and generates a weed species detection signal.

IPC Classes  ?

• E01H 11/00 - Control of undesirable vegetation on roads or permanent ways of railwaysApplying liquids, e.g. water, weed-killer, bitumen, to permanent ways
• B05B 12/12 - Arrangements for controlling deliveryArrangements for controlling the spray area responsive to condition of liquid or other fluent material discharged, of ambient medium or of target responsive to conditions of ambient medium or target, e.g. humidity, temperature
• B05B 13/00 - Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups
• G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
• G06K 9/62 - Methods or arrangements for recognition using electronic means
• G06T 1/20 - Processor architecturesProcessor configuration, e.g. pipelining
• G06K 9/78 - Combination of image acquisition and recognition functions
• H04N 5/225 - Television cameras

Abstract

A control system for agricultural spraying is especially intended to be connected to an agricultural machine comprising a spraying ramp and having at least one spraying nozzle selectively activatable to spray an agricultural product. The system includes a set of cameras (42) suitable for being secured to the spraying ramp to acquire images (51) of the ground (12) on which the agricultural machine moves (10), a measuring system (59) for determining, in real time, distance information between a camera (42) and the ground (12), and a processing unit (44) communicating with the cameras (42) and said measurement system (59), the processing unit (44) being suitable for selectively controlling the spraying nozzles (34). The processing unit (44) is suitable for: identifying a target plant (15) in a ground image (51) received from a camera (42); determining information on the position of the target plant (15) in the image (51); on the basis of distance information between the camera (42) in question and the ground, of the orientation of its viewing axis, of a speed of advance of the agricultural machine and of said information on the position of said target plant (15) in the image (51), selecting at least one nozzle (34) to be activated to spray the target plant (15) with the agricultural product (26); determining an activation time of the or each selected nozzle; and transmitting an activation command to the or each nozzle (34) to trigger the spraying of said target plant (15).

IPC Classes  ?

• A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
• A01M 9/00 - Special adaptations or arrangements of powder-spraying apparatus for purposes covered by this subclass

Abstract

A control system for agricultural spraying is especially intended to be connected to an agricultural machine comprising a spraying ramp and having at least one spraying nozzle selectively activatable to spray an agricultural product. The system includes a set of cameras (42) suitable for being secured to the spraying ramp to acquire images (51) of the ground (12) on which the agricultural machine moves (10), a measuring system (59) for determining, in real time, distance information between a camera (42) and the ground (12), and a processing unit (44) communicating with the cameras (42) and said measurement system (59), the processing unit (44) being suitable for selectively controlling the spraying nozzles (34). The processing unit (44) is suitable for: identifying a target plant (15) in a ground image (51) received from a camera (42); determining information on the position of the target plant (15) in the image (51); on the basis of distance information between the camera (42) in question and the ground, of the orientation of its viewing axis, of a speed of advance of the agricultural machine and of said information on the position of said target plant (15) in the image (51), selecting at least one nozzle (34) to be activated to spray the target plant (15) with the agricultural product (26); determining an activation time of the or each selected nozzle; and transmitting an activation command to the or each nozzle (34) to trigger the spraying of said target plant (15).

IPC Classes  ?

• A01C 23/00 - Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
• A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
• A01M 9/00 - Special adaptations or arrangements of powder-spraying apparatus for purposes covered by this subclass
• B05B 12/02 - Arrangements for controlling deliveryArrangements for controlling the spray area for controlling time, or sequence, of delivery

Abstract

A weed control system (2) for an agricultural sprayer (1 ) comprising a camera (3) and a spraying unit (4) with several supply modules, a nozzle (9) and a controller module to receive a weed species detection signal and to control the spraying of chemical agent. The weed control system (2) also comprises a weed species identification unit (5) with a communication module, a memory module and a processing module having several parallel processing cores. Each parallel processing core performs a convolution operation between a sub-matrix constructed from nearby pixels of the image and a predefined kernel stored in the memory module to obtain a feature representation sub-matrix of the pixel values of the image. The processing module computes a probability of presence of a weed species from the feature representation matrix and generates a weed species detection signal.

IPC Classes  ?

• A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass

Abstract

A weed control system (2) for an agricultural sprayer (1 ) comprising a camera (3) and a spraying unit (4) with several supply modules, a nozzle (9) and a controller module to receive a weed species detection signal and to control the spraying of chemical agent. The weed control system (2) also comprises a weed species identification unit (5) with a communication module, a memory module and a processing module having several parallel processing cores. Each parallel processing core performs a convolution operation between a sub-matrix constructed from nearby pixels of the image and a predefined kernel stored in the memory module to obtain a feature representation sub-matrix of the pixel values of the image. The processing module computes a probability of presence of a weed species from the feature representation matrix and generates a weed species detection signal.

IPC Classes  ?

• A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass

Abstract

A weeding system (2) for a railway weeding vehicle (1) comprising a camera (3) and a spraying unit (4) with several supply modules, a nozzle (9) and a controller module to receive a weed species detection signal and to command the spraying of chemical agent. The weeding system (2) also comprises a weed species identification unit (5) with a communication module, a memory module and a processing module having several parallel processing cores. Each parallel processing core performs a convolution operation between a sub-matrix constructed from nearby pixels of the image and a predefined kernel stored in the memory module to obtain a feature representation sub-matrix of the pixel values of the image. The processing module computes a probability of presence of a weed species from the feature representation matrix and generates a weed species detection signal.

IPC Classes  ?

• G06T 7/00 - Image analysis
• E01H 11/00 - Control of undesirable vegetation on roads or permanent ways of railwaysApplying liquids, e.g. water, weed-killer, bitumen, to permanent ways

Abstract

A weeding system (2) for a railway weeding vehicle (1) comprising a camera (3) and a spraying unit (4) with several supply modules, a nozzle (9) and a controller module to receive a weed species detection signal and to command the spraying of chemical agent. The weeding system (2) also comprises a weed species identification unit (5) with a communication module, a memory module and a processing module having several parallel processing cores. Each parallel processing core performs a convolution operation between a sub-matrix constructed from nearby pixels of the image and a predefined kernel stored in the memory module to obtain a feature representation sub-matrix of the pixel values of the image. The processing module computes a probability of presence of a weed species from the feature representation matrix and generates a weed species detection signal.

IPC Classes  ?

• G06T 7/00 - Image analysis
• E01H 11/00 - Control of undesirable vegetation on roads or permanent ways of railwaysApplying liquids, e.g. water, weed-killer, bitumen, to permanent ways

Goods & Services

Agricultural diagnostic machines and devices for assessing the presence of weeds in crops, namely automatic apparatus for the mechanical removal of weeds; agricultural implements other than hand-operated. Scientific, surveying, photographic, optical and measuring apparatus and instruments, electrical apparatus and instruments, namely apparatus and instruments for conducting, switching, transforming, storing, regulating or controlling electric current. Mapping services (geography); agronomic advisory services. Agricultural services; locating weeds.

Goods & Services

Agricultural diagnostic machines and devices for assessing the presence of weeds in crops, namely, automatic apparatus for the mechanical removal of weeds; agricultural implements other than hand-operated, namely, weeding machines Scientific, surveying, photographic, optical and measuring apparatus and instruments, electrical apparatus and instruments, namely, apparatus and instruments for conducting, switching, transforming, storing, regulating or controlling electric current Geography mapping services; agronomic advisory services Agricultural services, namely, planting, growing, fertilizing, pruning and picking of field and specialty crops for others; locating weeds for the purpose of weed control and killing