Plant-specific herbicide application requires sensor systems for plant recognition and differentiation. A literature review reveals a lack of sensor systems capable of recognizing small weeds in early stages of development (in the two- or four-leaf stage) and crop plants, of making spraying decisions in real time and, in addition, are that are inexpensive and ready for practical use in sprayers. The system described in this work is based on free cascadable and programmable true-color sensors for real-time recognition and identification of individual weed and crop plants. The application of this type of sensor is suitable for municipal areas and farmland with and without crops to perform the site-specific application of herbicides. Initially, databases with reflection properties of plants, natural and artificial backgrounds were created. Crop and weed plants should be recognized by the use of mathematical algorithms and decision models based on these data. They include the characteristic color spectrum, as well as the reflectance characteristics of unvegetated areas and areas with organic material. The CIE-Lab color-space was chosen for color matching because it contains information not only about coloration (a- and b-channel), but also about luminance (L-channel), thus increasing accuracy. Four different decision making algorithms based on different parameters are explained: (i) color similarity (ΔE); (ii) color similarity split in ΔL, Δa and Δb; (iii) a virtual channel ‘d’ and (iv) statistical distribution of the differences of reflection backgrounds and plants. Afterwards, the detection success of the recognition system is described. Furthermore, the minimum weed/plant coverage of the measuring spot was calculated by a mathematical model. Plants with a size of 1–5% of the spot can be recognized, and weeds in the two-leaf stage can be identified with a measuring spot size of 5 cm. By choosing a decision model previously, the detection quality can be increased. Depending on the characteristics of the background, different models are suitable. Finally, the results of field trials on municipal areas (with models of plants), winter wheat fields (with artificial plants) and grassland (with dock) are shown. In each experimental variant, objects and weeds could be recognized.

This study examined the effect of stripwise subsoiling and subsoiling combined with the incorporation of organic material on crop development in a two-year field trial with typical weather in the first year and hot, dry weather in the second. Subsoiling and its combination with incorporated organic materials had strong effects on plant development and crop yield of spring barley (2017) and winter wheat (2018). The subsoil was loosened in 30 cm wide furrows down to a depth of up to 60 cm with a tine (DL) or a spader machine (SM) and was compared with the same methods of subsoil loosening combined with the incorporation of compost from biological household wastes (DLB and SMB). Furthermore, green waste compost (SMG), chopped straw (SMCS) and sawdust (SMS) were incorporated with the spader machine only. DL successfully reduced penetration resistance underneath the furrow and enhanced root growth underneath and near the furrow over the whole experimental period. Grain protein content above the furrow was enhanced compared with the untreated control (C) in the first year, but grain yield did not increase. DLB also reduced penetration resistance and increased root growth, but furthermore caused considerable increases in soil mineral nitrogen underneath the furrow throughout the vegetation period. Consequently, both yield and grain protein content above the furrow were tendentially increased as compared with the C. In SMB, grain yield increased even more than in DLB, compared to C, in 2017 (84% for SMB vs. 19% for DLB) and nearly equally in 2018 (65.4% vs. 65.2%) while all other treatments tendentially decreased grain yield above the furrow as compared with C. The results indicate that subsoiling with the introduction of organic material can reduce mechanical impedance and increase soil nitrogen and thereby ensure stable yields during dry periods, which become more frequent under climate change.