Discriminating ground vegetation in agriculture

• US 6,443,365 B1
• Filed: 02/06/2001
• Issued: 09/03/2002
• Est. Priority Date: 12/08/1997
• Status: Expired due to Term

• Current Assignee: WEED Control Australia Pty Limited
• Original Assignee: WEED Control Australia Pty Limited
• Inventors: Tucker, Robert M, Scott, Christopher C.
• Primary Examiner(s): Morris, Lesley D.
• Assistant Examiner(s): Nguyen, Dinh Q.
• Application Number:
  US09/581,282
• Time in Patent Office: 574 Days
• Field of Search: 239/69, 239/170, 239/155, 239/159, 47/17, 47/10.1, 250/221.1, 250/226, 250/338.1
• US Class Current: 239/69
• CPC Class Codes: A01M 7/0089 Regulating or controlling systems the delivery being related to the movement of a vehicle B05B9/06
• CPC Class Codes: B05B 12/122 responsive to presence or shape of target B05B12/124 takes precedence
• CPC Class Codes: G01N 2021/8466 Investigation of vegetal material, e.g. leaves, plants, fruits
• CPC Class Codes: G01N 21/3563 for analysing solids; Preparation of samples therefor
• CPC Class Codes: G01N 21/359 using near infrared light

Abstract

A method and device for discriminating different types of ground vegetation in agriculture is disclosed in which an artificial source (24) of electromagnetic radiation is employed for directing a beam (26) of radiation onto the vegetation. A sensor assembly (30) is provided for detecting reflected radiation from the vegetation in a selected frequency band and generating a sensing signal in response to the detection. A logic controller (32) determines whether a magnitude of the sensing signal falls within a predetermined range of values in order to distinguish one type of vegetation from another type. In the near infred region of the electromagnetic spectum different types of weeds absorb significantly less infra-red radiation than other types of vegetation. Logic controller (32) compares the amplitude of the sensing signal with a decision window. If the amplitude of the incoming sensing signal falls within the decision window then the logic controller (32) determines that a certain type of plant has been detected and activates the corresponding solenoid valve (36) to deliver dose of spray liquid from spray nozzle (14) to the targeted weed (28).

Claims

1. A device for discriminating different types of ground vegetation, the device comprising:

an artificial source of electromagnetic radiation for directing a beam of radiation onto the vegetation;

a plurality of sensors for detecting radiation from said radiation source reflected onto each of said sensors from the vegetation in a selected frequency band and generating a sensing signal from each sensor in response to said detection, and wherein said plurality of sensors are arranged in a sensor array with a geometric configuration adapted to aid in discriminating different types of vegetation;

signal processing means for determining whether a magnitude of each said sensing signal falls within a predetermined range of values whereby, in use, one type of vegetation can be distinguished from another type based on the magnitudes of said sensing signals; and

,

a shroud comprising a sheet of flexible, light-impervious material of sufficient length so as to extend to a height of between 10 to 500 mm above the target vegetation whereby, in use, said shroud minimises the amount of sunlight reflected from the vegetation.

2. A device for discriminating different types of ground vegetation as defined in claim 1, further comprising a sensor assembly for focusing the reflected radiation onto said plurality of sensors, said assembly including a plurality of lenses arranged to focus the reflected radiation in such a manner that the sensors always “

see”

a read footprint on the target vegetation of substantially constant size irrespective of the distance between the sensor assembly and the vegetation.

3. A device for discriminating different types of ground vegetation as defined in claim 2, wherein said sensor assembly further comprises an elongate tube having said plurality of lenses precisely located at predetermined positions along the length of the tube, and a plurality of buffers adapted to prevent the reflection of radiation from an inner wall of the tube into the sensors whereby, in use, focussing of the reflected radiation can be obtained which results in substantially no detectable variation in the size of the read footprint on the target vegetation when the distance between the sensor assembly and the target vegetation is varied.

4. A device for discriminating different types of ground vegetation as defined in claim 1, wherein said source of electromagnetic radiation is a wide-spectrum incandescent lamp capable of directing a beam of radiation with wavelengths in the visible and the infra-red regions of the electromagnetic spectrum.

5. A device for discriminating different types of ground vegetation as defined in claim 1, wherein said sensor is provided with a filter for passing radiation in said selected frequency band to the sensor.

6. A device for discriminating different types of ground vegetation as defined in claim 1, wherein each sensor is adapted to detect radiation in a different selected frequency band.

7. A device for discriminating different types of ground vegetation as defined in claim 1, wherein said selected frequency band is in the visible and infra-red portion of the spectrum having a wavelength within the range of 450 nm to 10 μ

m.

8. A device for discriminating different types of ground vegetation as defined in claim 7, wherein said selected frequency band is in the visible and near infra-red waveband of approximately 650 nm to 2000 nm.

9. A device for discriminating different types of ground vegetation as defined in claim 1, wherein said plurality of sensors are arranged in a linear array comprising a row of at least three sensors such that the image of a single stem or leaf of a target vegetation falls between the read footprint of the outer two sensors, which allows discrimination of plants either similar, smaller or larger than the target vegetation.

10. A device for discriminating different types of ground vegetation as defined in claim 1, wherein said signal processing means determines whether a magnitude of the sensing signal falls within a predetermined range of values (a sensing window) which is specific to each sensor in the sensor array.

11. A device for discriminating different types of ground vegetation as defined in claim 10, wherein each sensor in the sensor array has a sensing window that is unique to that sensor.

12. A device for discriminating different types of ground vegetation as defined in claim 1, wherein said artificial radiation source produces a beam of substantially collimated light.

13. A device for discriminating different types of ground vegetation as defined in claim 12, further comprising a parabolic mirror provided adjacent said radiation source for producing a beam of substantially collimated light.

14. A device for discriminating different types of ground vegetation as defined in claim 13, wherein said radiation source is an LED.

15. A device for discriminating different types of ground vegetation as defined in claim 14, wherein said LED provides electromagnet radiation in the infra-red wave band.

16. An agricultural spraying apparatus for spraying ground vegetation, the apparatus comprising:

a spraying means for delivering a liquid spray to ground vegetation;

an artificial source of electromagnetic radiation for directing a beam of radiation onto the vegetation

a plurality of sensors for detecting radiation from said radiation source reflected onto each of said sensors from the vegetation in a selected frequency band and generating a sensing signal from each sensor in response to said detection, and wherein said plurality of sensors are arranged in a sensor array with a geometric configuration adapted to aid in discriminating different types of vegetation;

signal processing means operatively connected to said sensor array and spraying means for determining whether a magnitude of each said sensing signal falls within a predetermined range of values, and for actuating said spraying means when a particular type of vegetation is distinguished from another type based on the magnitudes of said sensing signals; and

,

a shroud comprising a sheet of flexible, light-impervious material of sufficient length so as to extend to a height of between 10 to 500 mm above the target vegetation whereby, in use, said shroud minimises the amount of sunlight reflected from the vegetation.

17. An agricultural spraying apparatus as defined in claim 16, wherein said spraying means includes a plurality of spray nozzles and a corresponding plurality of electro-magnetically actuated valves for controlling the delivery of said liquid spray through each nozzle.

18. An agricultural spraying apparatus as defined in claim 17, where in said radiation source and sensor array are one set of a plurality of sets of radiation sources and sensor arrays, a respective set being provided adjacent each of said spray nozzles.

19. An agricultural spraying apparatus as defined in claim 16, further comprising sensor assembly for focusing the reflected radiation onto said plurality of sensors, said assembly including a plurality of lenses arranged to focus the reflected radiation in such a manner that the sensors always “

see”

a read footprint on the target vegetation of substantially constant size irrespective of the distance between the sensor assembly and the vegetation.

20. An agricultural spraying apparatus as defined in claim 19, wherein said sensor assembly further comprises an elongate tube having said plurality of lenses precisely located at predetermined positions along the length of the tube, and a plurality of buffers adapted to prevent the reflection of radiation from an inner wall of the tube into the sensors whereby, in use, focussing of the reflected radiation can be obtained which results in substantially no detectable variation in the size of the read footprint on the target vegetation when the distance between the sensor assembly and the target vegetation is varied.