• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Crop treatment procedure. It includes the phases of: - passing an unmanned aerial vehicle through a cultivation ground taking multispectral and/or tomographic data for several points with said camera, - determine a vegetative factor for each of the points mentioned from the information obtained by the camera, - generate a recommendation for each of the various points from the vegetative factor, - apply the recommendation in the field of cultivation using a system equipped with a fertilization device and a control system that controls the amount of fertilizer from the aforementioned fertilization order, and - Acquisition of terrain slope data for each of the aforementioned points. The order of fertilization generated depends on the slope of the terrain at the point of calculation and the type of terrain. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2684843A1
    申请号:ES201700474
    申请日:2017-03-31
    公开日:2018-10-04
    发明作者:Xavier SILVA GARCÍA；Eduard Ethan CARRÉS HIDALGO；Jesús PAVÓN BENITO；Carlos FERRAZ PUEYO
    申请人:Hemav Technology SL；
    IPC主号:
    专利说明:

    Crop Treatment Procedure
    The objective of the present invention is a method of treating crops. More specifically, thisinvention provides recommendation and guidance of applications and media management.
    The growth of the world population and environmental awareness make it necessary to improveorganization and use of farmland, and this need will surely increase in coming years.
    There are different techniques that increase the yields of our crops, but agronomic practicessuch as irrigation and fertilizer dosing, they are of vital importance, because they affect two resources notsustainable, such as available water and organic and mineral elements assimilable by plants. For anotherOn the other hand, in treatments such as pruning or planting, the optimization of your operation can result in savings invery high costs
    the differentiation of the casulstica of the determination of dosage of subscriber and irrigation, is because theassimilation and use of these resources by the plants, are carried out by two paths welldifferentiated, from the physiology of the plant. Therefore for its determination we must introduce in thosephysiological processes, for a correct management of cultural treatments of crops. In the same way, inpruning and planting, differential treatments can be determined by quantifying volumes ofvegetation and determine its physiology.
    the determination of areas with different dosages, without the determination of these, is not sufficient for aCorrect crop management. It is imperative, the determination of doses that allow reducing consumption costsof water and subscriber as well! how to quantify pruning volumes or density of seeds to be used.
    Japanese Patent Document JPH1 1235124 discloses a method for treating crops thatIt comprises the phases of:
    -To pass an unmanned aerial vehicle equipped with GPS and camera through a farmland, taking tovarious points visual data with a camera.-Determine an amount of chlorophyll from the color information obtained by the camera.-Determine a growth factor for each of these points.-Generate an order of fertilization for each of the various points from the growth factor.-Fertilize the land of culllvo using a vehicle equipped with a fertilization device and a system ofcontrol that controls the amount of fertilizer from the aforementioned fertilization order.
    In JPH11235124 it uses a measurement in the visible spectrum to determine the chlorophyll in thecrop and based on it give a subscriber recommendation.
    The procedure disclosed in JPH1 1235124 is suitable for typical cropsof oriental rice, in which the land is flooded with water. However, according to the studies ofapplicant, is excessively inaccurate for non-flooded crops. In particular, the document given to
    knowing is not valid for non-homogeneous land. Because of the lipos of soil, textures, depths,orientations, water needs, sanitary problems, etc., the same plot or land to be cultivated presents avariability that makes fertilizer recommendation systems based on orophilic development inappropriate.
    It is an objective of the present invention to disclose a method that does not have the drawbacksbefore mentioned.
    It is another objective of the present invention to provide a method for controlling the application ofFertilizer that is both accurate and easily commercially implemented, without requiring knowledgespecialized by the farmer. It is also an object of the present invention to disclose acrop management control procedure that can be implemented in an economical way.
    More particularly, the present invention discloses a method for the treatment of crops thatIt comprises the phases of:
    - Pass a docked unmanned GPS aerial vehicle and preferably multi-spectral camera, through acrop land taking, for various points, data with said camera, preferably give themmultispectral-determine at least one agronomic index for each of the aforementioned points from the informationobtained by the camera,-generate a crop management recommendation for each of the various points from the aforementionedless an agronomic index,-apply the recommendation in the field of cultivation using a system equipped with a treatment device anda control system that controls an input dosage based on the aforementioned recommendation,
    which also includes the phase of:
    - Acquisition of land slope data for each of the points mentioned,and why the recommendation generated depends, in addition to the aforementioned agronomic index, on the slope of theterrain at the point of calculation and the type of terrain.
    Preferably, the process also comprises a phase of determining each culture point, eachplant or each tree, as a single and independent unit.
    The recommendation generated can also be made dependent, for example on the weather, on the volumes andvegetation surfaces and non-aerial point data such as leaf or soil analytics, or probe data.
    Preferably, the agronomic index comprises a vegetative factor. Preferably, the recommendation ofcrop comprises an order or recommendation of application of input, more preferably fertilizer.
    The present invention solves the aforementioned problem by consideration, for each point for whichgenerates a recommendation for the application and / or management of crops (for example, a fertilization order), of theslope of the land and the soil tipelagla for the generation of a fertilization order. The studiesmade by the applicants confirm that the fertilization orders generated in this way are more
    efficient. The applicant has verified that the improvement is due to the fact that the slope and type of terrain influence the availability, assimilation and concentration of the fertilizer or fertilizer dosage. In fact, the existence of a slope can cause a loss of fertilizers due to the influence of gravity, or drag of irrigation or rainwater. The type of soil also influences the re-fertilization of the fertilizer or fertilizer supplied.
    Through the present invention it is allowed to take into account that the lands are not homogeneous due to the types of soil, textures, depths, orientations, water needs. etc. The present invention allows to identify the variability within the same crop plot and to treat the crop based on said variability.
    The aforementioned factors (agronomic index, slope and terrain typology) may preferably be combined by weighted overlap.
    In a particularly preferred embodiment, the method comprises the stage of taking altimetric terrain data from the unmanned aerial vehicle to determine the slope data. Alternatively, altimetry data can be taken from a cartographic service. However, in situ data collection is more accurate and beneficial for the final results.
    Especially preferably, the present invention also provides for the generation of irrigation orders. The present invention also provides for the generation of orders for pruning, planting and even applications of phytosanitary products.
    For this, preferably, the present invention also comprises the phases of:
    • temperature data collection in the mentioned points by means of a thermal camera,. generate an irrigation dosing order for each point from the data obtained through the chamberthermal
    Advantageously, the order of irrigation dosing also depends on the slope of the ground at the calculation point and on the type of terrain. The dosing order may also depend on the weather, volomenes and vegetation surfaces and non-aerial point data such as leaf or soil analytics, or probe data.
    Preferably, the vegetative factor, the slope of the terrain, the typology of the terrain and / or the data obtained by the thermal chamber are combined by weighted overlap.
    The present invention has the advantage of being able to complement the on-site data hill by means of an unmanned vehicle through a remotely accessible platform. This provides numerous advantages, such as user interaction.
    For it. preferably, after obtaining data by means of an unmanned aerial vehicle, the data is sent remotely to a remote platform to carry out determinations and generation of said orders.
    More preferably, the remote platform comprises a user interface for receiving feedback.
    Even more preferably, the platform automatically modifies values associated with the weighted overlay based on the aforementioned feedback.
    The weighting of the different parameters must be done on a case-by-case basis. The use of a remote access platform allows automatic implementation of learning algorithms that optimize the parameters based on experiences produced in different places.
    In a particularly advantageous manner, the present invention provides that the dosage order of input (for example, fertilizer) depends on the data taken by the thermal chamber. In fact, a lack of chlorofllk development: or it may be caused by water stress in well-paid areas, especially in areas with a noticeable slope, which results in more difficult occurrence in low-lying areas that have to be runoff recipients. .
    Advantageously, the aforementioned recommendations and / or orders are sent to an automatic control device of a dispenser installed in an agricultural vehicle. More in particular, the present invention allows generating orders that can be directly integrated into tractor screens and new generation irrigation programs. The present invention can also be used with traditional irrigation systems. For this, the present invention provides for the generation of visual maps with recommendations and guidance of applications and crop management. These maps can be remotely accessible from tablets or mobile phones with GPS (from the "cloud" or "ctoud") that can be easily installed on tractors in car navigator mode.
    The procedure object of the present invention allows the generation of maps and / or agronomic recommendations for decision making in the field. This allows the achievement of objectives such as increasing crop production, optimizing costs and increasing the quality of the resulting crops.
    The adjustment of the recommendations and orientations of applications and crop management (for example, irrigation and / or fertilizer dosages and / or phytosanitary products) allows to reduce the contamination of soils and underground and surface waters, by reducing the use of nitrates.
    For your better understanding, some drawings of an embodiment of the advertising arrangement, object of the present invention, are attached by way of explanatory but not limiting example.
    Figure 1 shows an unmanned aerial vehicle ("drain") usable in the process object of the present invention.
    flQura 2 schematically shows a method object of the present invention.
    Figure 1 shows an unmanned vehicle ("drone") -1-with which the data collection phases of an example of procedure according to the present invention can be carried out. The drone -1-in the example is an n-copter rotor model, valid for relatively small land. For larger land, a fixed-wing drone may be more suitable.
    For data collection, drone -1-in the example comprises a multispectral camera -11- and a thermal camera -12-, which are located in the lower part of drone -1-. The drone -11-also comprises a geolocation device (such as a GPS -13-) that allows geolocation of images taken by cameras -11-, -12-. The drone also comprises a control board -14- for storing the data taken. It would also be possible for the drone to directly communicate geolocated data without intermediate storage.
    Figure 2 schematically shows an exemplary embodiment of a method according to the present invention.
    The procedure begins with a phase of data collection -100-in which the drone -1-is blown above the cultivation land -SO-o The drone takes data, for various points, through its optical camera -11 -and its thermal camera -12-. Through your GPS -13-, these data are geo-located.
    the data acquired by the drone are used in a second phase -200-of order determination (or recommendations and orientation of applications and crop management) of fertilization and / or irrigation. From the data of the multispectral chamber, a vegetative factor can be generated using any type of calculation known, such as the reflectance ratio of the plants at 5SO nm and 560 nm (NOVI5I! IiNDVI660), indicating the amount of chlorophyll per Intermediate evaluation of nitrogen concentration. Other known Indices can also be used, such as the so-called TCARt / OSAVI, SAVI ("Soil-adjusted Vegetation Index"), or the NORE ("Normalized Oifference Red Edge Index").
    From the thermal chamber data -12-, Water stress indices can be calculated, such as the so-called CWSI ("Crop Water Stress Index"), possible to calculate thanks to the use of an unmanned vehicle with a suitable sensor , but other Indices can also be used, such as the calculation of reference evapotranspiration (Eto) from the Pensman-Montheith model (A1len and others 1998), which requires a crop coefficient that takes into account the crop and its phenological state
    Both indices (vegetative and water stress) present a large uncertainty. To reduce uncertainty, the present invention provides for the use of slope and soil type data, meteorology, volumes and vegetation surfaces and non-aerial point data such as leaf or soil anaphthics, or probe data. The slope is a property of the land that greatly affects the uncertainty of the fertilizer / irrigation recommendations based on the Indexes of known type calculated, because it affects the retention / accumulation capacity of fertilizers / water of the land. In accordance with the present invention, the slope has to be considered independently of other land properties, such as the type of soil.
    Slope information can be obtained from altimetric information obtained from the drone. You can also acquire or generate geographic information that generates a MOT (Digital Terrain Model) of the land to be cultivated.
    For a better adjustment of the irrigation and / or fertilizer dosages, consideration may also be taken, in any embodiment of the present invention, of considering the phenological state of the crops when generating an irrigation and / or fertilizer order.
    A great advantage of this solution is that when working with high resolution images it is possible to work point to point which means plant to plant or tree to tree. Unlike other data analysis mechanisms
    We are able to identify these points and damage descriptors or factors that allow us to make a recommendation.
    The different factors to consider can be combined in a weighted way. A preferred method of weighting is that of weighted overlay. The weighted overlay presents as advantages the possibility of conducting distributed learning that results in a great ease of adaptation to different cases.
    Once the different Indexes chosen and weighted in the chosen way have been calculated, we can proceed to make fertilizer recommendations and / or irrigation point by point. This implies dividing the cultivated land -50-in points or zones and assigning to each zone or point a specific recommendation for fertilizer and / or irrigation -51-, -52-, -51'-, -52'-. When the recommendations are geolocated, a map with the recommendations can be generated. This map can be consulted remotely by accessing the platform or by downloading it on a mobile or tablet -500-, which can be arranged in a -400- agricultural vehicle. In the fertilizer or irrigation phase -300-. The table -500-can be used as a reference for irrigation or semi-manual fertilizer, or it can be connected to an automatic irrigation or fertilizer device, so that the tablet controls the irrigation or fertilizer depending on the map generated (or the file with orders downloaded from the platform).
    The present invention, thanks to the use of a remote access platform in combination with data collection by unmanned aerial vehicle, allows the accumulation and consultation of information, as well as the possibility of interacting with the information for recreation, adjustment and Improvement of the calculation mechanisms of the irrigation and / or fertilizer orders.
    The remote access platform will preferentially allow access to the Information in the form of different layers (eg, raster and shp), co-result of evolution of values as a function of time, elaboration of consultation scripts between the sectors of the same producer agricultural.
    The platform also allows, for any of the embodiments of the present invention, to complement the data obtained by unmanned aerial vehicle, for example uploading to the same geolocated photos, which can provide additional information for detection of nutrient deficiencies or pest attacks and diseases
    The platform may also feed on information from other sensors and / or databases for the elaboration of the agronomic recommendation.
    Although it has not been reflected in the figures, the drone will also be able to comprise a topographic team to determine the altitude of the terrain. The drone -1 can also typically include other equipment such as communication devices, a autopilot, and a battery.
    Although the invention has been presented and described with reference to embodiments thereof, it will be understood that these are not limiting of the invention, so that multiple constructive or other details that could be evident to the technicians of the sector could be variable after Interpret the subject matter disclosed in the present description, claims and drawings. Ace! therefore, all variants and equivalents will be included within the scope of the present invention if they can be considered within the broadest scope of the following claims.
    权利要求:
    Claims (15)
    [1]
    1. Procedure for the treatment of crops comprising the phases of:
    -make an unmanned aerial vehicle equipped with GPS and camera through a farmland taking tovarious data points with said camera,-determine at least one agronomic index for each of the aforementioned points from the informationobtained by the camera,-generate a crop management recommendation for each of the various points from the aforementionedminus an agronomic index,-apply the recommendation in the field of cultivation using a system equipped with a treatment device anda control system that controls an input dosage based on the aforementioned recommendation,
    characterized in that it comprises the phase of:
    - Acquisition of land slope data for each of the points mentioned,
    and why the recommendation generated depends, in addition to the aforementioned Agronomic Index, on the slope of theterrain at the point of calculation and the typology of the earth.
    [2]
    2. Method, according to claim 1, characterized in that it includes the hill phase of the aforementioned terrain data from the unmanned aerial vehicle to determine the slope data.
    [3]
    3. Method according to claim 1 or 2, characterized in that it also comprises the phases of:
    -temperature data collection in the mentioned points by means of a thermal camera,-generate an irrigation dosing order for each point from the data obtained through the chamberthermal
    [4]
    Four. Procedure according to claim 3. characterized in that the irrigation dosing order also depends on the slope of the land at the point of calculation and on the type of terrain.
    [5]
    5. Process. according to any of claims 1 to 4, characterized in that the agrollOMic Index. the slope of the terrain, the typology of the terrain and / or the dalas obtained by the thermal chamber are combined by weighted overlap.
    [6]
    6. Process. according to any of the previous embodiments, characterized in that after obtaining data by means of an unmanned aerial vehicle, the data is sent remotely to a beet platform for carrying out determinations and generation of said orders.
    [7]
    7. Method according to claim 6, characterized in that the remote platform comprises a user interface for receiving feedback.
    [8]
    8. Method, according to claim 7 and claim 5, characterized in that the platform automatically modifies values associated with the weighted overlay based on said feedback.
    g. Method, according to any of the preceding claims, characterized in that said recommendations and / or orders are sent to an automatic control device of a dispenser installed in an agricultural vehicle.
    [10]
    10. Method according to any of claims 3 to g, characterized in that said recommendation depends on the data taken by the technical chamber.
    [11]
    eleven. Method, according to any of the preceding claims, characterized in that the camera is a multispectral camera that plunges mulliespeclral data.
    [12]
    12. Process. according to any of the preceding claims, characterized in that the input comprises fertilizer.
    [13]
    13. Method, according to any of the preceding claims, characterized in that the agronomic index comprises a vegetative factor.
    [14]
    14. Procedure according to any of the preceding claims. characterized in that it comprises a phase of defining each cultivation point, each plant or each tree, as a unique and independent unit.
    [15]
    fifteen. Procedure according to any of the preceding claims. characterized in that said at least one agronomic index is at least two agronomic indices
    [16]
    16. Method, according to any of the preceding claims, characterized in that said recommendation includes planting and / or pruning orders and / or application of phytosanitary products.
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    同族专利:
    公开号 | 公开日
    ES2684843B9|2019-11-14|
    WO2018178468A1|2018-10-04|
    ES2684843B1|2019-07-09|
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    法律状态:
    2018-04-11| PC2A| Transfer of patent|Owner name: HEMAV TECHNOLOGY, S.L. Effective date: 20180411 |
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    优先权:
    申请号 | 申请日 | 专利标题
    ES201700474A|ES2684843B9|2017-03-31|2017-03-31|Crop Treatment Procedure|ES201700474A| ES2684843B9|2017-03-31|2017-03-31|Crop Treatment Procedure|
    PCT/ES2018/070251| WO2018178468A1|2017-03-31|2018-03-27|Method for the treatment of crops|
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