SE546151C2 - Vegetation management system and method for managing vegetation within an area - Google Patents

Vegetation management system and method for managing vegetation within an area

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Publication number
SE546151C2
SE546151C2 SE2150218A SE2150218A SE546151C2 SE 546151 C2 SE546151 C2 SE 546151C2 SE 2150218 A SE2150218 A SE 2150218A SE 2150218 A SE2150218 A SE 2150218A SE 546151 C2 SE546151 C2 SE 546151C2
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Sweden
Prior art keywords
vegetation
state
area
time
management system
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SE2150218A
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Swedish (sv)
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SE2150218A1 (en
Inventor
Erik Swan
Girish Agarwal
Ulf Axelsson
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Husqvarna Ab
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Publication date
Application filed by Husqvarna Ab filed Critical Husqvarna Ab
Priority to SE2150218A priority Critical patent/SE546151C2/en
Priority to PCT/SE2022/050153 priority patent/WO2022186746A1/en
Priority to EP22706134.8A priority patent/EP4301127A1/en
Publication of SE2150218A1 publication Critical patent/SE2150218A1/en
Publication of SE546151C2 publication Critical patent/SE546151C2/en

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
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    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • G06Q10/06313—Resource planning in a project environment
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G23/00—Forestry
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M21/00—Apparatus for the destruction of unwanted vegetation, e.g. weeds
    • A01M21/04—Apparatus for destruction by steam, chemicals, burning, or electricity
    • A01M21/043—Apparatus for destruction by steam, chemicals, burning, or electricity by chemicals
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0089—Regulating or controlling systems
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H11/00—Control of undesirable vegetation on roads or similar surfaces or permanent ways of railways, e.g. devices for scorching weeds or for applying herbicides; Applying liquids, e.g. water, weed-killer bitumen, to permanent ways
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G06V20/188—Vegetation
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G23/00—Forestry
    • A01G23/02—Transplanting, uprooting, felling or delimbing trees
    • A01G23/08—Felling trees
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/04—Interpretation of pictures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N2021/8466—Investigation of vegetal material, e.g. leaves, plants, fruits
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30181—Earth observation
    • G06T2207/30188—Vegetation; Agriculture

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  • Theoretical Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Environmental Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Pest Control & Pesticides (AREA)
  • Insects & Arthropods (AREA)
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Abstract

A vegetation management system (100) for managing vegetation within an area. The vegetation management system (100) comprises at least one controller (110) configured to receive image data related to vegetation within the area; and to determine, based on the received image data related to the vegetation within the area, the vitalization of the vegetation within the area. The at least one controller (110) is further configured to determine, based on the determined vitalization of the vegetation within the area, a time when the vegetation reaches a desired vegetation state; and to control, based on the determined time, a subsequent action of the vegetation management system (100) to manage the vegetation within the area.

Description

TECHNICAL FIELD The present disclosure relates to a vegetation management system as Well as a method for managing vegetation Within an area.
BACKGROUND Vegetation is an assemblage of plant species. It is a general terrn, Without specific reference to particular structure, spatial extent, or any other specific botanical or geographic characteristics. Examples that are encompassed by the terrn vegetation are forests, Wheat fields, parks, cultivated gardens and laWns.
Vegetation management is used for targeted control and elimination of unWanted vegetation. By performing vegetation management, vegetation may be controlled to become, or to be maintained, in a desired state. The desired state may be a state suitable for the purpose of the vegetation and/or the surrounding environment of the specific vegetation.
In order to control a vegetation, maintenance is generally run at fixed cadence depending on a typical groWth rate in the area. However, as growth rate generally is individual for the areas, it is not uncommon that actions, such as clearing actions in a forest, are taken too soon or too late. When the actions are taken too soon, effort could have been put elseWhere, While When actions are taken too late that may result in more Work than expected. Thus, there is a need for better planning and scheduling of vegetation maintenance.
Furthermore, once vegetation maintenance has been performed Within a certain area, it is generally desirable to follow up and assure the quality of the maintenance activities. This is typically performed through on-site inspection at sample locations. Due to the required costs and time, it is norrnally not possible to inspect the entire area, especially if the area is Wide.
SUMMARY It is difficult, expensive and time consuming to plan and follow up vegetation maintenance Work. Vegetation Within a certain area is therefore often managed either too early or too late and it is difficult to ensure that the quality of the clearance is sufficient.
In view of the above, it is therefore a general object of the aspects and embodiments described throughout this disclosure to provide a vegetation management system that manages vegetation Within an area in a time efficient, easy, reliable and accurate Way.
This general object has been addressed by the appended independent claims. Advantageous embodiments are defined in the appended dependent claims.
According to a first aspect, there is provided a vegetation management system for managing vegetation Within an area.
In one exemplary embodiment, the vegetation management system comprises at least controller. The at least one controller is conf1gured to receive image data related to vegetation Within the area and to determine, based on the received image data related to the vegetation Within the area, a vitalization gradient for the vegetation Within the area. The at least one controller is further configured to determine, based on the deterrnined vitalization gradient for the vegetation Within the area, a time When the vegetation reaches a desired vegetation state and to control, based on the deterrnined time, a subsequent action of the vegetation management system to manage the vegetation Within the area.
In some embodiments, the at least one controller is further configured to receive a scheduled time for When it is believed that the vegetation reaches a desired vegetation state; and to compare the scheduled time With the deterrnined time. The at least one controller may further be configured to adjust the scheduled time to correspond to the deterrnined time if the compared times are not equal. The at least one controller may further be configured to, for example, transmit a message to an output device if the scheduled time is adjusted to correspond to the deterrnined time.
In some embodiments, the at least one controller is further configured to receive, at the deterrnined time When the vegetation reaches the desired vegetation state, vegetation input data associated With a current vegetation state Within the area. The at least one controller is further configured to determine if the received vegetation input data associated With the current vegetation state corresponds to the desired vegetation state; and to transmit a message to an output device if the current vegetation state differs from the desired vegetation state. The at least one controller may further be configured to adjust, based on a difference between the current Vegetation state and the desired Vegetation state, the deterrnination of time When vegetation reaches a desired vegetation state. The vegetation input data may be, for example, received via a user interface.
In some embodiments, the at least one controller is further configured to receive information regarding What vegetation state that corresponds to the desired vegetation state.
In some embodiments, the at least one controller is further configured to deterrnining a risk of the vegetation falling Within the area, Wherein the deterrnined risk is to be used When deterrnining the time When the vegetation reaches a desired vegetation state.
In some embodiments, the at least one controller is conf1gured to control a subsequent action of the vegetation management system to manage the vegetation Within the area by deterrnining a risk of the vegetation falling Within the area if not managing the vegetation at the desired time When the vegetation has reached the desired vegetation state.
In some embodiments, the at least one controller is conf1gured to control a subsequent action of the vegetation management system to manage the vegetation Within the area by transmitting a message comprising the deterrnined time When the vegetation reaches a desired vegetation state to an output device.
In some embodiments, the at least one controller is conf1gured to control a subsequent action of the vegetation management system to manage the vegetation Within the area by deterrnining an estimated time required to manage the vegetation based on the desired vegetation state.
In some embodiments, the at least one controller is further configured to receive, at the deterrnined time When the vegetation reaches a desired vegetation state, sensor input data reflecting an actual time required to manage the vegetation. The sensor input data may be sensor input data received from at least one machine used to manage the vegetation.
In some embodiments, the at least one controller is further configured to receive time data indicating a season, Wherein the received time data indicating the season is to be used When deterrnining the vitalization gradient for the vegetation Within the area.
According to a second aspect, there is provided a method implemented by the vegetation management system according to the first aspect.
In one exemplary implementation, the method for managing vegetation Within an area is performed by a vegetation management system. The method comprises receiving image data related to vegetation Within the area; and deterrnining, based on the received image data related to the vegetation Within the area, the vitalization gradient for the vegetation Within the area. The method further comprises deterrnining, based on the deterrnined vitalization gradient for the vegetation Within the area, a time When the vegetation reaches a desired vegetation state; and controlling, based on the deterrnined time, a subsequent action of the vegetation management system to manage the vegetation Within the area.
In some embodiments, the method further comprises receiving a scheduled time for When it is believed that the vegetation reaches a desired vegetation state; and comparing the scheduled time With the deterrnined time. The method may further comprise adjusting the scheduled time to correspond to the deterrnined time if the compared times are not equal. The method may further comprise, for example, transmitting a message to an output device if the scheduled time is adjusted to correspond to the deterrnined time.
In some embodiments, the method further comprises receiving, at the deterrnined time When the vegetation reaches the desired vegetation state, vegetation input data associated With a current vegetation state Within the area; and deterrnining if the received vegetation input data associated With the current vegetation state corresponds to the desired vegetation state. The method further comprises transmitting a message to an output device if the current vegetation state differs from the desired vegetation state. The method may further comprise adjusting, based on a difference between the current vegetation state and the desired vegetation state, the deterrnination of time When vegetation reaches a desired vegetation state. The vegetation input data may be, for example, received via a user interface.
In some embodiments, the method further comprises receiving information regarding What vegetation state that corresponds to the desired vegetation state.
In some embodiments, the method further comprises deterrnining a risk of the vegetation falling Within area, Wherein the deterrnined risk is to be used When deterrnining the time When the vegetation reaches a desired vegetation state.
In some embodiments, controlling a subsequent action of the vegetation management system to manage the vegetation Within the area comprises deterrnining a risk of the vegetation falling Within the area if not managing the vegetation at the desired time When the vegetation has reached the desired vegetation state.
In some embodiments, controlling a subsequent action of the vegetation management system to manage the vegetation Within the area comprises transmitting a message comprising the deterrnined time When the vegetation reaches a desired vegetation state to an output device.
In some embodiments, controlling a subsequent action of the vegetation management system to manage the vegetation Within the area comprises deterrnining an estimated time required to manage the vegetation based on the desired vegetation state. The method may further comprise receiving, at the deterrnined time When the vegetation reaches a desired vegetation state, sensor input data reflecting an actual time required to manage the vegetation. The sensor input data may be, for example, sensor input data received from at least one machine used to manage the vegetation.
In some embodiments, the method further comprises receiving time data indicating a season, Wherein the received time data indicating the season is to be used When deterrnining the vitalization gradient for the vegetation Within the area.
Some of the above embodiments eliminate or at least reduce the problems discussed above. By deterrnining a vitalization gradient of a vegetation based on image data, a time for When the vegetation Will reach a desired state may be deterrnined in a time efficient, easy, reliable and accurate Way. Based on the deterrnined time, it may be possible to control at least one subsequent action of the vegetation management system such that the vegetation Within the area may be managed in a suitable time. Thus, the planning and scheduling of vegetation management may be improved and a vegetation management system and method are provided that improve vegetation management.
BRIEF DESCRIPTION OF DRAWINGS These and other aspects, features and advantages Will be apparent and elucidated from the following description of various embodiments, reference being made to the accompanying draWings, in Which: Figure l illustrates a schematic view of a vegetation management system; Figure 2 shows a flowchart of an example method performed by a vegetation management system; and Figure 3 shows a schematic view of a computer-readable medium.
DETAILED DESCRIPTION The disclosed embodiments will now be described more fully hereinafter with reference to the accompanying drawings, in which certain embodiments of the vegetation management system are shown. This vegetation management system may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided by way of example so that this disclosure will be thorough and complete, and will fully convey the scope of the vegetation management system to those skilled in the art. Like numbers refer to like elements throughout.
In one of its aspects, the disclosure presented herein concems a vegetation management system for managing vegetation within an area. The area may be any area that comprise vegetation, such as a forest, a field, a park or an area along a road, railway, pipelines, communication infrastructure or power line. Figure 1 illustrates a schematic view of the vegetation management system 100. As will be appreciated, the schematic view is not to scale. The present disclosure is now going to be described with reference to Figure 1. The vegetation management system 100 comprises at least one controller 110. As may be appreciated, the vegetation management system 100 may comprise a plurality of controllers 110 communicatively coupled to each other. By combining a plurality of controllers 1 10 even higher processing power may be achieved.
If the vegetation management system 100 comprises a plurality of controllers 1 10, the controllers 110 may be communicatively coupled to each other by a wireless communication interface 140. The wireless communication interface may also be used to communicate with other devices, such as servers, personal computers, smartphones, satellites, other vegetation management systems or any remote device, which comprises a wireless communication interface and a controller. Examples of such wireless communication are Bluetooth®, Global System Mobile (GSM), Long Term Evolution (LTE) and 5G or New Radio (5G NR), to name a few.
In one embodiment, the at least one controller 110 is embodied as software, e.g. remotely in a cloud-based solution. In another embodiment, the at least one controller 110 may be embodied as a hardware controller. The at least one controller 110 may be implemented using any suitable, publicly available processor, computing means, virtual computer, cloud computer or Programmable Logic Circuit (PLC). The at least one controller 110 may be implemented using instructions that enable hardware functionality, for example, by using executable computer program instructions in a general-purpose or special-purpose processor that may be stored on a computer readable storage medium (disk, memory etc.) to be executed by such a processor. The controller 110 may be configured to read instructions from a memory 120 and execute these instructions to manage vegetation within an area. The memory may be implemented using any commonly known technology for computer-readable memories such as ROM, RAM, SRAM, DRAM, FLASH, DDR, SDRAM or some other memory technology.
A first embodiment according to the first aspect will now be described. The at least one controller 110 is configured to receive image data related to vegetation within an area. The image data may be received from at least one imaging unit 130 or from the memory 120 via a wireless communication interface 140, such as a transceiver. The image data may preferably be satellite image data. Additionally, or altematively, the image data may be received from unmanned aerial vehicles (UAVs), mobile cameras, Virtual Reality (VR) or Augmented Reality (AR) glasses and/or from imaging units 130, such as cameras, located at fixed installations. The resolution of the image data may be, for example, between 0.1x0.1 meters and 15x15 meters. The received image data may be image data received at a single point in time, or the image data may be received over a period of time, i.e. from a plurality of time points.
Based on the received image data related to the vegetation within the area, a vitalization gradient of the vegetation within the area is deterrnined. The vitalization of the vegetation describes the state of the vegetation. If the vitalization is zero, this means that nothing is growing within the area, i.e., that no vegetation such as trees, bushes, straw, grass, com, hays or crops grows within the area. For example, if the vegetation comprises a forest, a vitalization equal to zero may indicate that the trees within the forest have been felled. A higher vitalization, i.e. above zero, implies that something is growing within the area. The vitalization gradient describes how the vegetation within the area is changing. A negative vitalization gradient may indicate that vegetation is dying, and/or that the vegetation is affected by disease. Thus, a negative vitalization gradient may indicate that maintenance have to be performed in order to take care of the area. If the vitalization gradient is decreasing, this may indicate that the vegetation is exposed to e.g. pests. For example, if the vegetation comprises a f1r forest, the spruces may be exposed to bark beetles. Dead trees may fall and/or they may become fuel for f1res. Thus, a negative vitalization gradient may indicate that the vegetation needs to be managed. If the vitalization gradient instead is a positive gradient, this indicates that the vegetation within the area is growing and increasing. A positive gradient may indicate that everything is growing as expected and that everything seems normal. However, if the gradient is increasing at too high a speed, this may indicate that the vegetation is growing with an unexpected speed, i.e. a speed that deviates from an expected growth speed. Thus, a positive vitalization gradient may additionally be used to detect abnorrnalities in growth, for example due to biocides.
The vitalization gradient may depend on the type of vegetation within the area. The vitalization gradient may furtherrnore depend on the season. For example, most vegetation may have a higher vitalization gradient in the spring than in the winter, as vegetation seems to grow more during warrner and sunnier weather than during the dark and cold winter. Thus, in some embodiments, the at least one controller ll0 may be configured to receive time data indicating a season. In these embodiments, the at least one controller ll0 may further be conf1gured to determine the vitalization gradient of the vegetation within the area based on the received time data indicating the season.
The vitalization gradient may be deterrnined in several different ways. For example, the vitalization gradient may be based on spectral band analysis of the received image data. Spectral band analysis may be used as different objects absorb and reflect certain wavelengths light differently. For example, vegetation cell structures may reflect near-infrared wavelengths light, while chlorophyll may absorb visible wavelengths of light. Thus, the spectral band analysis with the image data reflecting the vegetation within the area may be used to identify the vegetation and to determine the vitalization gradient.
Based on the deterrnined vitalization gradient for the vegetation within the area, a time when the vegetation reaches a desired vegetation state is deterrnined. It is often desirable that the vegetation grows until it reaches a certain state, e.g. a state when the vegetation has reached a certain size or ripeness. HoWeVer, once the desired Vegetation state is reached, the Vegetation may need to be managed. It may be appreciated that even if this state is referred to as a desired Vegetation state herein, this state may also be referred to as a pre-deterrnined Vegetation state or a specified Vegetation state.
The desired Vegetation state may depend on the Vegetation Within the area, on the environment surrounding the Vegetation Within the area and/or the purpose of the Vegetation Within the area. If the Vegetation comprises a Wheat field, the desired Vegetation state may be When the Wheat is ready to harVest. If the Vegetation comprises a forest, the desired state may be When the trees Within the forest haVe reached a size When they are suitable to fell. The trees may be suitable to fell When they haVe reached a certain height, or When they may risk falling. AltematiVely, or additionally, the desired Vegetation state may depend on the enVironment surrounding the Vegetation. If the Vegetation comprises a forest and the forest surrounds a road, an electric utility grid or a railway, the desired Vegetation state, or the specified Vegetation state, may be a state When the trees are suitable to fell. By managing the trees, it may be aVoided that trees disturb the traffic, fall oVer the road or railWay, or cause outage to the electric utility grid. Thus, the desired Vegetation state may depend on seVeral of factors and especially on the purpose of the Vegetation management system 100. Therefore, in some embodiment, the at least one controller 110 of the Vegetation management system 100 may be configured to receiVe information regarding What Vegetation state that corresponds to the desired Vegetation state. Based on this, the at least one controller 110 may determine When, i.e. at What time point, the Vegetation managed by the Vegetation management system 100 Will reach a desired state. Additionally, or altematiVely, the at least one controller 110 may be further conf1gured to deterrnining a risk of the Vegetation falling or interfering Within the area. This deterrnined risk may then be used When deterrnining the time When the Vegetation reaches the desired Vegetation state.
Based on the deterrnined time, i.e. the time When the Vegetation Will reach the desired state, the at least one controller 110 is configured to control a subsequent action of the Vegetation management system 100 to manage the Vegetation Within the area.
Accordingly, the present disclosure proVides a Vegetation management system 100 that may determine at What time a managed Vegetation Will reach a desired state and control a subsequent action based on this deterrnined time. As this Will be performed based on image data, such as satellite images, it is possible to schedule, plan and manage maintenance of a vegetation Within an area in a correct time Without having to visit the area physically beforehand. It may be assured that a subsequent action of a vegetation management system 100 is controlled in a time efficient, easy, reliable and accurate Way to manage the vegetation Within the area. Additionally, this provides a system 100 Where it is possible to perform quality assurance and to follow up the Whole area Without actually having to visit every location Within the Whole area. Thus, the present disclosure improves vegetation management.
In some embodiments, the at least one controller 110 may further be configured to receive sensor data related to the environment Within the area. The received sensor data may be used, for example, as additional data When deterrnining the time When the vegetation reaches a desired vegetation state. Additionally, or altematively, the sensor data may be used as additional input data When controlling the subsequent action of the vegetation management system 100. The received sensor data may be received from at least one sensor unit 150 or from the at least one memory 120. The sensor data may comprise, for example, climate and Weather data, location data, barometric data, temperature data, altitude data, soil properties data and/or infrared light data. The climate and Weather data may comprise data relating to sun radiation, Wind and moisture.
The received sensor data may be used by the at least one controller 110, for example, When deterrnining the season. As previously described, the vitalization gradient may depend on the season. Thus, by deterrnining the season, the at least one controller 110 may be configured to determine the vitalization gradient. If the received sensor data comprises temperature data, a very low temperature may indicate the season as Winter, While a high temperature may indicate the season as being summer.
Additionally, or altematively, the received sensor data may be used When deterrnining the time When the vegetation reaches the desired vegetation state. As previously described, the received sensor data may comprise Weather data and this data may be used When deterrnining the risk of the vegetation falling Within the area. For example, if the Weather data indicates that the Weather Within the area is extremely Windy, this may increase the risk of the vegetation falling Within the area. Thus, the time When the vegetation reaches the desired vegetation state may be reached earlier than if the Weather Was not Windy. Accordingly, thereceived sensor data may be used for considering further environmental factors when deterrnining the time when the vegetation reaches the desired vegetation state.
As previously described, the at least one controller 110 is conf1gured to control a subsequent action of the vegetation management system 100 based on when the vegetation reaches a desired vegetation state. In some embodiments, the at least one controller 110 may be conf1gured to transmit a message to an output device 160 with the deterrnined time when the vegetation reaches a desired vegetation state. The message may be, for example, a work order, which schedules a contractor, or operator, to clear the area at the deterrnined time when the vegetation reaches the desired vegetation state. In some embodiments, when the vegetation management system 100 manages vegetation within several different areas, the vegetation management system 100 may determine the different times when each of the areas reaches its desired vegetation state and the vegetation management system 100 may plan for managing the vegetation within each of the areas at the deterrnined times. The system 100 may prioritise and organize between the deterrnined times and schedule contractors, and/or operators. The system 100 may transmit messages, or work orders, to different contractors, and/or operators, based on both the deterrnined times and the vegetation within the areas.
Furthermore, as the provided vegetation management system 100 may base its actions on received image data, the vegetation management system 100 may additionally follow up the performed maintenance of the vegetation within the area. This may be performed in an easy, time efficient and relatively cheap way. Based on new follow up image data associated to the same area that previously has been managed by the vegetation management system 100, the at least one controller 110 may be conf1gured to determine if the vegetation within the area is in an expected state after the maintenance has been performed. The new follow up image data may originate from the same image unit that provided the first image data, i.e. the image data that the vegetation management system 100 based its actions on. Altematively, the new follow up image data may originate from another apparatus. For example, the new follow up image data may be obtained from an apparatus that is used to inspect the managed area.
For example, if the area that is managed by the provided system 100 is a forest along a power line, it may be desirable that the branches of the trees within the forest will keep a distance of at least 3 meters from the power line. Thus, the forest will reach the desired vegetation state when the branches are 3 meters from the power line. Once the area along thepower line has been managed, the at least one controller 110 may be conf1gured to determine whether the maintenance has been performed well enough and with an approved quality, i.e. that the distance actually is at least 3 meters between the power line and the branches. Accordingly, with the provided vegetation management system 100 it may be possible to follow up the quality of the contractors, or operators. It may be possible to assure that all the vegetation within the whole area is managed in a desired way instead of only performing physical inspections at one location within specific area.
Additionally, or altematively, the at least one controller 110 may be configured to control the subsequent action of the vegetation management system 100 by deterrnining an estimated time required to manage the vegetation within the area based on the desired vegetation state. Thus, it may be deterrnined how long time it will take to perform a desired maintenance action for the vegetation within the area. For example, if the vegetation comprises a forest next to a road, a railway or a power line, the estimated time may be the required working hours that it may take to clear the forest such that there is no risk of trees falling over the road, railway or power line. Altematively, if the vegetation comprises a wheat field or a potato field, the estimated time may be the required time to harvest the wheat or to pull up all the potatoes. The estimated required time to manage, or clear, the vegetation within the area may additionally be dependent on the density of the vegetation and ground classification. In some embodiments, also these parameters may be taken as input when deterrnining the estimated required time. Thus, the provided vegetation management system 100 may provide assistance when planning and scheduling maintenance work within an area.
In some embodiments, the at least one controller 110 may be configured to control the subsequent action of the vegetation management system 100 by deterrnining a risk if not managing the vegetation at the desired time when the vegetation has reached the desired vegetation state. For example, as previously described, it may be desirable that branches of trees within a forest keep a distance of at least 3 meters from a power line. Thus, the desired vegetation state is when the branches are 3 meters from the power line. In case the trees are not managed, i.e. cut, at this deterrnined time, the branches will come closer than 3 meters to the power line and will most likely be of danger to the power line, i.e. risking destroying the power line. Thus, the provided vegetation management system 100 may determine that there is a risk area around the power line at any time after the time when the branches will be closer thanmeters to the power line. This risk will maintain as long as the trees are not managed or cut. In some embodiments, the at least one controller 110 may be configured to provide a coloured map, where all risk areas are coloured as, e. g., red areas.
Additionally, the at least one controller 110 may, in some embodiments, further be configured to receive, at the deterrnined time when the vegetation reaches a desired Vegetation state, sensor input data reflecting an actual time required to manage the vegetation. The sensor input data may be, for example, sensor input data received from at least one machine used to manage the vegetation. Thus, the vegetation management system 100 may gather and analyse data on time spent clearing combined with, for example, density of vegetation and ground classif1cation. Thus, the present disclosure may provide a management system 100 with a feedback loop. By feeding back the time that actually was needed to manage, e. g. clear, the vegetation, it may be possible to control the correctness of the estimated time. If the estimated time and the actual time differ significantly from each other, this may be an indication that the vegetation management system 100 may have to update and/or adjust its calculations and/or algorithms. In some embodiments, the vegetation management system 100 may be provided with a neural network, which may leam from previous estimates and may be used to improve the predictions of the estimated time required to manage the vegetation.
In some embodiments, the at least one controller 110 may further be configured to receive a scheduled time for when it is believed that the vegetation reaches a desired vegetation state. The scheduled time may be a time scheduled by a landowner or a contractor for maintenance of the vegetation of the area. The scheduled time may be based on when it is believed that the vegetation within the area will be in the desired state, or when it would be suitable for the contractor to manage the vegetation. The at least one controller 110 may further be configured to compare the scheduled time with the deterrnined time. Accordingly, it may be possible to determine if there is a difference between the scheduled time and the time deterrnined by the vegetation management system In case the scheduled time and the time deterrnined by the vegetation management system 100 differ from each other, the at least one controller 110 may be conf1gured to act. In some embodiments, the at least one controller 110 may be configured to transmit a message to an output device inforrning that the scheduled time most likely is not the optimal time.
Additionally, or altematively, the at least one controller 110 may be conf1gured to adjust thescheduled time to correspond to the deterrnined time if the compared times are not equal. This means that the scheduled time may be advanced or delayed depending on the comparison With the deterrnined time. If the scheduled time for When it is believed that the vegetation Will be in a desired Vegetation state differs from the time deterrnined by the vegetation management system 100, the scheduled time is most likely not the optimal time. The optimal time for managing the Vegetation Within the area may be affected if something unexpected happens Within the area. Examples of such unexpected events may be a fire, extremely bad Weather or if the area has been exposed to pesticides other than those permitted in the area, for example if the area has been exposed to biocides for the purpose of clearing the area of vegetation. In case of such unexpected events, the vegetation may not have groWn as fast as expected, or may have groWn much faster than expected, Which may affect an originally scheduled time for maintenance. Additionally, or altematively, there may be circumstances around the specific area that may affect the vegetation and the vitalization gradient for the vegetation Within the area. These events may be difficult for a contractor and/or landoWner to have knowledge about and accordingly, the present disclosure provides a better timing for When vegetation Within an area should be managed, and may adjust the clearing schedule if it is not optimal. Furthermore, if the scheduled time is adjusted to correspond to the deterrnined time, the at least one controller 1 10 may further be configured to transmit a message to an output device. In some embodiments, the message may be output to inforrn a user of the vegetation management system 100. Additionally, or altematively, the message may be transmitted directly to a contractor Who is scheduled to manage the area. This may be transmitted, for example, as an updated Work order.
In some embodiments, the at least one controller 110 may further be configured receive, at the deterrnined time When the vegetation reaches the desired vegetation state, vegetation input data associated With a current vegetation state Within the area. The vegetation input data may be input and received from a user interface of a user Who currently is in the area. Altematively, the vegetation input data may be received from recently obtained image data of the area. Thereafter, the at least one controller 110 may be configured to determine if the received vegetation input data associated With the current vegetation state corresponds to the desired vegetation state; and to transmit a message to an output device if the current vegetation state differs from the desired vegetation state. Thus, the provided vegetation management system 100 may determine how Well the system 100 predicted the time of When the vegetation would reach the desired Vegetation state. The at least one controller 110 may be configured to, for example, adjust, based on a difference between the current Vegetation state and the desired Vegetation state, the deterrnination of time when Vegetation reaches a desired Vegetation state. Accordingly, if the Vegetation management system 100 did not accurately predict the time when the Vegetation would be in a desired state, the system 100 may be able to update its ways of predicting this, i.e. it may update and/or adjust its calculations and/or algorithms, such that the system 100 may be further improVed. Thus, the Vegetation management system 100 may continuously improVe. As preViously described, in some embodiments the Vegetation management system 100 may be proVided with a neural network. The neural network may leam from preVious deterrninations of when the Vegetation will reach a desired state. Thus, it may be used to further improVe the deterrninations of when the Vegetation will reach the desired Vegetation state.
In some embodiments, the ways of deterrnining Vitalization gradients and/or deterrnining when a Vegetation may reach a desired Vegetation state may be stored centrally such that parameters relating to neighbouring areas and/or similar growth situations may be reused when managing Vegetation within a certain area.
In some embodiments, the at least one controller 110 may be configured to control the subsequent action of the Vegetation management system 100 by controlling an automatic Vegetation management machine. The automatic Vegetation management machine may be controlled to manage the Vegetation within the area. The automatic Vegetation management machine may be controlled, for example, by deterrnining steering instructions for the automatic Vegetation management machine. Examples of automatic Vegetation management machines may be clearing machines, robots, pesticide sprayers, surface scraping machines, machines to control fire to bum Vegetation to clear safety zones around the areas; or machines for machine- controlled use of insecticides, parasites, and/or biological plant diseases that reduce plant growth.
In some embodiments, the Vegetation management system 100 may further be conf1gured to use a digital twin of the Vegetation of the Vegetation within the area. A digital twin is the generation or collection of digital data representing a physical object, i.e. the Vegetation within the area. The digital twin may represent trees, plants and/or forest segments within the area. ReceiVed image data, sensor data and/or input data to the Vegetationmanagement system 100 may also be reported to the digital twin in order to mirror the vegetation and the current conditions Within the area more accurately. The digital tWin may be used to simulate the growth Within the area and may additionally, or altematively, be used to perform simulations and/or predictions in order to control subsequent actions of the vegetation management system 100 in a further improved Way.
Accordingly, the vegetation management system 100 provided herein may determine a time for When a vegetation Will reach a desired state in a time efficient, easy, reliable and accurate Way. Based on the deterrnined time, it may be possible to control at least one subsequent action of the vegetation management system 100 such that the vegetation Within the area may be managed in a suitable time. Thus, a vegetation management system 100 is provided that improve vegetation management.
According to a second aspect, there is provided a method implemented in the vegetation management system 100 according to the first aspect. The method Will be described With reference to Figure In one embodiment, the method 200 may be performed by a vegetation management system 100 for managing vegetation Within an area. As illustrated in Figure 2, the method 200 starts With step 210 of receiving image data related to vegetation Within the area. The method 200 further comprises step 225 of deterrnining, based on the received image data related to the vegetation Within the area, the vitalization gradient for the vegetation Within the area; and step 235 of deterrnining, based on the deterrnined vitalization gradient for the vegetation Within the area, a time When the vegetation reaches a desired vegetation state. The method further comprises step 260 of controlling, based on the deterrnined time, a subsequent action of the vegetation management system 100 to manage the vegetation Within the area.
Step 260 of controlling a subsequent action of the vegetation management system 100 may comprise step 265 of deterrnining a risk of the vegetation falling Within the area if not managing the vegetation at the desired time When the vegetation has reached the desired vegetation state. Additionally, or altematively, step 260 of controlling a subsequent action of the vegetation management system 100 may comprise step 270 of deterrnining an estimated time required to manage the vegetation based on the desired vegetation state. The method 200 may then further comprise step 275 of receiving, at the deterrnined time When the vegetation reaches a desired vegetation state, sensor input data reflecting an actual time required tomanage the vegetation. The sensor input data may be, for example, sensor input data received from at least one machine used to manage the vegetation. The method 200 may further comprise step 280 of transmitting a message comprising the deterrnined time When the vegetation reaches a desired vegetation state to an output device.
As further illustrated in Figure 2, the method 200 may further comprise step 215 of receiving sensor data related to the environment Within the area. The received sensor data may be used, for example, as additional data When deterrnining the time When the vegetation reaches a desired vegetation state.
The method 200 may further comprise step 220 of receiving time data indicating a season. The received time data indicating the season is to be used When deterrnining the vitalization gradient for the vegetation Within the area.
As further illustrated in Figure 2, the method 200 may further comprise step 230 of receiving information regarding What vegetation state that corresponds to the desired vegetation state.
The method 200 may further comprise step 235 of deterrnining a risk of the vegetation falling Within area. The deterrnined risk may be When deterrnining the time When the vegetation reaches a desired vegetation state.
The method 200 may further comprise step 240 of receiving a scheduled time for When it is believed that the vegetation reaches a desired vegetation state; and step 245 of comparing the scheduled time With the deterrnined time. If the compared times are not equal, the method 200 may further comprise step 250 of adjusting the scheduled time to correspond to the deterrnined time. Thereafter, the method 200 may further comprise, for example, step 255 of transmitting a message to an output device if the scheduled time is adjusted to correspond to the deterrnined time.
As further illustrated in Figure 2, the method 200 may further comprise step 285 of receiving, at the deterrnined time When the vegetation reaches the desired vegetation state, vegetation input data associated With a current vegetation state Within the area. The method 200 may then further comprise step 290 of deterrnining if the received vegetation input data associated With the current vegetation state corresponds to the desired vegetation state. If the current vegetation state differs from the desired vegetation state, the method 200 may further comprise step 295 of transmitting a message to an output device. The method 200 may furthercomprise, for example, step 298 of adjusting, based on a difference between the current vegetation state and the desired vegetation state, the deterrnination of time when vegetation reaches a desired vegetation state. The vegetation input data may be received via a user interface.
With the proposed method 200 it may be possible to determine a vitalization gradient of a Vegetation based on image data and a time for when the vegetation will reach a desired state may be deterrnined in a time efficient, easy, reliable and accurate way. Based on the deterrnined time, it may be possible to control at least one subsequent action of the vegetation management system 100 such that the vegetation within the area may be managed in a suitable time. Thus, a method 200 is provided that improve planning and scheduling of vegetation maintenance and thus, provides improved vegetation management.
Figure 3 shows a schematic view of a computer-readable medium which is configured to carry instructions 310 that when loaded into a controller, such as a processor, execute a method or procedure according to the embodiments disclosed above. The computer- readable medium 300 is in this embodiment a data disc 300. In one embodiment, the data disc 300 is a magnetic data storage disc. The data disc 300 is arranged to be connected to or within and read by a reading device, for loading the instructions into the controller. One such example of a reading device in combination with one (or several) data disc(s) 300 is a hard drive. It should be noted that the computer-readable medium can also be other mediums such as compact discs, digital video discs, flash memories or other memory technologies commonly used. In such an embodiment, the data disc 300 is one type of a tangible computer-readable medium The instructions 310 may also be downloaded to a computer data reading device, such as the controller 110 or other device capable of reading computer coded data on a computer-readable medium, by comprising the instructions 310 in a computer-readable signal which is transmitted via a wireless (or wired) interface (for example via the Intemet) to the computer data reading device for loading the instructions 310 into a controller. In such an embodiment, the computer-readable signal is one type of a non-tangible computer-readable medium References to computer program, instructions, code etc. should be understood to encompass software for a programmable processor or firmware such as, for example, theprogrammable content of a hardware device Whether instructions for a processor, or configuration settings for a fixed-function device, gate array or programmable logic device etc. Modifications and other variants of the described embodiments Will come to mind to one skilled in the art having benefit of the teachings presented in the foregoing description and associated draWings. Therefore, it is to be understood that the embodiments are not limited to the specific example embodiments described in this disclosure and that modifications and other variants are intended to be included Within the scope of this disclosure. Still further, although specific terrns may be employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation. Therefore, a person skilled in the art Would recognize numerous variations to the described embodiments that Would still fall Within the scope of the appended claims. As used herein, the terrns “comprise/comprises” or “include/includes” do not exclude the presence of other elements or steps. Furthermore, although individual features may be included in different claims, these may possibly advantageously be combined, and the inclusion of different claims does not imply that a combination of features is not feasible and/or advantageous. In addition, singular references do not exclude a plurality.

Claims (24)

1. A vegetation management system (100) for managing vegetation Within an area, :sA x Wherein the vegetation management system (100) comprises at least one controller (110) configured to: - receive image data related to Vegetation Within the area; - determine, based on the received image data related to the vegetation Within the area, a vitalization gradient for the vegetation Within the area Which describes how the vegetation Within the area is changing; - determine, based on the determined vitalization gradient for the vegetation Within the area, a time When the vegetation reaches a desired vegetation state, »»»»»» »-control, based on the determined time, a subsequent action of the Vegetation management system (100) to manage the vegetation Within the arealg; .çt “finitWherein the at least one controller (110) further is confrgured to: - receive a scheduled time for When it is believed that the vegetation reaches s: sired vegetation state; ss :i - compare the scheduled time With the determined time-- - adjust the scheduled time to correspond to the determined time if the compared times are not equal. _._The vegetation management system (100) according to claim fÉ~f¿._, Wherein the at least one controller (110) further is configured to: |2o - transmit a message to an output device if the scheduled time is adjusted to correspond to the determined time. -š-«§_.The vegetation management system (100) according to ia-claim-s 1 Em Wherein the at least one controller (110) further is configured to: - receive, at the determined time When the Vegetation reaches the desired vegetation state, vegetation input data associated With a current vegetation state Within the area; - determine if the received vegetation input data associated With the current vegetation state corresponds to the desired Vegetation state; and - transmit a message to an output device if the current vegetation state differs from the desired vegetation state. -š\}_-'_š__The vegetation management system (100) according to claim Wherein the at least one controller (110) further is configured to: - adjust, based on a difference between the current vegetation state and the desired vegetation state, the determination of time When vegetation reaches a desired vegetation state. »éš.j§_,The vegetation management system (100) according to any of claims šš~-'\_“¿¿1nd fšwš, Wherein the vegetation input data is received via a user interface. The vegetation management system (100) according to any of claims 1 to , Wherein the at least one controller (110) fiirther is configured to: - receive information regarding What vegetation state that corresponds to the desired vegetation state. ëfiïhe vegetation management system (100) according to any of claims 1 to Wherein the at least one controller (110) is configured to control a subsequent action of the vegetation management system (100) to manage the vegetation Within the area by: |2o - transmitting a message comprising the determined time When the vegetation reaches a desired vegetation state to an output device. §š-«§_.The vegetation management system (100) according to any of claims 1 to å-'¿'_, Wherein the at least one controller (110) is configured to control a subsequent action of the Vegetation management system (100) to manage the vegetation Within the area by: - determining an estimated time required to manage the vegetation based on the desired vegetation state. WWThe vegetation management system (100) according to claim Wherein the at least one controller (110) further is configured to: - receive, at the determined time When the Vegetation reaches a desired vegetation state, sensor input data reflecting an actual time required to manage the vegetation. The vegetation management system (200) according to claim ~š~š~_ï¿'_, Wherein the sensor input data is sensor input data received from at least one machine used to manage the vegetation. t i. The vegetation management system (100) according to any of claims 1 to _ f f f _ Wherein the at least one controller (110) is configured to control a subsequent action of the vegetation management system (100) to manage the vegetation Within the area by: - determining a risk of the vegetation falling Within the area if not managing the vegetation at the desired time When the vegetation has reached the desired vegetation state. ' p gggggg “The vegetation management system (100) according to any of claims 1 to š-Å Wherein the at least one controller (110) further is configured to: - receive time data indicating a season, Wherein the received time data indicating the season is to be used When determining the vitalization gradient for the vegetation Within the area. A method (200), performed by a Vegetation management system (100), for managing Vegetation Within an area »ä _ . comprises: - receiVing (210) image data related to Vegetation Within the area; - determining (225), based on the received image data related to the Vegetation Within the area, a Vitalization gradient for the Vegetation Within the area Which describes how the vegetation Within the area is changing; - determining (235), based on the determined Vitalization gradient for the Vegetation Within the area, a time When the Vegetation reaches a desired .m ~:.~~~, »fw-J ~~.~i.«.~ - firlß» WS - à man? \-\ n-QD. :form »KML-lll du.- Vegetation state, d: ' - controlling (260), based on the determined time, a subsequent action of the Vegetation management system (100) to manage the Vegetation Within the afCatè _=j\__ “w I V, . vu. e.~ ' fi? 1.; :rfz Lit. f ff _, Wherein the method (200) further Formatted: Indent: Left: 1,27 cm, No bullets or numbering comprises: - receiVing (240) a scheduled time for When it is belieVed that the Vegetation reaches a desired vegetation state; :flsfš - comparing (245) the scheduled time With the determined time:_;_' - adjusting (250) the scheduled time to correspond to the determined time if the compared times are not equal. ___The method (200) according to claim ' ' _ Wherein the method (200) further comprises: |2o - transmitting (255) a message to an output device if the scheduled time is adjusted to correspond to the determined time. Wherein the Qi n method (200) further comprises: - receiving (285), at the deterrnined time When the vegetation reaches the desired Vegetation state, Vegetation input data associated With a current vegetation state Within the area; - determining (290) if the received vegetation input data associated With the current vegetation state corresponds to the desired vegetation state; and - transmitting (295) a message to an output device if the current vegetation state differs from the desired vegetation state. “__The method (200) according to claim -š É Wherein the method (200) further comprises: - adjusting (298), based on a difference between the current vegetation state and the desired vegetation state, the deterrnination of time When vegetation reaches a desired vegetation state. g gggggg vThe method (200) according to any of claims » _ 1 Wherein the vegetation input data is received via a user interface. _. _____ __The method (200) according to any of claims išš _ 'I ¿'_ Wherein the method (200) further comprises: - receiving (230) information regarding What vegetation state that corresponds to the desired vegetation state. ' »_ gggggg vThe method (200) according to any of claims - ' 'i Wherein contro11ing :J (260) a subsequent action of the vegetation management system (100) to manage the vegetation Within the area comprises: - determining (265) a risk of the vegetation falling Within the area if not managing the vegetation at the desired time When the Vegetation has reached the desired vegetation state. ._ _____ __The method (200) according to any of claims »åwl “rå Wherein controlling (260) a subsequent action of the vegetation management system (100) to manage the vegetation Within the area comprises: - transmitting (280) a message comprising the determined time When the vegetation reaches a desired vegetation state to an output device. »NThe method (200) according to any of claims -E-:E 5 Wherein controlling (260) a subsequent action of the vegetation management system (100) to manage the vegetation Within the area comprises: - determining (270) an estimated time required to manage the vegetation based on the desired Vegetation state. “__The method (200) according to claimš L_ Wherein the method (200) further comprises: - receiving (275), at the determined time When the vegetation reaches a desired vegetation state, sensor input data ref1ecting an actual time required to manage the vegetation. _. _____ __The method (200) according to claim »E g Wherein the sensor input data is sensor input data received from at least one machine used to manage the vegetation. _ _____The method (200) according to any of claims è-:š ._ Wherein the method (200) further comprises: - receiving (220) time data indicating a season, Wherein the received time data indicating the season is to be used When determining the vitalization gradient for the vegetation Within the area.
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