FIELD OF THE INVENTION

The present invention relates to a method for crop seed planting management, to vehicle(s) for crop seed planting management, to a system for crop seed planting management, as well as to a computer program product.

BACKGROUND OF THE INVENTION

The general background of this invention is crop seed planting management. Today’s crop seed planting methods include drilling fields using best or common practice. Depending on the planting method used, it is possible that at least some crop seeds are not planted into the soil but remain on the soil surface of the agricultural field where they are exposed to birds and small mammals. If these crop seeds are coated with plant protection active ingredients, they can potentially be toxic if consumed e.g. by birds and small mammals. Therefore, there is a need to address such environmental risk factors.

SUMMARY OF THE INVENTION

Considering the above it would be advantageous to have improved means for crop seed planting management. The object of the present invention is solved with the subject matter of the independent claims, wherein further embodiments are incorporated in the dependent claims. It should be noted that the following described aspects and examples of the invention apply also for the method for crop seed planting management, the vehicle(s) for crop seed planting management, the system for crop seed planting management, and for the computer program product.

According to a first aspect, there is provided a method for crop seed planting management on an agricultural field comprising the steps of: a) acquiring at least one image of the soil surface of the agricultural field after planting of a plurality of crop seeds treated with a marker and/or colorant, b) detecting the plurality of crop seeds treated with the marker and/or colorant exposed on the soil surface of the agricultural field by using the at least one image of the soil surface of the agricultural field to identify the marker and/or colorant on the plurality of crop seeds, c) generating a crop seed map of the plurality of crop seeds that are exposed on the soil surface of the agricultural field.

In other words, crop seeds present on the soil surface on an agricultural field after drilling can be detected if treated with a suitable marker and/or colorant. Acquired imagery can be used to identify the crop seeds in the imagery e.g. with classification algorithms. A crop seed map which represents a two-dimensional display of the plurality of crop seed exposed on the soil surface on an agricultural field after planting can be generated. The crop seeds on the crop seed map can also be counted. This is for example necessary for registration studies of seed treatment formulations where a risk assessment is required which comprises the assessment of the degree of exposure of birds and small mammals to any crop seeds left on the surface of the drilled field.

In an example, a plurality of different images of the soil surface of the agricultural field at a plurality of different geolocations on the agricultural field are acquired. The plurality of different images are used to identify the marker and/or colorant on the plurality of crop seeds, to detect the plurality of crop seeds, and to generate a crop seed map of the plurality of crop seeds that are exposed on the soil surface of the agricultural field.

Thus, by acquiring a plurality of images at various geolocations on the agricultural field the accuracy and completeness of the crop seed map can be improved.

In an example, before acquiring at least one image of the soil surface of an agricultural field, a plurality of crop seeds treated with a marker and/or colorant are planted on an agricultural field by introducing the plurality of crop seeds into the soil, preferably the introduction of the plurality of crop seeds into the soil comprises the steps of: opening at least one furrow in the soil of the agricultural field, planting the plurality of crop seeds into the at least one furrow, and closing the at least one furrow.

In other words, a common agronomic practice to include a crop seeds into the soil relates to the steps of opening a furrow in the soil of the agricultural field which has a depth of e.g. a view centimeter, placing the crop seed into the furrow and closing the furrow in order to cover the crop seed with soil. Depending on the planting method used, however, crop seeds are missing their target geoposition and impinge on the soil next to the furrow. These crop seeds are then exposed on the soil surface of the agricultural field in the sense that they are accessible to birds and small mammals and can serve as a potential food source.

In an example, a localisation determining means is used to identify the geolocation of the plurality of crop seeds treated with a marker and/or colorant and exposed on the soil surface of the agricultural field.

Thus, a localization determining means such as e.g. a GPS system can be utilized to map the exposed crop seeds.

In an example, the crop seed map of the plurality of crops seeds that are exposed on the soil surface of the agricultural field is outputted to a user.

In other words, the generated crop seed map is e.g. shown to a farmer on a screen or monitor. The farmer can use this information to decide on further agricultural operations and/or to access the degree of success of the planting operation.

In an example, the crop seed map of the plurality of crops seeds that are exposed on the soil surface of the agricultural field is used to guide at least one vehicle to prevent crop seed exposure on the soil surface of the agricultural field.

Thus, a vehicle such as an unmanned ground vehicle (UGV) can use the crop seed map to move to a geolocation where crop seeds are exposed on the soil surface and start with operations to prevent the crop seed exposure on the soil surface of the agricultural field. The vehicle can also be the crop seed planting vehicle itself which has additional equipment to prevent the crop seed exposure on the soil surface. Such a vehicle is therefore able to plant crop seeds and to correct wrong crop seed placements in one sequential, operational process.

In an example, the prevention of the crop seed exposure on the soil surface of the agricultural field comprises removal of the plurality of exposed crop seeds, push of the plurality of exposed crop seeds into the soil and/or the coverage of the plurality of exposed crop seeds with soil and/or a combination thereof.

In other words, the prevention of the crop seed exposure on the soil surface can prevented by various means and is depending on the vehicle used. E.g. a small ground vehicle can remove the crop seeds e.g. by picking them individually. Alternatively, the seeds can be pushed into the soil with appropriate mechanical equipment. A larger ground vehicle can e.g. cover the exposed crop seeds with soil which e.g. is released from the vehicle. According to a second aspect of the invention, there is provided a (first) vehicle for crop seed planting management comprising a camera, a control and processing unit, and an output unit. The camera is configured to acquire at least one image of the soil surface of an agricultural field after planting of a plurality of crop seeds treated with a marker and/or colorant. The control and processing unit is configured to use the at least one image of the soil surface of the agricultural field to identify the marker and/or colorant on the plurality of crop seeds exposed on the soil surface of the agricultural field. The control and processing unit is configured to use the marker and/or colorant information to detect the plurality of crop seeds treated with a marker and/or colorant and exposed on the soil surface of the agricultural field. The control and processing unit is configured to generate a crop seed map of the plurality of crop seeds that are exposed on the soil surface of the agricultural field. The output unit is configured to output the information about the crop seed map of the plurality of crop seeds that are exposed on the soil surface of the agricultural field.

In other words, a vehicle such as an Unmanned Aerial Vehicle (UAV) can fly over the agricultural field and acquire imagery of the soil surface. The imagery is analyzed for the presence of crop seeds. The crop seeds can be detected because they have been treated with a marker such as an UV fluorescence marker or a colorant such as e.g. a yellow color. E.g. yellow has a wavelength of 560-590 nm. This information can be detected on the imagery. Those pixels on the imagery that have the same color can help to recognize and identify objects e.g. with machine learning algorithms and to identify crop seeds that are exposed on the soil surface.

In an example, the (first) vehicle for crop seed planting management comprises location determining means. The control and processing unit is configured to use the location determining means to determine the geolocation of the plurality of crop seeds treated with a marker and/or colorant and exposed on the soil surface of the agricultural field.

In an example, the (first) vehicle for crop seed planting management further comprises a crop seed exposure control unit. The crop seed exposure control unit is configured to prevent crop seed exposure on the soil surface of the agricultural field. The control and processing unit is configured to move the vehicle to a geolocation where at least one crop seed exposed on the soil surface of the agricultural field has been detected according to the crop seed map. The control and processing unit is configured to activate the crop seed exposure control unit to prevent the exposure of the at least one crop seed on the soil surface of the agricultural field at that geolocation.

In other words, the same vehicle that detects crop seeds exposed on the soil surface of the agricultural field can use a seed exposure control unit to prevent the exposure of the crop seeds on the soil surface. This can be done in one operational step. E.g. the vehicle detects a crop seed exposed on the soil surface at a certain geolocation. The vehicle moves to the geolocation and activates its seed exposure control unit at that geolocation to solve the crop seed exposure problem. Then, the vehicle moves to another geolocation on the agricultural field and starts again with the detection and control of other exposed crop seeds. By combining detection and control the operational processes proposed herein are highly efficient from an agricultural perspective.

According to a third aspect, there is provided a crop seed map of a plurality of crop seeds that are exposed on the soil surface of the agricultural field. The crop seed map is generated according to a method as discussed under the first aspect.

According to a fourth aspect, there is provided a (second) vehicle for crop seed planting management. The vehicle comprises an input unit, control and processing unit, and a crop seed exposure control unit. The input unit is configured to receive a crop seed map of a plurality of crop seeds that are exposed on the soil surface of an agricultural field. The control and processing unit is configured to use the crop seed map information from the input unit to determine an instruction to move the vehicle to a geolocation where at least one crop seed exposed on the soil surface of the agricultural field has been detected according to the crop seed map. The control and processing unit is configured to activate the crop seed exposure control unit to prevent the exposure of the at least one crop seed on the soil surface of the agricultural field at that geolocation.

In other words, a vehicle can receive a seed crop map of exposed seed crops on the soil surface of an agricultural field and use this information to move to a location where the identified crop seeds are and apply control measures to prevent exposure of the identified crop seeds.

According to a fifth aspect, there is provided a system for crop seed planting management, comprising a first vehicle for crop seed planting management and a second vehicle for crop seed planting management. The first vehicle comprises a camera, a control and processing unit, and an output unit. The second vehicle comprises an input unit, control and processing unit, and a crop seed exposure control unit. The camera of the first vehicle is configured to acquire at least one image of the soil surface of an agricultural field after planting of a plurality of crop seeds treated with a marker and/or colorant. The control and processing unit of the first vehicle is configured to use the at least one image of the soil surface of the agricultural field to identify the marker and/or colorant on a plurality of crop seeds exposed on the soil surface of the agricultural field. The control and processing unit of the first vehicle is configured to use the marker and/or colorant information to detect a plurality of crop seeds treated with a marker and/or colorant exposed on the soil surface of the agricultural field. The control and processing unit of the first vehicle is configured to generate a crop seed map of the plurality of crop seeds that are exposed on the soil surface of the agricultural field. The output unit of the first vehicle is configured to output the information about the crop seed map of the plurality of crop seeds that are exposed on the soil surface of the agricultural field. The input unit of the second vehicle is configured to receive the crop seed map of a plurality of crop seeds that are exposed on the soil surface of an agricultural field from the output unit of the first vehicle. The control and processing unit of the second vehicle is configured to use the crop seed map information from the input unit to determine an instruction to move the second vehicle to a geolocation where at least one crop seed exposed on the soil surface of the agricultural field has been detected according to the crop seed map. The control and processing unit of the second vehicle is configured to activate the crop seed exposure control unit to prevent the exposure of at least one crop seed on the soil surface of the agricultural field at that geolocation.

In an example, the system for crop seed planting management comprises a first vehicle for crop seed planting management and a second vehicle for crop seed planting management, and an (external) processing unit. The first vehicle comprises a camera, a control and processing unit, and an output unit. The second vehicle comprises an input unit, a control and processing unit, and a crop seed exposure control unit. The (external) processing unit comprises an input unit and an output unit. The camera of the first vehicle is configured to acquire at least one image of the soil surface of an agricultural field after planting of a plurality of crop seeds treated with a marker and/or colorant. The control and processing unit of the first vehicle is configured to use the output unit of the first vehicle to transmit the at least one image of the soil surface of the agricultural field to the input unit of the (external) processing unit. The input unit of the (external) processing unit is configured to receive the at least one image of the soil surface of the agricultural field from the output unit of the first vehicle. The (external) processing unit is configured to use the at least one image of the soil surface of the agricultural field from the input unit to identify the marker and/or colorant on a plurality of crop seeds exposed on the soil surface of the agricultural field. The (external) processing unit is configured to use the marker and/or colorant information to detect a plurality of crop seeds treated with a marker and/or colorant exposed on the soil surface of the agricultural field. The (external) processing unit is configured to generate a crop seed map of the plurality of crop seeds that are exposed on the soil surface of the agricultural field. The (external) processing unit is configured to utilize its output unit to transmit the information about the crop seed map to the input unit of the second vehicle. The input unit of the second vehicle is configured to receive the crop seed map from the output unit of the (external) processing unit. The control and processing unit of the second vehicle is configured to use the crop seed map information from the input unit to determine an instruction to move the second vehicle to a geolocation where at least one crop seed exposed on the soil surface of the agricultural field has been detected according to the crop seed map. The control and processing unit of the second vehicle is configured to activate the crop seed exposure control unit to prevent the exposure of at least one crop seeds on the soil surface of the agricultural field at that geolocation.

According to another aspect, there is provided a computer program product, which when executed by a processor is configured to carry out the method of the first aspect.

Advantageously, the benefits provided by any of the above aspects equally apply to all of the other aspects and vice versa.

The above aspects and examples will become apparent from and be elucidated with reference to the embodiments described hereinafter.

BRIEF DESCRIPTION OF THE DRAWINGS Exemplary embodiments will be described in the following with reference to the following drawings: Fig. 1 shows a schematic example of the generation of a crop seed map of a plurality of crop seeds that are exposed on the soil surface of the agricultural field;

Fig. 2 shows a schematic set up of an example of a vehicle (100) for crop seed planting management;

Fig. 3 shows a schematic set up of an example of a vehicle (200) for crop seed planting management;

Fig. 4 shows a schematic set up of an example of a system (300) for crop seed planting management;

Fig. 5 shows a schematic set up of another example of a system (300) for crop seed planting management;

Fig. 6 shows a schematic set up of a detailed example of various vehicles (200) for crop seed planting management (from a side view perspective); and

Fig. 7 shows a schematic set up of an example of a computer program product (400) for crop seed planting management.

DETAILED DESCRIPTION OF EMBODIMENTS

The invention relates in a first embodiment to a method (10) for crop seed planting management on an agricultural field comprising the steps of: a) acquiring at least one image of the soil surface of the agricultural field after planting of a plurality of crop seeds treated with a marker and/or colorant, b) detecting the plurality of crop seeds treated with the marker and/or colorant exposed on the soil surface of the agricultural field by using the at least one image of the soil surface of the agricultural field to identify the marker and/or colorant on the plurality of crop seeds, c) generating a crop seed map of the plurality of crop seeds that are exposed on the soil surface of the agricultural field.

In an example, the term “crop seed planting management” refers to a process where crop seeds are planted on an agricultural field. The term includes post-planting operations such as measures to prevent the exposure of crop seeds on the soil surface.

In an example, useful crop(s) (seeds) as indicated herein are all those that are drilled crop(s) (seeds) such as the small grains (referring to the small seed size), in particular wheat, oats, barley, rye, millet, spelt, among others.

In an example, the plurality of crop seeds are treated with a marker selected from the group of UV-fluorescence marker, Optical Brighteners (OB), and Fluorescent Brightening Agents (FBA).

In an example, the plurality of crop seeds are treated with a colorant as used for seed treatment provided that the necessary optical comparison to the soil background will be detectable with a camera. An example of such colorants are those of the Bayer Peridiam range.

In an example, the plurality of crop seeds are treated with more than one colorant and with colorants reflecting different wavelengths.

In an example, the plurality of crop seeds are treated with one or more colorants and a marker.

In an example, planting of the crop seeds refers to the introduction of the plurality of crop seeds into the soil. According to such agronomical practice crop seeds are put into the soil and covered with soil according to their preference (e.g. for wheat, barley, rye 2-3 cm, spelt 4 cm). Agronomic practices of such planting operations are known to the skilled person in the art. Depending on the planting method applied, a view crop seeds, however, may miss their target and remain exposed on the soil surface after the planting process. Fig. 1 a) shows an exemplary planting process with a tractor from a side view perspective. The furrow opener underneath the tractor generates a furrow. A crop seed dosing system underneath the tractor introduces crop seeds into the furrow generated by the furrow opener. Some crop seeds however miss their target and impinge on the soil surface next to the furrow. A furrow closer (not shown) closes the furrow. As a result, the crop seeds that have been put into the furrow are covered with soil. However, those crop seeds that have impinged next to the furrow are still exposed on the soil surface of the agricultural field and can be potentially of risk if consumed by birds and small mammals.

In an example, at least one image is acquired of the soil surface after planting. Fig. 1 b) shows a vehicle 100 in the form of an Unmanned Aerial Vehicle (UAV) with a camera 110 which acquires imagery of the soil surface of the agricultural field after planting.

In an example, the at least one image is acquired by a camera. Depending on the marker and/or colorant used, the camera is configured to detect the visual characteristic wavelength of the marker and/or colorant reflecting from them. E.g. to detect an ultraviolet (UV) fluorescence marker it is necessary to use an UV light source in addition to the camera. The UV fluorescence marker emits visible light when exposed to ultraviolet light from the UV light source. This can be detected by a camera that operates over the visible wavelength range e.g. when there is little or no daylight. To detect a seed crop treated with a colorant, the camera can be monochromatic and detect the narrow wavelength frequency of the colorant such as e.g. for a red colorant 635-700 nm; for a yellow colorant 560-590 nm, for a green colorant 520-560 nm (green) etc. However, the camera can also be a RGB or a hyperspectral camera. This is useful if more than one colorants with different wavelength frequency reflectance properties are used and/or if additional information needs to be obtained from the agricultural field. It is also possible that the crop seeds are treated with an UV fluorescence marker and a colorant so that crop seeds exposed on the soil surface can be detected during day and night.

In an example, the terms “exposed on the soil surface” refer to the fact that the crop seeds are on the soil and accessible to birds and small mammals and can therefore be an easy but potentially dangerous food source for such animals.

In an example, the at least one image of the soil surface of the agricultural field is used to identify the marker and/or colorant on the plurality of crop seeds and to detect the plurality of crop seeds exposed on the soil surface. In order to distinguish between wavelength signals from marker/colorants of the crop seeds and those coming from other objects on the soil surface (and therefore to avoid false positives), the at least one image can be further analysed e.g. with machine learning algorithms.

In an example, the machine learning algorithm comprises a decision tree algorithm.

In an example, the machine learning algorithm comprises an artificial neural network such as a convolutional neuronal network.

In an example, the machine learning algorithm has been taught on the basis of a plurality of images. In an example, the machine learning algorithm has been taught on the basis of a plurality of images containing imagery of a plurality of different crop seeds treated with different markers and/or different colorants, on different soil types with different soil moisture degrees and different soil surface profiles.

Figure 1 c) shows an image (top view perspective) acquired by the vehicle as depicted in Figure 1 b). The image shows different objects on the soil surface prior to image analysis and the detection of the exposed crop seeds.

In an example, the generating of a crop seed map of the plurality of crop seeds that are exposed on the soil surface of the agricultural field refers to the representation of the detected crop seeds in a two-dimensional (or three-dimensional) display. When using a location determining means the crop seed map refers to a two- dimensional (or three-dimensional) display of the exposed crop seeds geopositional distribution on an agricultural field.

Figure 1 d) shows a two-dimensional crop seed map from a top view perspective. The black points on the map indicate where crop seeds exposed on the soil surface of the agricultural field have been identified.

According to an example, a plurality of different images of the soil surface of the agricultural field at a plurality of different geolocations on the agricultural field are acquired and wherein the plurality of different images are used to identify the marker and/or colorant on the plurality of crop seeds, to detect the plurality of crop seeds, and to generate a crop seed map of the plurality of crop seeds that are exposed on the soil surface of the agricultural field.

According to an example, a plurality of crop seeds treated with a marker and/or colorant are planted on an agricultural field by introducing the plurality of crop seeds into the soil (before the step of acquiring at least one image of the soil surface of the agricultural field). The introduction of the plurality of crop seeds into the soil preferably comprises the steps of: opening at least one furrow in the soil of the agricultural field, planting the plurality of crop seeds into the at least one furrow, and closing the at least one furrow.

According to an example, a localisation determining means is used to identify the geolocation of the plurality of crop seeds treated with a marker and/or colorant and exposed on the soil surface of the agricultural field.

In an example, a location determining means comprise one or more of a GPS, an inertial navigation systems, or an image based location system. The GPS system is preferably a GPS-Real Time Kinetic (RTK) system. The location can be a geographical location, with respect to a precise location on the ground, or can be a location on the ground that is referenced to another position or positions on the ground, such as a boundary of an agricultural field. In other words, an absolute geographical location can be utilized or a location on the ground that need not be known in absolute terms, but that is referenced to a known location can be used.

In an example, the location is an absolute geographical location. In an example, when the at least one image is acquired with a camera the location is a location that is determined with reference to a known location or locations. In other words, an image can be determined to be associated with a specific location on the ground, without knowing its precise geographical position, but by knowing the location where an image was acquired with respect to known position(s) on the ground the location where imagery was acquired can be logged. In other words, absolute GPS derived locations of where a vehicle has acquired imagery of the ground could be provided, and/or the locations of where imagery was acquired relative to a known position such as an agricultural field boundary could be provided, which again enables a control and processing unit to determine the exact positions where imagery was acquired because they would know the absolute position of the field boundary.

In an example, a GPS unit is used to determine, and/or is used in determining, the location, such as e.g. the location of the camera when specific images were acquired.

In an example, an inertial navigation unit is used alone, or in combination with a GPS unit, to determine the location, such as e.g. the location of the camera when specific images were acquired.

According to an example, the crop seed map of the plurality of crops seeds that are exposed on the soil surface of the agricultural field is outputted to a user.

In an example, the term “output” in this context refers to the display of the information on a screen, hand held, monitor, printer and/or any other means by which information can be displayed and shown to a user such as e.g. a farmer. This can also include audio transmission of information.

According to an example, crop seed map of the plurality of crops seeds that are exposed on the soil surface of the agricultural field is used to guide at least one vehicle to prevent crop seed exposure on the soil surface of the agricultural field.

In an example, the crop seed map is transmitted (e.g. with wired or wireless communication) to another vehicle. This vehicle uses the information to start operations to prevent exposure of the identified crop seeds on the soil surface.

According to an example, the prevention of the crop seed exposure on the soil surface of the agricultural field comprises removal of the plurality of exposed crop seeds, push of the plurality of exposed crop seeds into the soil and/or the coverage of the plurality of exposed crop seeds with soil and/or a combination thereof.

Figure 2 shows a schematic set up of an example of a vehicle 100 for crop seed planting management. The vehicle 100 for crop seed planting management comprises a camera 110, a control and processing unit 120, and an output unit 130. The camera is configured to acquire at least one image of the soil surface of an agricultural field after planting of a plurality of crop seeds treated with a marker and/or colorant. The control and processing unit is configured to use the at least one image of the soil surface of the agricultural field to identify the marker and/or colorant on the plurality of crop seeds exposed on the soil surface of the agricultural field. The control and processing unit is configured to use the marker and/or colorant information to detect the plurality of crop seeds treated with a marker and/or colorant and exposed on the soil surface of the agricultural field. The control and processing unit is configured to generate a crop seed map of the plurality of crop seeds that are exposed on the soil surface of the agricultural field. The output unit is configured to output the information about the crop seed map of the plurality of crop seeds that are exposed on the soil surface of the agricultural field.

In an example, the vehicle 100 is an Unmanned Ground Vehicle (UGV), a tractor, an Unmanned Aerial Vehicle (UAV), preferably an UAV such as a drone.

In an example, the camera 110 is configured to detect the visual characteristic wavelength of the marker and/or colorant reflecting from them.

In an example, the vehicle comprises an UV light source. This is beneficial to detect crop seeds treated with an UV fluorescent marker.

In an example, the camera 110 is configured to operate over the visible wavelength range. In an example, the camera is configured to operate in the near infrared range. In an example, the camera is monochromatic. In an example, the camera is configured to acquire colour information such RGB. In an example, the camera is configured to acquire hyperspectral information.

In an example, marker/colorant detection, crop seed identification and the generation of the crop seed map is done as described above for the method.

In an example, the output unit 130 comprises a monitor, a printer, a screen, an information monitoring device and/or any other information monitoring medium. In an example the output unit 130 is a transmitter configured to transmit (preferably wireless) the crop seed map information to another object such as another vehicle, processing unit, apparatus, device etc.

According to an example, the vehicle 100 further comprises location determining means 140. The control and processing unit is configured to use the location determining means to determine the geolocation of the plurality of crop seeds treated with a marker and/or colorant and exposed on the soil surface of the agricultural field.

In an example, the same is valid for the location determining means 140 as discussed above for the location determining means in the context of the method.

In an example, the term “geolocation” or “geopositional information” throughout the patent application refers to the real-world geographic location e.g. as represented in geographic coordinates.

In an example, the resolution of the geopositional information is ± 10 cm, more preferably ± 5 cm, and even more preferably ± 2 cm and less, which can be obtained by the use of the camera in synchronization with a location determining system such as a GPS-Real Time Kinetic (RTK) system.

In an example, the location determining means 140 are also used for navigation to guide the vehicle to a geolocation where at least one exposed crop seed has been identified.

According to an example, the vehicle 100 further comprises a crop seed exposure control unit 150. The crop seed exposure control unit is configured to prevent crop seed exposure on the soil surface of the agricultural field. The control and processing unit 120 is configured to move the vehicle to a geolocation where at least one crop seed exposed on the soil surface of the agricultural field has been detected according to the crop seed map. The control and processing unit 120 is configured to activate the crop seed exposure control unit to prevent the exposure of the at least one crop seed on the soil surface of the agricultural field at that geolocation.

In an example the activation of the crop seed exposure control unit comprises removal of the at least one exposed crop seed from the soil surface, push of the at least one exposed crop seed into the soil (e.g. a view centimeters) and/or the coverage of the at least one exposed crop seed with soil and/or a combination thereof. In an example, between the movement from one geolocation to another geolocation where an exposed crop seed has been identified, the crop seed exposure control unit can be deactivated.

In an example, all crop seeds indicated on a crop seed map for an agricultural field are controlled with the crop seed exposure control unit.

In an example, the crop seed exposure control unit comprises a robot arm.

In an example, the crop seed exposure control unit comprises a robot arm with a picking device configured to remove the at least one exposed crop seed from the soil surface.

In an example, the crop seed exposure control unit comprises a reservoir where the picked crop seeds can be stored.

In an example, the crop seed exposure control unit comprises a robot arm with a tool configured to push a crop seed into the soil (such as a stamp).

In an example, the crop seed exposure control unit comprises a soil tank and a connected pipe with a delivery device to supply soil on top of an exposed crop seed.

According to an example, one embodiment of the application refers to a crop seed map of a plurality of crop seeds that are exposed on the soil surface of the agricultural field which can be generated according to the method(s) as described herein.

Figure 3 shows a schematic set up of an example of a vehicle 200 for crop seed planting management. The vehicle 200 for crop seed planting management comprises an input unit 210, a control and processing unit 220, and crop seed exposure control unit 230. The input unit is configured to receive a crop seed map of a plurality of crop seeds that are exposed on the soil surface of an agricultural field. The control and processing unit is configured to use the crop seed map information from the input unit to determine an instruction to move the vehicle to a geolocation where at least one crop seed exposed on the soil surface of the agricultural field has been detected according to the crop seed map. The control and processing unit is configured to activate the crop seed exposure control unit to prevent the exposure of the at least one crop seed on the soil surface of the agricultural field at that geolocation.

In an example, the vehicle 200 is an Unmanned Ground Vehicle (UGV), a tractor, an Unmanned Aerial Vehicle (UAV), preferably UGV such as an autonomic robot. In an example, the input unit 210 comprises a receiver configured to receive (preferably via wireless communication) information about the crop seed map.

In an example, the features of the crop seed exposure control unit 230 are similar to those discussed in the context of the crop seed exposure control unit 150.

In an example, the vehicle 200 comprises location determining means 240 which are similar as those discussed in the context with location determining means 140.

In an example, the location determining means 240 are used for navigation to guide the vehicle to a geolocation where at least one exposed crop seed has been identified.

Figure 4 shows a schematic set up of an example of a system 300 for crop seed planting management. The system 300 for crop seed planting management comprises a first vehicle 100 for crop seed planting management and a second vehicle 200 for crop seed planting management. The first vehicle 100 comprises a camera 110, a control and processing unit 120, and an output unit 130. The second vehicle 200 comprises an input unit 210, a control and processing unit 220, and a crop seed exposure control unit 230. The camera 110 of the first vehicle is configured to acquire at least one image of the soil surface of an agricultural field after planting of a plurality of crop seeds treated with a marker and/or colorant. The control and processing unit 120 of the first vehicle is configured to use the at least one image of the soil surface of the agricultural field to identify the marker and/or colorant on a plurality of crop seeds exposed on the soil surface of the agricultural field. The control and processing unit 120 of the first vehicle is configured to use the marker and/or colorant information to detect a plurality of crop seeds treated with a marker and/or colorant exposed on the soil surface of the agricultural field. The control and processing unit 120 of the first vehicle is configured to generate a crop seed map of the plurality of crop seeds that are exposed on the soil surface of the agricultural field. The output unit 130 of the first vehicle is configured to output the information about the crop seed map of the plurality of crop seeds that are exposed on the soil surface of the agricultural field. The input unit 210 of the second vehicle is configured to receive the crop seed map of a plurality of crop seeds that are exposed on the soil surface of an agricultural field from the output unit 130 of the first vehicle. The control and processing unit 220 of the second vehicle is configured to use the crop seed map information from the input unit to determine an instruction to move the vehicle 200 to a geolocation where at least one crop seed exposed on the soil surface of the agricultural field has been detected according to the crop seed map. The control and processing unit 220 of the second vehicle is configured to activate the crop seed exposure control unit 230 to prevent the exposure of the at least one crop seed on the soil surface of the agricultural field at that geolocation.

Figure 5 shows a schematic set up of another example of a system 300 for crop seed planting management. The system 300 for crop seed planting management comprises a first vehicle 100 for crop seed planting management and a second vehicle 200 for crop seed planting management, and a processing unit 160. The first vehicle 100 comprises a camera 110, a control and processing unit 120, and an output unit 130. The second vehicle 200 comprises an input unit 210, a control and processing unit 220, and a crop seed exposure control unit 230. The processing unit 160 comprises an input unit 170 and an output unit 180. The camera 110 of the first vehicle is configured to acquire at least one image of the soil surface of an agricultural field after planting of a plurality of crop seeds treated with a marker and/or colorant. The control and processing unit 120 of the first vehicle is configured to use the output unit 130 to transmit the at least one image of the soil surface of the agricultural field to the input unit 170 of the processing unit 160. The input unit 170 of the processing unit 160 is configured to receive the at least one image of the soil surface of the agricultural field from the output unit 130 of the first vehicle. The processing unit 160 is configured to use the at least one image of the soil surface of the agricultural field from the input unit to identify the marker and/or colorant on a plurality of crop seeds exposed on the soil surface of the agricultural field. The processing unit 160 is configured to use the marker and/or colorant information to detect a plurality of crop seeds treated with a marker and/or colorant exposed on the soil surface of the agricultural field. The processing unit 160 is configured to generate a crop seed map of the plurality of crop seeds that are exposed on the soil surface of the agricultural field. The processing unit 160 is configured to utilize the output unit 180 to transmit the information about the crop seed map to the input unit 210 of the second vehicle. The input unit 210 of the second vehicle is configured to receive the crop seed map from the output unit 180 of the processing unit 160. The control and processing unit 220 of the second vehicle is configured to use the crop seed map information from the input unit to determine an instruction to move the vehicle 200 to a geolocation where at least one crop seed exposed on the soil surface of the agricultural field has been detected according to the crop seed map. The control and processing unit 220 of the second vehicle is configured to activate the crop seed exposure control unit 230 to prevent the exposure of at least one crop seed on the soil surface of the agricultural field at that geolocation.

In an example, the processing unit 160 is an external processing unit (such as e.g. processing capacity somewhere on the agricultural field or farmers house, or cloud computing capacity etc.) In an example, the input unit 170 is a receiver configured to receive the at least one image of the soil surface, preferably via wireless communication.

In an example, the output unit 180 is a transmitter configured to transmit the crop seed map, preferably via wireless communication.

Figure 6 shows a schematic set up of a detailed example of various vehicles 200 for crop seed planting management (from a side view perspective). In Figure 6, the vehicle 200 comprises as an input unit 210 a receiver which receives information about a crop seed map of crop seeds that are exposed on the soil surface of the agricultural field. The control and processing unit of the vehicle (not shown) uses this information to guide the vehicle to a geolocation where exposed crop seeds have been identified. In figure 6 a) an example is shown, where the vehicle comprises a crop seed exposure control unit with a robot arm and a picking device at the end of the robot arm. This device can pick individual crop seeds and remove them from the soil surface of the agricultural field. In figure 6 b) the vehicle comprises a crop seed exposure control unit with a robot arm and a device that can push individual crop seeds into the soil. In figure 6 c) an example is shown of a vehicle with a crop seed exposure control unit that comprises a soil tank, a connecting pipe and a soil delivery device to cover the identified exposed crop seeds with soil.

In another exemplary embodiment, a computer program or computer program product is provided that is characterized by being configured to execute the method steps of the method according to one of the preceding embodiments, on an appropriate system.

The computer program product might therefore be stored on a computer unit, which might also be part of an embodiment. This computing unit may be configured to perform or induce performing of the steps of the method described above. Moreover, it may be configured to operate the components of the above described vehicle(s) and/or system. The computing unit can be configured to operate automatically and/or to execute the orders of a user. A computer program may be loaded into a working memory of a data processor. The data processor may thus be equipped to carry out the method according to one of the preceding embodiments.

This exemplary embodiment of the invention covers both, a computer program that right from the beginning uses the invention and computer program that by means of an update turns an existing program into a program that uses invention. Further on, the computer program product might be able to provide all necessary steps to fulfil the procedure of an exemplary embodiment of the method as described above.

Figure 7 shows a schematic set up of an example of a computer program product 400 for crop seed planting management, which when executed by a processor is configured to carry out the steps of: a) receiving 410 at least one image of the soil surface of the agricultural field after planting of a plurality of crop seeds that have been treated with a marker and/or colorant, b) detecting 420 the plurality of crop seeds treated with the marker and/or colorant exposed on the soil surface of the agricultural field by using at least one image of the soil surface of the agricultural field to identify the marker and/or colorant on the plurality of crop seeds, c) generating 430 a crop seed map of the plurality of crop seeds that are exposed on the soil surface of the agricultural field.

In an example, in step d), instructing 440 a vehicle to move to a geolocation where at least one crop seed exposed on the soil surface of the agricultural field has been detected according to the crop seed map and to activate the crop seed exposure control unit to prevent the exposure of at least one crop seed on the soil surface of the agricultural field at that geolocation.

According to a further exemplary embodiment of the present invention, a computer readable medium, such as a CD-ROM, USB stick or the like, is presented wherein the computer readable medium has a computer program product stored on it which is / can be a computer program product as described by the preceding section. A computer program may be stored and/or distributed on a suitable medium, such as an optical storage medium or a solid state medium supplied together with or as part of other hardware, but may also be distributed in other forms, such as via the internet or other wired or wireless telecommunication systems. However, the computer program may also be presented over a network like the World Wide Web and can be downloaded into the working memory of a data processor from such a network.

According to a further exemplary embodiment of the present invention, a medium for making a computer program product available for downloading is provided, which computer program product is arranged to perform a method according to one of the previously described embodiments of the invention.

It has to be noted that embodiments of the invention are described with reference to different subject matters. In particular, some embodiments are described with reference to method type claims whereas other embodiments are described with reference to the vehicle, spray map, and/or system type claims. However, a person skilled in the art will gather from the above and the following description that, unless otherwise notified, in addition to any combination of features belonging to one type of subject matter also any combination between features relating to different subject matters is considered to be disclosed with this application.

While the invention has been illustrated and described in detail in the drawings and foregoing description, such illustration and description are to be considered illustrative or exemplary and not restrictive. The invention is not limited to the disclosed embodiments. Other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing a claimed invention, from a study of the drawings, the disclosure, and the dependent claims.

In the claims, the word “comprising” does not exclude other elements or steps, and the indefinite article “a” or “an” does not exclude a plurality. A single processor or other unit may fulfil the functions of several items re-cited in the claims. The mere fact that certain measures are re-cited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage. Any reference signs in the claims should not be construed as limiting the scope.