This has the highest risk of soil loss from erosion. Plants with deep root systems may need supplemental herbicide application. Can be used to prepare a site, but it is most commonly used to maintain a prairie landscape. See the section on maintenance for more information on prescribed burning. Many native plant installations are located along streambanks, shorelines, and other sloped areas that have a tendency to erode.
Before planting occurs on these sites, the surrounding soils need to be stabilized. Structures such as silt fences, erosion control blankets, straw mulch, and straw bale dams can be installed to control erosion and siltation. As a site becomes stable, seeding with permanent native species helps with optimal long-term erosion control. Cardno provides various bioengineering materials for erosion control.
For stormwater applications like rain gardens and bioswales, soil can be amended to create appropriate growing conditions for wetland plants and allow for drainage required to allow these features to function properly.
These areas often have the native soil removed and have a combination of compost and sand applied to achieve this objective. Array includes an array of laser diodes A- C that can be part of a laser diode bar. Although array as illustrated includes three laser diodes this is for illustrative purposes only and typical laser diode bars or arrays can have many more laser diodes than illustrated.
Array includes a collection of collimation optics A- C. A series of MEMS electrostatic mirrors A- C take information from the image processor and direct one or more beams to a target unwanted plant.
In some embodiments, the guidance system includes one or more adaptive optical elements such as a MEMS adaptive optical mirror that can be used to enhance the range of depth of focus of the laser beams.
The mirrors can have reflective coatings compatible with the lasers used, e. In some embodiments, a laser array can be combined with an array of three-dimensional imagers cameras to allow for accurate pointing and optimal angular position of laser beams.
In some configurations, the laser array and three-dimensional imagers can be adapted to provide width scalable, single pass weeding. One embodiment of a laser array and imager is illustrated in FIG.
Array includes array of three-dimensional cameras A- D and array of laser diodes A- C. Cameras A- D cover an overlapping stereoscopic field of view as illustrated. They can be used to direct n array of laser diodes such as that depicted in FIG.
Large field of regard laser scanning e. Some implementations include variable reprogramming of the focus position on the fly so as to target weeds of different heights on the fly. In some embodiments, the apparatus also includes a chassis configured to support the three-dimensional imager, the laser device, and the laser beam controller. The chassis can be configured to move across an area that includes wanted and unwanted plants, such as an agricultural plot or a lawn.
The chassis can be any frame on which the three-dimensional imager, the laser device, and the laser beam controller are mounted. In some embodiments, the three-dimensional imager, the laser device, and the laser beam controller that are supported by the chassis can sense and adjust in all three-dimensions including vertical.
In some embodiments, the chassis can be part of a motorized tractor or motorized vehicle. In some embodiments, the chassis can be separate from the motorized tractor or vehicle and can be, for example, the frame of a trailer that can be attached to a motorized vehicle. In some embodiments, the chassis can be part of an aircraft that is designed to fly over the area that includes wanted and unwanted plants.
In some embodiments, the image processor can also be mounted on the chassis. In other embodiments, the image processor can be located remotely and can communicate with the laser beam controller via wire or remotely via, for example, a WiFi connection. Apparatus includes tractor to which is attached trailer Trailer includes a three-dimensional imager, an array of laser devices and a laser beam controller.
Apparatus also can include an image processor configured to distinguish between a wanted plant and an unwanted plant. Apparatus can be moved across an agricultural field or a lawn and can identify and locate unwanted plants. The array of laser devices on trailer can produce a plurality of laser beams that can be directed to one or more unwanted plants. In some embodiments, a lawn weeding system includes an apparatus as described above.
The lawn weeding system also includes a lawn mower. The lawn mower can be a hand or tractor-propelled lawn mower or a self-propelled motorized lawn mower gasoline, diesel, electric, solar or electric. If the lawn mower is hand-propelled it needs an external power source to power the three-dimensional imager, the image processor, the at least one laser device, and the laser beam controller.
If the lawn mower is tractor-propelled, it can, in some embodiments, generate power to energize at least one of the three-dimensional imager, the image processor, the at least one laser device, and the laser beam controller. In some embodiments, the lawn mower can include cutting means. The cutting means can include, for example, a rotating reel of lateral blades, a rotating single blade, or a laser cutting apparatus. In some embodiments the cutting means include a laser cutting apparatus that can utilize a plurality of rotating laser beams for cutting vegetation such as, for example, grass growing in a lawn.
In some embodiments, it is contemplated that the at least one laser device configured to emit a laser beam having power sufficient to damage the unwanted plant can also be used to cut vegetation in a lawn. In one such embodiment, that laser device can distinguish between an unwanted plant weed and a wanted plant grass lawn and can both damage the unwanted plant and cut the wanted plant.
In another aspect, a method for removing unwanted plants are embodied that include capturing plant images using a three-dimensional imager. Such processes and apparatuses are discussed above. In some embodiments, a method also includes distinguishing between a wanted plant and an unwanted plant after capturing plant images.
The method also includes directing a laser beam from at least one laser device towards the unwanted plant, and damaging the unwanted plant with the laser beam. The method can also include, in some embodiments, providing a laser beam controller configured to direct at least one laser beam towards the unwanted plant. In some embodiments, the method can include mounting the three-dimensional imager, the at least one laser device and the laser beam controller on a chassis. In another embodiment the chassis can be moved across an agricultural field or lawn.
Plant images are captured using a three-dimensional imager as shown in step The captured plant images are used to distinguish a wanted plant from an unwanted plant as shown in step If the plant is a wanted plant , the three-dimensional imager is configured to search for more plants as shown in step If the plant is an unwanted plant, a target can be located on the unwanted plant as shown in step At least one laser beam is directed at the unwanted plant as shown in step Finally, the at least one laser beam is used to damage the unwanted plant as shown in step This application is intended to cover any adaptations or variations of the specific embodiments discussed herein.
Therefore, it is intended that this disclosure be limited only by the claims and the equivalents thereof. What is claimed is: 1. An apparatus comprising: a three-dimensional imager configured to capture plant images and locate plants, the three dimensional imager comprising a multispectral imager having at least a first channel associated with a first spectral range and a second channel associated with a second spectral range;.
An apparatus according to claim 1 , wherein the three-dimensional imager uses triangulation to locate plants. An apparatus according to claim 2 , wherein the three-dimensional imager comprises a stereo camera system that includes at least two cameras.
An apparatus according to claim 2 , wherein the three-dimensional imager comprises a scanning system that includes a single or a multiple beam laser scanner and a single camera. An apparatus according to claim 2 , wherein the three-dimensional imager comprises a scanning system that includes a single or multiple beam scanner and a stereo camera, and wherein the stereo camera includes two cameras. An apparatus according to claim 2 , wherein the three-dimensional imager comprises a three-dimensional structured illuminator and at least one camera.
An apparatus according to claim 1 , wherein the three-dimensional imager comprises a time-of-flight measurement system.
An apparatus according to claim 7 , wherein the time-of-flight measurement system is comprised of a photonic mixer device sensor and a modulated light source. An apparatus according to claim 7 , wherein the three-dimensional imager comprises an imaging lens and a two-dimensional sensor array. An apparatus according to claim 7 , wherein the three-dimensional imager comprises a light source with one or more scanning beams, collection optics, and one or more detectors.
An apparatus according to claim 1 , wherein the laser device comprises an array of semiconductor lasers. An apparatus according to claim 1 , wherein the laser device comprises at least one semiconductor laser configured to emit a laser beam having a wavelength of from about nm to about nm or from about nm to about nm.
An apparatus according to claim 1 , wherein the laser beam controller comprises at least one galvo mirror. An apparatus according to claim 13 , wherein the at least one galvo mirror comprises a two-axis MEMS galvo mirror.
An apparatus according to claim 1 , wherein the three-dimensional imager, the laser device, and the laser beam controller supported by the chassis can sense and adjust in all three-dimensions. A lawn weeding system comprising: a lawn mower comprising cutting means; and. A lawn weeding system according to claim 16 , wherein the cutting means are mechanical or electrooptical. A lawn weeding system according to claim 16 , wherein the lawn mower generates power to energize at least one of the three-dimensional imager, the image processor, the at least one laser device, and the laser beam controller.
An apparatus according to claim 1 , wherein the apparatus is a lawn mower and the laser beam is configured to cut vegetation and to damage the unwanted plant. A method of removing unwanted plants comprising: capturing plant images using a three-dimensional imager the three dimensional imager comprising a multispectral imager having at least a first channel associated with a first spectral range and a second channel associated with a second spectral range;.
A method of removing unwanted plants according to claim 20 , further comprising providing a laser beam controller configured to direct at least one laser beam towards the unwanted plant. A method of removing unwanted plants according to claim 21 , further comprising mounting the three-dimensional imager, the at least one laser device and the laser beam controller on a chassis. A method of removing unwanted plants according to claim 22 , further comprising moving the chassis across an agricultural field or lawn.
USB2 en. EPA1 en. JPB2 en. Systems and methods for deactivating plant material outside of a growing region. Short-wavelength ultraviolet light array for aquatic invasive weed species control apparatus and method. Autonomous mobile platform with harvesting system and pest and weed suppression systems. USA en. DEA1 en. Sensor controlled plant cultivation and weed control equipment - uses variety of sensors in conjunction with weed destruction devices under processor control.
WOA1 en. A few disease-resistant lines have been obtained by inducing mutations with x-rays or chemicals. Recently, resistant plants have been developed through the use of genetic engineering e. Selection of resistant plants involves subjecting plants to high levels of disease pressure Figure 18 and using the surviving plants as sources of disease resistance. Plants that survive this pressure often have genetic resistance that can be utilized directly by propagation or as sources of resistance to develop resistant plants that also have the requisite qualities for that crop.
Hybridization is a tactic where a plant having the desired agronomic or horticultural qualities, but is susceptible to a disease, is crossed with a plant that is resistant but which may or may not have the other desirable characteristics such as size, yield, flavor, aesthetics, etc. Disease escape occurs when susceptible plants do not become diseased for some reason. This may be due to some anatomical or physical character, such as the occurrence of leaf hairs, thick cuticle, or modified stomata, or they may be environmental, in which conditions are not conducive to disease development.
Although disease escape based on some anatomical feature is useful occasionally, escape more often complicates the process of developing disease resistant plants. Development of disease-resistant plants has been relatively successful with annual and biennial plants, but less so with perennials, primarily because of the longer time required to develop and test the progeny. Woody perennials, such as ornamental, forest, and orchard trees, have been especially difficult for plant breeders to develop useful disease resistance.
For example, chestnut blight and Dutch elm disease have devastated two valued native trees. In both cases there have been extensive attempts to develop resistant trees, usually by creating hybrids with exotic chestnut or elm trees, and some resistant selections have resulted. Unfortunately, these generally lack the desirable qualities, such as nut flavor or tree forms characteristic of the native trees.
Another introduced disease that has impacted native trees is white pine blister rust. There has been an intense effort for more than 50 years to select and improve rust-resistant pines from the surviving population. These trees are now being planted for reforestation, but it will be another 50 or so years, when these trees have matured to produce a timber crop, before the success of this program is known.
Development of resistance has been most successful against the more specialized pathogens such as rust fungi Figure 19 , smut fungi, powdery mildew fungi, and viruses, but less so against general pathogens such as many blight, canker, root rot and leaf spotting pathogens.
A major problem with genetically resistant plants is that host-differentiated pathogenic races can be selected, so that many breeding programs become continuous processes to develop disease resistant plant lines.
Disease resistance conferred by a single major gene is sometimes called specific or qualitative resistance and is race-specific.
This type of resistance is often unstable, and emergence of a pathogenic race that can attack that genotype can completely overcome this type of resistance. Quantitative resistance or general resistance derives from many different genes for resistance with additive effects to provide more stable or durable resistance to pathogens.
There are several strategies to minimize this race development and resistance failure. These include methods of gene deployment, where different genetic plant types are interspersed on a regional basis to avoid a genetic monoculture, or planting mixtures of cultivars having different genetic compositions to ensure that some component of the crop will be resistant to the disease.
See Advanced topic: Cultivar Mixtures. A recent and controversial technique in developing disease resistant plants is the insertion of genes from other organisms into plants to impart some characteristic. For example, genes from the bacterium Bacillus thuringiensis have been inserted into plants to protect against insect attacks.
Plants with these inserted genes are called genetically-modified organisms GMOs , and have caused concern that unanticipated, and perhaps detrimental, characteristics, such as unforeseen allergens, may also be transferred to the new plants. However, unforeseen and undesirable qualities also can be transmitted by conventional plant breeding techniques.
The potato cultivar Lenape was developed in part because of its resistance to Potato virus A and resistance to late blight tuber infection. After it was released it was discovered that the tubers contained very high levels of solanine, a toxic alkaloid. The wheat cultivar Paha had resistance to stripe rust caused by Puccinia striiformis but also was very susceptible to flag smut caused by Urocystis agropyri. Both of these plant cultivars, developed by conventional breeding methods, were quickly taken out of production.
There is much interest in the genetic engineering of disease-resistant plants and some success has been obtained with several virus diseases, the best known of which is papaya ringspot Figure This approach to plant disease management will likely expand, especially for widely grown crops such as wheat, corn, soybeans, rice, and the like, as social, legal, and economic obstacles are overcome.
In most cases IDM consists of scouting with timely application of a combination of strategies and tactics. These may include site selection and preparation, utilizing resistant cultivars, altering planting practices, modifying the environment by drainage, irrigation, pruning, thinning, shading, etc.
But in addition to these traditional measures, monitoring environmental factors temperature, moisture, soil pH, nutrients, etc. These measures should be applied in a coordinated integrated and harmonized manner to maximize the benefits of each component. For example, balancing fertilizer applications with irrigation practices helps promote healthy vigorous plants.
Arneson, P. Jacobsen, B. Disease Management. Pages in: Encyclopedia of Plant Pathology, O. Maloy and T. Murray, eds. Wiley, New York. Maloy, O. Disease Control Principles. Pages in: Enclyclopedia of Plant Pathology. The author thanks Drs. Debra Inglis and Tim Murray for providing and scanning pictures and for reviewing the manuscript.
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