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WO2024166087A2 - Système matériel autonome de robots matériels dotés d'ia, capteurs acoustiques/spectraux et plasma froid pour détecter et éradiquer efficacement les ravageurs agricoles menaçant des plantations telles que les palmiers dattiers et les cocotiers - Google Patents

Système matériel autonome de robots matériels dotés d'ia, capteurs acoustiques/spectraux et plasma froid pour détecter et éradiquer efficacement les ravageurs agricoles menaçant des plantations telles que les palmiers dattiers et les cocotiers Download PDF

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WO2024166087A2
WO2024166087A2 PCT/IB2024/055763 IB2024055763W WO2024166087A2 WO 2024166087 A2 WO2024166087 A2 WO 2024166087A2 IB 2024055763 W IB2024055763 W IB 2024055763W WO 2024166087 A2 WO2024166087 A2 WO 2024166087A2
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treatment
sensory
autonomous
detection
actuator
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WO2024166087A3 (fr
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MohammadFawzi BAJNAID
Mohamed A. HUSSEIN
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • G05D1/2465—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM] using a 3D model of the environment
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/648—Performing a task within a working area or space, e.g. cleaning
    • G05D1/6484—Performing a task within a working area or space, e.g. cleaning by taking into account parameters or characteristics of the working area or space, e.g. size or shape
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N20/00—Machine learning
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/04—Architecture, e.g. interconnection topology
    • G06N3/044—Recurrent networks, e.g. Hopfield networks
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/04—Architecture, e.g. interconnection topology
    • G06N3/045—Combinations of networks
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/08—Learning methods
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/08—Learning methods
    • G06N3/084—Backpropagation, e.g. using gradient descent
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/15—Specific applications of the controlled vehicles for harvesting, sowing or mowing in agriculture or forestry
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/20—Land use
    • G05D2107/21—Farming, e.g. fields, pastures or barns
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/20—Aircraft, e.g. drones
    • G05D2109/25—Rotorcrafts
    • G05D2109/254—Flying platforms, e.g. multicopters

Definitions

  • the Amaran can be easily attached to a coconut tree using a ring-shaped frame controlled wirelessly.
  • challenges may arise in the effectiveness of the Amaran when it comes to climbing and harvesting non-ideal trees particularly considering factors such as the height, circumference, and angle of inclination of the tree.
  • Al is a technology that improves agricultural output by allowing precise monitoring of crop health, growth patterns, and soil conditions.
  • Different systems are reported to implement several sensors like moisture, pH, and nutrient sensors, along with high-resolution imaging and acoustical technologies, to identify indications of crop stress, disease, infestation, or nutritional imbalances. This allows for the use of tailored treatment management strategies. This leads to enhanced crop vitality and maximised harvests.
  • Al systems can optimise irrigation schedules and nutrient application by utilising up-to-date data on soil moisture and nutrient levels. Implementing Al sensing tools and robotics not only conserves resources but also plays a vital role in locations that are prone to drought or infestation, potentially changing the outcome from crop failure to a bountiful harvest.
  • Al enhances precision farming by offering increased control and accuracy.
  • Utilising data-driven strategies, such as precise watering and fertilisation improves agricultural output while reducing negative effects on the environment.
  • Variable rate technology for watering enhances the efficiency of water usage, fertiliser, and pesticide application by optimising their usage, hence reducing waste.
  • Artificial intelligence plays a vital role in the progress of sustainable agriculture through the promotion of conservation tillage, cover cropping, and integrated pest management methods. Additionally, it contributes to climate adaptation, economic sustainability, and well-informed policymaking. It has a crucial function in conserving biodiversity, assessing the health of ecosystems, and promoting sustainable practices. Al applications have the potential to improve the economic sustainability of farmers and influence the development of agricultural policies by encouraging productive and sustainable practices.
  • Some of the most promising detection technologies include X-ray analysis (Haff and Slaughter 2004);(Ma et al. 2012), acoustic systems (Hussein, Hussein, and Becker 2010; Hussein, Hussein, and Becker 2009); (Rach, et al. 2013); (Gutierrez et al. 2010); (Siriwardena et al. 2010); (Mankin 2011) and thermal systems (El-Fa ki, El-Shafie, and Al-Hajhoj 2016).
  • These innovative methods aim to overcome the challenges posed by limited human resources and high transportation costs, which have previously hindered the monitoring and early detection of RPW infestations.
  • Ambient conditions can also interfere with the detection of low energy emitted by younger larvae. Understanding insect activity is limited, and it is crucial to consider diurnal and seasonal patterns of larval activity and the developmental cycle under different climatic conditions. Acoustics cannot detect dormant insect stages, such as eggs, pupae, or inactive larvae(Soroker et al. 2017).
  • the innovative patent introduces an aerial spectral imaging method for detecting RPW infestation in palm trees by capturing a three-dimensional representation of the tree's upper section.
  • This imaging process combines LiDAR technology with a spectrum ranging from 400 to 1200nm, allowing for the identification of palm tree shapes and positions using NIR wavelengths.
  • the analysis is conducted using unmanned aircraft systems (UAS) and unmanned aerial vehicles (UAV) to compare spectral images for determining the infection status of the trees.
  • UAS unmanned aircraft systems
  • UAV unmanned aerial vehicles
  • Detection times may be extended, resulting in a delay in immediate indication suggesting It is possible to determine the presence of RPW by monitoring at intervals of every hour or every day. Additionally, the optical fibre must be manually brought down to ground level and moved to the next tree, with one sensor allocated per tree. The procedure described in the patent necessitates complex equipment and skilled workers, which can become a constrain, particularly in large-scale plantations like those found in the MENA region.
  • An additional innovation (TAHER 2002-03-19) has been developed to identify the presence of red palm weevils and stem borers that are concealed deep within tree trunks or upper roots. This is achieved by monitoring the RF impedance match changes between the examined material housing the specific moving organism and a consistent RF transmitter. Nevertheless, the system is recommended for use in environments with minimal interference and ambient noise, as its performance may deteriorate in unstable ambient conditions. It is crucial for the device to be adequately shielded to reduce external electromagnetic interference and noise effects, which could be caused by air currents within the device. Additionally, precautions should be taken to ensure that the operator remains at a sufficient distance from the detection area to prevent any potential interference.
  • the invention discloses a method for detecting insects involves using an insect trap and detection device and a post-processing platform. The total probability of a detection event is determined, and a pre-processing algorithm is applied to obtain a detector signal. A post-processing algorithm can be applied to multiple detection signatures.
  • the device has a sensor channel, beam interrupt sensor, and local processing unit connected to the beam interrupt sensor and transmitter unit.
  • an invention provides a method for detecting red palm weevil beetles by creating a setup and dataset for monitoring phototactic behaviour reaction of RPW and other weevils, and has high spectrum screening speed and accurate and reliable screening result (LI et al. 2023-02-03).
  • an attention mechanism which comprises constructing a target detection data set, namely a RPW data set, and conducting data enhancement and expansion on the target detection data set.
  • the constructed detection network can extract and learn the characteristics of the RPW and finish the output detection of the red palm beetle individuals, additionally, the trained target detection network can be used for detecting and identifying the RPW in different scenes (LI et al. 2023-09-08). Yet the system remains to be tested in the field and by implementing the method, the accuracy of target detection of the red palm weevil are anticipated by the authors to improve.
  • An innovative approach is necessary to integrate a combination of cutting-edge autonomous technology involving spectral or acoustical non-invasive sensors placed in-line, ground-based detection units with telescopic arms tailored for tree-crowns or upper branches and tall trees, or sensing gantries for massive ground crops, climbing units for tree stems, along with airborne and cube satellites to efficiently monitor detection over a broader spectrum of vast plantations from different angles, thus offering thorough and accurate analysis of infestation detection.
  • the deployment of each element of this system can be conducted concurrently or separately, based on economic viability and scale necessities. Furthermore, it is anticipated that this new approach would not pose any negative impacts on tree health, environmental disruptions, excessive expenditures, or the necessity for intricate power supply, all while maintaining an accuracy rate exceeding 95 percent.
  • a nonchemical method of insect control could be a promising alternative.
  • existing technologies often have long treatment durations, excessive costs, temperature restrictions, aesthetic changes, and adverse environmental impacts. Therefore, environmentally friendly techniques and effective control of insects in stored grains are essential.
  • Cold plasma which has emerged as a non-thermal technology for treating grains (Ikmal Misnal et al. 2021).
  • Cold plasma effectively inactivates or decontaminates pathogens without causing thermal damage and without leaving any harmful residues. Additionally, it has minimal impact on the quality properties of grains (Ahmad Mir, et al. 2023).
  • This innovative technology is also used for decontaminating various food materials and extending their shelf life.
  • Cold plasma treatment in contrast, can effectively alter the physical characteristics of the plant matrix, hence improving the extraction of plant components.
  • the reactive species produced by CP such as reactive oxygen species (ROS) and reactive nitrogen species (RNS), alter material surfaces, hence enhancing extraction yields.
  • ROS reactive oxygen species
  • RNS reactive nitrogen species
  • the application of CP treatment has demonstrated enhanced extraction efficiencies for a range of substances, such as galactomannan and essential oils.
  • prolonged exposure can lead to reduced yields due to damage to essential oil glands.
  • CP treatment can impact the polyphenol content and antioxidant activity of extracts, raising safety concerns for industries like food, herbal, and cosmetics.
  • CP treatment has been investigated for its impact on phytochemical profile, antioxidant capacity, antimicrobial properties, and other biological activities of plant extracts.
  • Cold plasma a partially ionised gas, has been used for sterilization, deactivation of microorganisms, and pest control. It consists of electrons, atoms, ions, free radicals, UV photons, and radiation. It is currently used for eliminating microbes, promoting seed germination, reducing cooking time for rice grains, modifying starch, decreasing aflatoxins, deactivating enzymes, and modifying hydrophilic/hydrophobic characteristics (Sutar et al. 2021).
  • Cold plasma treatment effectively reduces insect infestation in stored food products like wheat flour. After 60 minutes (Sutar, et al. 2021), larvae, pupae, and eggs were completely inhibited, with Indian meal moth larvae and pupae being more tolerant. The treatment also decreased lipase enzyme activity, increasing flour stability, and decreasing Thiobarbituric acid value. This eco-friendly treatment is practical and effective.
  • the utility model disclosed by Feng (FENG et al. 2019-04-19) outlines a cereal plasma pretreatment machine with a shell, vibrating conveying device, plasma mounting rack, plasma generating units, gas buffer tank, air-blower, and intercommunication gaseous baffle-box.
  • the machine can fine-tune the plasma treatment condition, ensuring accurate control of plasma for cereal processing.
  • the model also includes a gas buffer tank, air-blower, and intercommunication gaseous baffle-box. The machine enables precise control of plasma for cereal processing.
  • the procedure (KEVIN and MARK 2015-10-23) entails generating a high-voltage cold plasma (HVCP) by utilising a working gas, moving the gas at a minimum distance of 5 cm, and thereafter exposing the product or surface to the reactive gas for the purpose of biological disinfecting and sterilisation, particularly in the case of grains.
  • HVCP high-voltage cold plasma
  • the invention (GREGOR et al. 2012-02-16) pertains to a device designed to disinfect or sterilise a contaminated surface.
  • the device includes a built-in plasma source that generates a non-thermal atmospheric plasma on the surface. This process effectively reduces the concentration of harmful microorganisms on the surface.
  • the invention (ZHENGKE et al. 2024-02-27) outlines a low-temperature plasma activated water treatment method for fresh-cut fruits and vegetables.
  • the process involves selecting, sterilizing, cutting, soaking in the water, draining, packaging, and refrigerating. This method effectively solves issues like colour change and decay, prolonging the shelf life of the fruits and vegetables. It is simple, convenient, green, and safe, making it a green and convenient solution for fresh-cut storage and fresh-keeping.
  • the method is green and safe.
  • the utility model invention (TONG et al. 2023-06-02)outlines a tea pesticide residue degradation and disinfection device using atmospheric pressure cold plasma.
  • the device consists of a plasma treatment bin and an atmospheric pressure cold plasma preparation device connected via a plasma jet array.
  • the jet array is arranged on the inner wall of the bin, and the prepared atmospheric pressure cold plasma enters the bin to degrade and sterilize pesticide residues from tea leaves. This method effectively kills microorganisms like bacteria and fungi while maintaining the tea's state and taste.
  • the invention (EDWARD and ERIC 2013-10-24) outlines a method for combating bed bugs, eggs, or larvae by exposing them to a disinfecting atmosphere containing ozone and hydrogen peroxide at a concentration of 2-350 ppm by weight, at a relative humidity of at least 30%, and for a sufficient period. The process is then repeated in enclosed spaces, such as dwelling rooms, to remove ozone to a concentration of 0.04 ppm or less.
  • the invention also provides a portable system for destroying bed bugs in rooms and on surfaces, including an ozone generator, ozone controller, hydrogen peroxide source, humidity adjustment, and an ozone remover for safe disposal.
  • An invention for eradicating red palm weevil using High-frequency power sources supply electromagnetic waves (10-100 MHz) to plates surrounding a tree's trunk, used to kill red palm weevils and tree stem borers.
  • the plates are cylindrical and insulated encircling the trunk of the infected tree.
  • the invention proposes a red palm weevil control system that includes a magnetic field generator to capture and retain red palm weevils that have already ingested food containing magnetic nanoparticles. These nanoparticles, made from FeO, Fe-Gd, and neem leaf extract, are combined with food material and fed to the weevils. The magnetic field generator then collects and retains the weevils by attracting magnetic materials within their digestive tracts. This system allows for the detection of one or more red palm weevils, retains those who have eaten food with magnetic nanoparticles, and eliminates bacteria within the weevil's digestive system, leading to the death of the weevil in which the bacteria was present.
  • ionizing radiations for pest control, prevention of sprouting, and extending the shelf life of food products has attracted considerable interest.
  • the preferred methods include gamma radiation from Caesium-137 and Cobalt-60, electron beam, and X-rays, which have been deemed safe by the World Health Organization and the Food and Agriculture Organization in recent years (Ravindran and Jaiswal 2019) (Mousavi Khaneghah et al. 2020).
  • the utilization of radiation in food processing involves the application of energy to food products with the aim of enhancing their storage stability. This process helps in the eradication of parasites and insects, inhibition of enzyme activity, as well as the reduction of foodborne pathogens such as bacteria, fungi, viruses, and mycotoxins (Pillai and Shayanfar 2016).
  • autonomous tree-climbing units can be utilized for different parts of the trees.
  • autonomous climbing units for tree stems can be employed for efficient monitoring and detection from various angles across large plantations. This comprehensive approach ensures precise analysis of infestation detection.
  • the implementation of each component can be carried out simultaneously or individually, depending on economic feasibility and scale requirements.
  • this innovative approach will not have any negative impact on tree health, cause environmental disturbances, incur excessive costs, or necessitate complex power supply.
  • RPW larvae in a red palm may be applied to any tree or crop or plantation infestation caused by a bug, mites, fungus or bacteria or to other applications in which an infestation could be detected and treated with cold plasma through a system of autonomous treatment units.
  • the disclosed plantation treatment system employs a blend of terrestrial, arboreal, and airborne vehicles, such as an Autonomous Mobile Robot (AMR unit), self-operating gantries, and unmanned aerial vehicles (drones).
  • AMR unit Autonomous Mobile Robot
  • drones unmanned aerial vehicles
  • the goal is to reduce human involvement to tackle challenges related to energy consumption and routing dynamics in the treatment of infestations in an agricultural setting.
  • the primary objective is to enhance the efficiency of off-road, all- terrain operations in order to meet worldwide objectives, while considering local planning standards.
  • onboard sensors such as 3D ultrasound range scanners, LiDAR systems and 3D stereo images, allows for the optimisation of cost functions and maximisation of profits by selectively targeting red palm weevils.
  • This invention introduces a dependable approach to navigation that is based on Bee-Ant colony Optimisation algorithms.
  • the objective of this technology is to circumvent obstacles in real-time and compute alternative paths without any complications.
  • Both terrestrial and airborne devices employ a sophisticated automated mechanism that incorporates a self-deployable set of rings. These rings effortlessly encircle trees, offering a diverse solution for operations such as tree cutting, pruning, insect identification, infestation treatment, and control.
  • the disclosed detection ring integrates state-of-the-art spectral-acoustic-scanning technology, facilitating swift and precise recognition of diverse infestations, such as the Red Palm Weevil (RPW), during different stages of their life cycle.
  • the system consists of signal processing techniques, an advanced feature selection approach, and Artificial Neural Networks to assess the feeding sounds of RPW and precisely classify infestations.
  • the system utilises a restricted dielectric barrier discharge reactor to produce high-voltage air-based atmospheric cold plasma for the disclosed treatment ring.
  • the treatment procedure for each tree which entails the use of encircling rings, typically requires approximately 5 minutes to finish. This guarantees a prompt, efficient, and environmentally responsible process.
  • the detection and treatment system should have the ability to easily adapt to different sizes of plantations and precisely define them based on precise geographical coordinates, while smoothly integrating with a tree-map system. Moreover, it should be cost-effective while avoiding any disruptions or requiring on-site participation. To do this, it is crucial to integrate cutting-edge technology, such as non-invasive sensors like spectral or acoustical devices, together with therapeutic tools that utilise cold plasma.
  • These tools can be configured in various ways, such as gunshaped or ring-shaped devices, and can be either mounted on separate gantries or coupled to telescopic arms.
  • a range of autonomous devices including tree-climbing units, drones, and ground-based detection/treatment units with telescopic arms, can be used for diverse parts of tree management.
  • autonomous climbing apparatus specifically engineered for tree trunks, as well as aerial and cubic satellites, can be employed to efficiently survey and identify from several viewpoints across vast plantations. This comprehensive methodology ensures precise assessment of infestation detection. The installation of each component can be carried out simultaneously or individually, depending on economic feasibility and size requirements.
  • the tree treatment system disclosed uses a combination of ground and airborne vehicles, such as autonomous mobile robot (AMR) units, autonomous tree-climbing units, autonomous gantries and autonomous drones [Fig. 1].
  • AMR autonomous mobile robot
  • a range of autonomous devices including tree-climbing units, drones, and ground- based detection/treatment units with telescopic arms, can be used for diverse parts of tree management [Fig. 2.].
  • autonomous climbing apparatus specifically engineered for tree trunks, as well as aerial and cubic satellites, can be employed to efficiently survey and identify from several viewpoints across vast plantations.
  • the system aims to overcome challenges related to energy consumption and dynamics in routing through palm farms to reach trees for treatment, with minimal human intervention.
  • Onboard sensors such as 3D ultrasound ranging scanners and 3D stereo imaging, allow for re-routing strategies to ensure cost function minimization and profit maximization by effectively eliminating infestations or red palm weevils.
  • quad drones assist in path planning and provide feedback to the ground vehicle AMR. These drones also directly treat the crown of the tree, which is typically inaccessible to the tree-climbing unit due to obstructing leaves. We implement a robust navigational strategy to avoid obstacles in real-time and compute alternative paths without encountering any problems.
  • Non-deterministic navigation is approached using artificial bee colony optimisation, which involves simulating the foraging behaviour of honeybees to find the best path.
  • Ant colony optimization mimics the behaviour of ants searching for food at ground level to optimize the path.
  • Combining the concepts of bees and ants allows for the development of a joint approach that enhances both ground-level and airborne optimisation processes.
  • non-deterministic navigation and tracking named Bee-Ant Joint Neuro-fuzzy Al Detection System is defined.
  • incorporating neuro-fuzzy systems and artificial intelligence can improve the efficiency and effectiveness of optimization algorithms for different optimization criteria [Fig. 3] such as: insect population, treatment time, treatment material and battery consumption.
  • the system produces three-dimensional sensory data that includes the geo-location of the distribution of vegetation, impediments, and vegetation indices. This data is generated in real-time or near real-time and is based on terrestrial, aerial, and satellite data. Generating a comprehensive and detailed three-dimensional model that displays vegetation, plants, trees, or crops, along with various layers of information. This includes mapping the obstacles in three dimensions and incorporating vegetation indices such as irrigation levels, watering data, leaf area index (LAI), crop growth patterns, and green vegetation index [Fig. 5.].
  • vegetation indices such as irrigation levels, watering data, leaf area index (LAI), crop growth patterns, and green vegetation index [Fig. 5.].
  • the model includes mapping the infestation layer and paths through the obstacles and vegetation, serving as a foundation for guidance and routing [Fig. 6.].
  • Each autonomous robotic level (whether ground, climbing, gantries or airborne or even CubeSat) can be deployed and synchronized simultaneously or individually, depending on the economic feasibility and size requirements.
  • this innovative system would not have a negative impact on the health of trees, disturb the ecosystem, incur significant costs, or necessitate complex power sources.
  • a cutting-edge automated mechanism has been disclosed to revolutionise infestation management practices within the system.
  • the disclosed AMR system comprises a cutting-edge automated mechanism featuring a self- deployable set of rings that effortlessly wrap around trees.
  • the system self-encircles a tree in an automated fashion, with the set of rings offering a versatile solution for tree trimming, pruning, insect detection, infestation treatment, and control.
  • Sensitive spectral-acoustic scanning technology integrates with the detection ring, enabling the system to swiftly and non-invasively detect any infestation or insects present in the tree stem.
  • the detection process itself is remarkably efficient, taking only few seconds to scan the tree thoroughly and identify potential problems.
  • the system has a wide range of spectral and temporal sensors that make it easy to identify the infestation quickly and accurately at various stages of its life, such as a larva or an adult. During excavation feeding and engagement a distinct and intense acoustic pattern is emitted.
  • the detection system consists of signal processing techniques, an intelligent feature selection method, and artificial neural networks for analysing insects' feeding sounds and conclusively classifying infestations.
  • the feature selection algorithm includes an examination of the factors used to determine the most effective frame length, as well as the process of selecting an appropriate window function.
  • the findings validate the efficacy of the automated system using self-learning dynamic filters, chosen representative features, window functions, and frame length to identify the presence of infestation or insect-adult or larvae.
  • the treatment gun or ring automatically initiates a non-invasive cold plasma treatment, effectively addressing the detected issues without causing any harm to the tree, fruits, or the environment [Fig. 7.].
  • These treatment heads can be configured in various ways, such as gun-shaped or ring-shaped devices, this comprehensive mechanism ensures precise vectoring of treatment material, and can be either mounted on separate gantries or coupled to telescopic arms, or drones or autonomous ground vehicles. The installation of each component can be carried out simultaneously or individually, depending on economic feasibility and size requirements. Importantly, it is anticipated that this innovative technique would not have a negative impact on the health of trees, disturb the ecosystem, incur significant costs, or necessitate complex power sources.
  • the treatment process typically takes from few hours to few minutes, for example it would take for a palm tree infested with RPW approximately 5 minutes to administer, ensuring a swift and efficient overall process.
  • the system confines high-voltage airbased atmospheric cold plasma within a dielectric barrier discharge reactor, acting as an important bio-contaminant for red palm weevil infestations.
  • the system disclosed a mortality rate of 95.0%- 100% for different insect stages that can be achieved within seconds of treatment.
  • n Management System and Crop Defense System o
  • this intelligent system goes beyond its primary functions by generating a comprehensive database for each palm tree it encounters. This database includes crucial information such as the detection percentage, treatment timings, and other relevant data.
  • Ahmad Mir Shabir, Mudasir Bashir Mir, Manzoor Ahmad Shah, Afshan Mumtaz Hamdani, Kappat Valiyapeediyekkal Sunooj, Yuthana Phimolsiripol, and Amin Mousavi Khaneghah. 2023. "New Prospective Approaches in Controlling the Insect Infestation in Stored Grains.” Journal of Asia-Pacific Entomology26, no. 2 (2023/06/01/): 102058.

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Abstract

Le système de traitement de plantations mis en évidence fait appel à une combinaison de véhicules terrestres, grimpants et aériens, parmi lesquels figurent un robot mobile autonome (unité AMR), des portiques autonomes et des drones. L'objectif est de réduire au maximum l'interaction humaine pour aborder des difficultés associées à la consommation d'énergie, à la dynamique d'acheminement, aux risques biologiques en matière de balayage et de traitement d'une infestation sur des cultures, une végétation, des arbres et des plantations. L'accent est mis sur l'optimisation des activités hors route, tout terrain et aéroportées pour satisfaire des objectifs mondiaux, tout en tenant compte de directives de planification efficaces locales. L'utilisation de capteurs embarqués, tels que des scanners à ultrasons 3D, des scanners LiDAR et l'imagerie stéréo 3D, permet l'optimisation des fonctions de coût et la maximisation des profits en ciblant spécifiquement des infestations à des stades précoces. Ce brevet présente un procédé fiable de navigation qui repose sur des algorithmes d'optimisation par colonies de fourmis pour optimiser des robots terrestres et aéroportés. Le but de ce procédé est d'éviter des barrières en temps réel et de calculer des itinéraires de rechange en toute simplicité. Les systèmes terrestres et aéroportés font tous deux appel à un mécanisme automatisé avancé qui comprend un ensemble auto-déployable de protocoles de traitement associés à des anneaux ou des têtes ou des distributeurs. Ces protocoles sont facilement dirigés vers les cultures ou la végétation ou enveloppent des arbres à partir d'une base aérienne ou terrestre, ce qui permet d'obtenir une solution polyvalente pour des tâches telles que l'émondage, l'élagage, l'identification d'insectes, le traitement des infestations et la lutte contre celles-ci. Les capteurs de détection mis en évidence intègrent une technologie de balayage spectral, NIR et acoustique avancée, permettant une identification rapide et précise de différentes déficiences, différents indices et différentes infestations de végétation, telles que par le charançon rouge du palmier, à l'aide d'algorithmes de regroupement de données et de traitement de signal. Le système fait appel à un réacteur à décharge à barrière diélectrique confinée pour générer un plasma froid atmosphérique à base d'air à haute tension pour le pistolet de traitement, la tête ou le protocole de traitement décrits. Bien que ce procédé de traitement nécessite habituellement un temps d'achèvement d'environ 5 minutes pour chaque point d'infestation, il est sans danger pour les êtres humains, le bétail et la plantation elle-même. Ceci garantit une procédure rapide, efficace et respectueuse de l'environnement. Le système de détection et de traitement selon l'invention est facile à ajuster pour être adapté à diverses tailles de plantations et les délimiter avec précision en fonction d'emplacements géographiques précis, tout en intégrant en continu des données sensorielles tridimensionnelles comprenant la géolocalisation : de la répartition 3-D de la végétation ; des obstacles 3-D ; des indices de végétation 3-D, des infestations mappant la couche de représentation tridimensionnelle d'indices de végétation dont les niveaux d'irrigation, l'indice de surface foliaire (LAI), les schémas de croissance de culture, l'indice de végétation verte ; la couche d'infestation et la représentation tridimensionnelle de trajets passant par les obstacles et la végétation en 3-D en guise de base pour le guidage et l'acheminement des robots autonomes. En outre, les robots de l'invention sont économiquement efficaces sans pour autant générer d'interruptions ou nécessiter d'implication sur site. Pour cela, il est essentiel d'incorporer la technologie de l'état de la technique, notamment des capteurs non intrusifs tels que des dispositifs spectraux ou acoustiques, conjointement avec des outils thérapeutiques à plasma froid. Ces outils peuvent adopter plusieurs configurations, par exemple se présenter sous la forme de dispositifs de type pistolet ou en forme d'anneau, qui sont soit placés sur des portiques indépendants soit fixés à des bras télescopiques. En outre, divers dispositifs autonomes, tels que des unités grimpant aux arbres, des drones, des ballons et des unités de détection/traitement au sol comportant des bras télescopiques, peuvent être utilisés pour divers aspects de la gestion des arbres. De plus, un équipement grimpant autonome conçu pour les tiges d'arbres, ainsi que des satellites aéroportés et cubiques, peuvent être utilisés pour une surveillance et une détection efficaces depuis plusieurs points de vue sur des plantations étendues. Cette méthodologie complète garantit une évaluation précise de la détection d'infestations. L'installation de chaque composant peut être effectuée simultanément ou séparément, sur la base de la viabilité économique et des conditions préalables en termes d'échelle. Un fait essentiel est que l'on prévoit que ce procédé novateur n'influe pas négativement sur la santé des arbres, ne perturbe pas l'écosystème, n'entraîne pas de dépenses élevées, ou ne nécessite pas de sources d'énergie compliquées. De plus, on anticipe le maintien d'un taux de précision de détection et de traitement supérieur à 95 pour cent. Cette technologie sophistiquée crée une base de données approfondie concernant chaque arbre, chaque culture ou chaque végétation rencontré(e), ce qui permet de donner des aperçus utiles à des fins d'analyse et de prise de décision futures. Le recours à cette technologie permet d'améliorer considérablement les procédures de gestion des plantations, ce qui garantit ainsi la santé et la durée de vie de la végétation tout en maximisant l'attribution de ressources.
PCT/IB2024/055763 2024-06-12 2024-06-12 Système matériel autonome de robots matériels dotés d'ia, capteurs acoustiques/spectraux et plasma froid pour détecter et éradiquer efficacement les ravageurs agricoles menaçant des plantations telles que les palmiers dattiers et les cocotiers Pending WO2024166087A2 (fr)

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KR102900240B1 (ko) 2025-10-17 2025-12-16 주식회사 우리아이씨티 비접근지역에서 드론 LiDAR와 3D 스캐너를 기반으로 하는 기준점관리장치 및 그 방법

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CN118730953A (zh) * 2024-08-30 2024-10-01 陕西德丞电子科技有限公司 一种基于光谱分析的食品安全检测系统
KR102900240B1 (ko) 2025-10-17 2025-12-16 주식회사 우리아이씨티 비접근지역에서 드론 LiDAR와 3D 스캐너를 기반으로 하는 기준점관리장치 및 그 방법

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