Untersuchungen zur Laserlichtwirkung auf der Basis von Bildanalysen auf juvenile Pflanzen zur Unkrautregulierung

非化学除草是生态和可持续植物生产的一个重要目标。未来的替代方案可能是使用激光技术在植物生长的早期阶段对植物进行特定的杂草控制。应用研究项目的目标是以生物系统和激光工程师的跨学科研究方法扩大基于激光的杂草管理。因此，项目一期取得的可喜成果为后续工作奠定了基础。在建立了依赖于激光技术和植物栽培参数的损伤模型后，可以设计图像采集和处理系统。由于可以确定最佳靶点，因此可以对激光光束进行相应的定位。目前正在进行的实验确定了关于杂草密度和运行速度的激光应用的极限值。更新建议的重点在于将结果转移到复杂的条件下。关键的挑战是从实验室环境到现场应用的步骤。图像采集和处理以及激光光束定位将随着环境动态化而优化，因为倾斜和振动将被考虑在内。这种改进的目的是可靠和快速地检测植物行之间和植物行内的杂草植物。从而考察了重叠情况下的分离质量以及不同植物种类和生长阶段的分离质量。要做到这一点，必须调查真实的杂草丰度，以便获得关于早期生长阶段形态特征的个别杂草物种的训练数据集。将设计特定的主动形状模型，该模型能够基于单叶形状和叶分类来确定接近分生组织的理想靶标。通过3D摄像机包含高度信息是有利的，同时应调查摄像机细节的影响。检测到的植物的分类将根据快速决策进行优化，以最大限度地减少导出激光定位的延迟。目标定位基于全局坐标，摄像机和检流计都校准到全球坐标。与实验室控制条件不同，在恶劣的环境条件下，激光加工头将放置在远离土层的位置。根据执行器的角度分辨率，创建了空间校正矩阵。沿移动方向跟踪激光束位置的发展允许以适当的曝光时间进行飞行照射。在将该系统安装到移动平台上后，甚至会发生更复杂的驱动事件。这些振动还包括倾斜和漂移。在驾驶过程中，应考虑目标的修正，以避免误命中。补偿应由适当的轴承以及倾斜和加速度传感器支撑。

Non-chemical weed control is an essential objective of an ecological and sustainable plant production. A future alternative might be the specific weed control of plants in early growth stages using laser technology. The objective of the applied research project is to enlarge upon a laser based weed management in an interdisciplinary research approach of bio systems and laser engineers. Thereby, the promising results of the first project phase provide the basis. After the development of a damage model depending on laser technical and plant cultivation parameters, an image acquisition and processing system could be designed. As the optimal targeting points could be determined, the laser beam was accordingly positioned. Ongoing experiments currently determine the limit values of the laser application concerning the weed density and the operating speed. The focus of the renewal proposal lies on the transferring of the results to complex conditions. The key challenges are the steps from a laboratory environment to applications in the field. The image acquisition and processing as well as the laser beam positioning will be optimized with the environmental dynamisation, as tilting and vibration will be considered. This improvement aims at a reliable and fast detection of weed plants between and in plant rows. Thereby, the separation quality is investigated under overlapping situations as well as with diverse plant species and growth stages. To do this, surveys of real weed abundances are necessary, allowing the acquisition of training datasets for individual weed species regarding morphological characteristics of early growth stages. Specific active-shape-models will be designed which are able to determine an ideal targeting close to the meristem based on single leaf shape and phyllotaxis. The inclusion of height information via 3D-cameras is advantageous, while the influence of the camera specifics shall be investigated. The classification of detected plants will be optimized respecting fast decisions to minimize delays for the derived laser beam positioning.The targeting bases on global coordinates, to which the camera as well as the galvanometer is calibrated. In contrast to the controlled laboratory conditions the laser machining head will be placed far away from the soil layer under rough environment conditions. Respecting the angular resolution of the actuators, a spatial correction matrix is created. The development of a tracking of the laser beam position along the moving direction allows on-the-fly irradiations with adapted exposure times.After the installation of the system on to a mobile platform, even more complex driving events occur. These include beside vibrations also tilting and drifting. During the driving, corrections of the targeting shall be considered in order to avoid false hits. The compensations shall be supported by appropriate bearing as well as by tilt and acceleration sensors.