DE102023116079A1 - soil insemination system - Google Patents

Abstract

The invention relates to a soil insemination system (1) for inseminating a soil (G) from the air in a target insemination area (SA), comprising
- An aircraft (2),
- A ground station (200),
- a seed launching device (10) for launching a seed pod (12) containing a seed from the aircraft (2) for inseminating the soil (G) with the seed pod (12),
- a control device (20) for controlling the aircraft (2) and for communicating with the ground station (200),
- a sensor device (30) for detecting data on environmental conditions and further data on an insemination position (SP) and/or flight path (FP) defined by a shot semen pod (12), and
- a targeting device (40) which is designed to determine a probability of hitting the target insemination area (SA) with the semen pod (12) and at least one firing configuration, each in at least indirect dependence on the data of the sensor device (30), wherein the targeting device (40) is further designed, depending on a comparison of the probability with a limit probability:
- to give the control device (20) a control command to place the aircraft (2) in a first launch configuration,
- to give the control device (20) a further control command to place the aircraft (2) into a further launch configuration to increase the probability, and
- to give the seed firing device (10) a firing command to fire a seed pod.

Description

The invention relates to a soil insemination system for inseminating soil from the air and with an aircraft and with a ground station. The soil insemination system has a seed launching device for launching a seed pod containing a seed from the aircraft and/or from the air to inseminate the soil, a control device, a sensor device and a targeting device. The invention further relates to a method for inseminating soil from the air, in which a soil insemination system is provided.

Currently, forests are dying at a rapid rate and it is difficult and expensive to plant trees to compensate for these losses. This is especially true in protected forests where the soil cannot be worked with heavy machinery. Aerial seeding eliminates the need for heavy machinery and significantly reduces the amount of work required to reforest forest areas.

One well-known technique is to throw seed-containing balls or cubes onto the ground so that they land on the surface and germinate. This is done using large-scale spraying or single-trigger mechanisms in a pattern. These features are found in equipment from several companies. Unfortunately, some seeds are very difficult to obtain and can be quite expensive, so indiscriminately spraying seeds onto the ground without soil preparation, which is not possible in protected forests, will not work. Simply scattering the seeds onto the ground is also not an optimal technique, as the seeds will not develop robustly, but will have short root systems or other weak points, resulting in weaker forests.

One aim of the invention is to optimize tree strength while efficiently using seed stock to reduce waste and increase coverage with a limited number of seeds.

A further aim of the invention is to sow seeds, in particular tree seeds, from the aircraft with high reliability and accuracy.

The object is achieved in particular by the features of the independent claims. Preferred embodiments are specified in the subclaims and in the description, which can each represent an aspect of the invention individually or in combination.

• - eine Samenabschussvorrichtung zum Abschießen von einer Samenhülse mit einem Samen ausgehend von dem Fluggerät zur Besamung des Erdbodens mit der Samenhülse,
• - eine Steuerungsvorrichtung zum Steuern des Fluggeräts und zum Kommunizieren mit der Bodenstation, und
• - eine Sensorvorrichtung zum Erfassen von Daten zu Umgebungsbedingungen und weiteren Daten zu einer durch eine abgeschossene Samenhülse definierten Besamungsposition und/oder Flugbahn, und
• - eine Zielvorrichtung, die zum Bestimmen einer Wahrscheinlichkeit des Treffens des Soll-Besamungsbereichs mit der Samenhülse und wenigstens einer Abschusskonfiguration des Fluggeräts (2), jeweils in zumindest mittelbarer Abhängigkeit von den Daten der Sensorvorrichtung, ausgebildet ist.

A soil insemination system is proposed for inseminating soil from the air in a target insemination area and with an aircraft and a ground station. The soil insemination system has:

• - a seed launching device for launching a seed pod containing a seed from the aircraft for inseminating the soil with the seed pod,
• - a control device for controlling the aircraft and for communicating with the ground station, and
• - a sensor device for collecting data on environmental conditions and further data on an insemination position and/or trajectory defined by a discharged semen pod, and
• - a targeting device which is designed to determine a probability of hitting the target insemination area with the semen pod and at least one launch configuration of the aircraft (2), in each case at least indirectly dependent on the data of the sensor device.

• - der Steuerungsvorrichtung einen Steuerungsbefehl zu geben, um das Fluggerät in eine erste Abschusskonfiguration zu versetzen,
• - der Steuerungsvorrichtung einen weiteren Steuerungsbefehl zu geben, um das Fluggerät zum Erhöhen der Wahrscheinlichkeit in eine weitere Abschusskonfiguration zu versetzen, und
• - der Samenabschussvorrichtung einen Abschussbefehl zum Abschuss einer Samenhülse zu geben.

According to the proposal, the aiming device is designed depending on a comparison of the probability with a limiting probability:

• - to give the control device a control command to place the aircraft in a first launch configuration,
• - to give the control device a further control command to place the aircraft into another launch configuration to increase the probability, and
• - to give the seed launcher a firing command to fire a seed pod.

In other words, a system is proposed that has an aircraft such as a drone and a ground station of the drone. A device for shooting seeds into seed pods is typically provided on the aircraft. The aircraft also has a device for controlling the aircraft, i.e. in particular steering and/or commanding and for connecting, in particular wirelessly, to the ground station. In addition, the aircraft has sensors to detect environmental conditions and information on the landing location of a shot seed pod or its trajectory. A device for aiming is also provided that can determine a hit probability, depending on data from the sensors. The device for aiming can Compare the probability of a hit with a predetermined probability in order to take measures depending on this comparison to increase the probability of a hit, namely by adopting the launch configuration with the aircraft. The launch configuration can be flown to locally (“steer to launch configuration”) and/or adopted by aligning or moving the aircraft (“place into launch configuration”). To increase the probability of a hit, for example, the aircraft can be directed to a location with a higher probability of a hit and/or a launch command can be given and/or a setting on the aircraft or seed launcher can be changed.

The invention can achieve targeted, highly precise direct sowing. Because the invention enables the target insemination areas or areas to be reliably hit with seeds, the amount of wasted seed is significantly reduced. The sowing method also anchors seeds in the soil, which leads to more natural germination and produces stronger seedlings that are well adapted to the environment. The combination of these advantages leads to very efficient use of seeds. The present invention advantageously enables the firing signal or the triggering of the seed firing device to be determined at least indirectly depending on a predicted landing location or on a hit probability. As a result, the insemination system can react highly adaptively to environmental influences.

The soil insemination system enables more efficient use of seeds that are only available in limited quantities. In particular, the proposed seed launcher allows seeds to be placed deep into the soil (e.g. at least 3 cm deep). Once the seeds have been sown, the soil insemination system can be used to mark the location to enable monitoring of growth from the seed.

The proposed solution should allow sowing seeds in a given target area (with a minimum size) with a certain reliability, e.g. landing in the given target area 95% of the time.

In particular, targeted sowing is enabled or suggested, rather than purely coordinate-based sowing, which otherwise carries a high risk of missing the targeted coordinates. This allows for more efficient use of seeds by planting the seed only in viable locations or locations that will benefit the seed the most, in order to increase the seed's chances of becoming an established tree.

By marking the landing site, it is easy to monitor plant growth for analysis purposes and to improve the targeting device. It is easy to monitor growth for better tree care. The functionality of the launching device can be monitored or optimized. It can be evaluated how well the target insemination area has been selected. Feedback can be given to the targeting device for continuous optimization.

Soil-penetrating direct seeding, or penetrating the soil with the seed pod, creates natural seeding conditions to create stronger trees and forests. The invention allows for faster germination compared to unsupported surface spreading. By placing the seed at the optimal depth, the seeds germinate faster than if they had to wait until they naturally worked their way to the correct depth.

It creates protection from animals. Under the top layer of soil, the seeds are less likely to fall prey to birds and other seed-eating animals. It provides a more natural environment for germination. Compared to using fertilizers or other chemicals, the seeds grow more naturally, adapt better to the environment, form stronger shoots and increase the establishment rate.

Insemination means in particular that the soil is provided with at least one seed.

The soil includes in particular the earth's surface including the subsoil. The soil includes in particular all objects on the earth's surface, for example trees, dead trees, rocks and the like.

The target insemination area is in particular an area and/or a point on the ground where insemination is to take place. The insemination position should later be in the target insemination area.

The aircraft is in particular a flight-capable device. The aircraft is in particular remotely controllable without wires. The aircraft can be a drone. The aircraft can be radio-capable. The aircraft The device is in particular part of the soil insemination system and typically comprises, at least in part, the seed launching device, the control device, the sensor device, the aiming device, a locating module, a determination model and/or a comparator module.

The ground station is, in particular, a device on the ground that is designed to communicate with the aircraft or its components. A mission to be flown can be observed, controlled, monitored and/or manipulated from the ground station. The ground station can have a remote control. The ground station can be radio-capable.

The seed launching device is in particular a mechanism for firing or shooting seed pods, which can then penetrate the ground. The seed launching device can have a chamber. Furthermore, a plurality of seed pods can be accommodated or provided. In this respect, a magazine for seed pods can be provided, which can be loaded individually into the chamber. The seed launching device can have a compressed air generator and/or compressed air reservoir in order to shoot a seed pod.

Shooting means that a seed pod is subjected to thrust from the seed launching device, for example thrust from compressed air, and is shot in a targeted direction. After being shot, the seed pod travels along the flight path to the ground. The aim is usually to hit the target insemination area. The point of impact is then called the insemination position. The flight path or the point of impact is influenced by environmental conditions, for example wind, humidity, air pressure, flight altitude or launch altitude, etc.

The seed pod is typically a housing, a cartridge case, a case, a seed pod or the like. The seed pod is typically suitable for firing from the air. The seed pod is particularly suitable for penetrating the soil and for the subsequent germination of the seeds contained therein. For example, the seed pod has a cylindrical and/or elongated shape, at least in sections, in order to be able to follow a straight flight path, in particular with little to no wobble.

Preferably, the seed-launching device is suitable for seeding the soil with the seed pod by penetrating the soil. Penetration is understood to mean in particular that a surface of the soil is penetrated in order to enable the best possible germination and/or to protect the seed for some time after penetration.

The control device has in particular a programmable computer. The control device is intended in particular for flying the aircraft and/or for communicating with the ground station.

Controlling means in particular maneuvering the aircraft. Controlling means in particular controlling actions, for example sending orders and/or commands and/or signals. Communicating means similarly controlling, for example sending orders and/or commands and/or signals.

The sensor device is understood to mean in particular a device with sensors for sensing information or data. The sensor device can communicate the data it has sensed to the target device and/or a locating module and/or determination module or provide them with data upon request.

Data on environmental conditions include in particular weather data, position data, altitude and the like. Environmental conditions can also refer to the ground.

The additional data relating to an insemination position and/or trajectory defined by a discharged seed pod include in particular the insemination position and/or trajectory. In this respect, it should be understood that the sensor device can detect the insemination position and/or trajectory which arise empirically and in interaction with the environmental conditions after the discharge of a seed pod.

The aiming device is in particular a main component of the aircraft. The aiming device in particular determines the first launch configuration from which it is assumed that the target insemination area can be reached when a semen pod is fired. If this is not the case, the aiming device can determine a further launch configuration from which it is assumed that the target insemination area can be reached with a higher probability.

The launch configuration refers in particular to the position of the aircraft. In particular, the launch configuration has or represents a launch position. The Launch configuration may alternatively or additionally refer to an orientation of the aircraft and/or the seed launcher.

Depending on the environmental conditions, the firing configuration can deviate significantly from the target insemination area because, for example, it is predicted that the flight path will hit the target insemination area. The aiming device can issue a firing command to the insemination device.

The soil insemination system is further developed in that a locating module is provided for the target device, which is designed to receive data from the sensor device and to determine locating data for the aircraft. The locating module can ultimately determine the location of the aircraft on the basis of the sensor device.

The soil insemination system is further developed by a virtual map of the ground. The target insemination area lies in particular on the virtual map and includes an area with a good probability of survival of the seed. The virtual map can be input to the targeting device. For example, the virtual map can be sent from the ground station to the targeting device. The virtual map can also be generated at least partially or completely by the targeting device and/or the sensor device.

The soil insemination system is further developed by a determination model of the target device, which is designed to receive the location data and/or the data of the sensor device, in particular to determine a probability density function that relates to a probable insemination position. The determination model can be computer-implemented and/or have at least one algorithm. The determination model can, for example, determine or calculate the probability density function on the basis of algorithms. The determination model can have artificial intelligence and/or be designed to be self-learning. The probability density function can relate to a/the map.

The ground insemination system is further developed by a comparator module of the target device, which is designed to receive the probability density function and to compare the probability density function with the target insemination area, in particular to determine the probability, in particular wherein the comparator module is designed to determine the firing configurations. The comparator module can be computer-implemented and/or have at least one algorithm.

The soil insemination system is further developed by a control module of the target device, which is designed to receive the probability and/or the firing configurations from the comparator module, in particular wherein the control module can carry out the comparison and/or issue the control command and/or the firing command. Individual modules can create modularity and/or redundancy, which increases the robustness of the system.

The soil insemination system is further developed in that the sensor device has a GPS device, a camera device, a distance measuring device, an IMU device, an anemometer device, a visual sensor device, a LIDAR device, a hyperspectral sensor device and/or a speed measuring device. Other devices or sensors are also conceivable. The data basis is improved, especially when different sensor principles are used.

The ground insemination system is further developed in that the ground station is designed to establish an RC connection or to provide an RC communication network to the aircraft. In particular, manual control of the aircraft and/or the seed-launching device is provided from the ground station. A focus signal, the target insemination area and/or the virtual map can be sent to the target device from the ground station, in particular only from the ground station.

1. i. Versetzen des Fluggeräts in die erste Abschusskonfiguration,
2. ii. Vergleichen der Wahrscheinlichkeit mit der Grenzwahrscheinlichkeit, und wenn die Wahrscheinlichkeit kleiner als die Grenzwahrscheinlichkeit ist, Versetzen des Fluggeräts ausgehend von der ersten Abschusskonfiguration in die weitere Abschusskonfiguration als die erste Abschusskonfiguration, und danach
3. iii. Vergleichen der Wahrscheinlichkeit mit der Grenzwahrscheinlichkeit, und wenn die Wahrscheinlichkeit kleiner als die Grenzwahrscheinlichkeit ist, Wiederholen von Schritt ii. ,
4. iv. Vergleichen der Wahrscheinlichkeit mit der Grenzwahrscheinlichkeit, und wenn die Wahrscheinlichkeit gleich oder größer als die Grenzwahrscheinlichkeit ist, Abschießen von einer Samenhülse.

Furthermore, a method for inseminating soil from the air, in which the soil insemination system is provided, is proposed. The method includes the following steps:

1. i. Placing the aircraft in the first launch configuration,
2. ii. comparing the probability with the marginal probability, and if the probability is less than the marginal probability, moving the aircraft from the first launch configuration to the launch configuration further than the first launch configuration, and then
3. iii. comparing the probability with the marginal probability, and if the probability is smaller than the marginal probability, repeating step ii. ,
4. iv. Comparing the probability with the marginal probability, and if the probability is equal to or greater than the marginal probability, shooting from a seed pod.

In particular, the aircraft is navigated to the approximate target from which the target insemination area is to be hit. The first launch configuration may be a position that essentially corresponds to the target insemination area and/or an orientation of the aircraft that essentially leads to insemination of the target insemination area. The target insemination area may have coordinates and/or be defined by a coordinate range. This step can be easily performed using commercially available GPS point navigation software and/or other navigation software.

In particular, a target acquisition loop is carried out. A probability can be determined. The target acquisition loop can comprise a prediction model or determination model of the target device in order to create a probability density function of where the seed pod can land. A comparator module of the target device can derive the probability from the probability density function by using the target insemination area. A firing configuration can be determined. If the probability that the pod will land in the target area is greater than a threshold value as a limit probability (e.g. 90%), the seed pod can be fired. Otherwise, the configuration of the seed launching device or the aircraft should be adjusted so that it points more towards the target area or corresponds to it and preferably executed again. In particular, a further firing configuration can be determined as a firing configuration with a presumably higher probability. For this purpose, the aircraft can then be controlled to the further firing configuration or placed in this.

In particular, the probability is compared with the marginal probability, preferably continuously and/or regularly. If the probability is as high as or higher than the marginal probability, a seed pod can be fired. If the probability is otherwise smaller, the target acquisition loop can be run again, for example to better position the aircraft or seed launcher.

In particular, it can be provided that an arming signal must be present in order to fire the seed firing device. In particular, the seed firing device only triggers the firing command when the arming signal is present.

When the seed launching device is activated, in particular by the launch command and/or the arming signal, a seed pod with a seed can be fired at the ground, in particular for penetrating the ground. The seed pod is hurled at the ground and penetrates a first or uppermost layer of soil. This can be described as planting the seed pod.

A particularly advantageous extension of the method consists in the fact that the data and the additional data are recorded, the additional data are transformed into coordinates for the insemination position, and the determination model of the target device is updated on the basis of the data, the additional data, the transformed additional data, and the coordinates. In other words, the landing place of the semen is determined and the target device is optimized.

During seed pod launch, data is recorded, for example, by an IMU, GPS, video cameras and/or other sensors. In this step, these data are processed in particular to determine the final location of the seed pod in relation to the aircraft, global GPS coordinates and/or reference maps.

In particular, data or information provided by sensors is read into one or more localization/tracking methods for the semen pod. The results of the localization/tracking methods are in particular combined to obtain the image coordinates of the landing position and/or a reference image. In particular, to update or optimize the aiming device, the local position is calculated on the basis of the image coordinates. In particular, to mark the final position or insemination position, the reference image and/or the point position are mapped on a map, for example an orthomosaic map. Using the map, the global point and/or the point in the local coordinates are converted into global coordinates in order to confirm the results. Depending on a desired application, the calculation can be carried out in real time or partially in real time.

In the context of the disclosure, the abbreviation “resp.” is a short form for “respectively” and is intended to generally describe alternative, essentially equivalent and/or synonymous features or terms. to explain the idea or meaning of a feature or term. “Respectively” can always be replaced with “and/or”.

• 1 ein Bodenbesamungssystem zur Besamung eines Erdbodens aus der Luft, aufweisend ein Fluggerät und eine Bodenstation in einer schematischen Ansicht, und
• 2 das Bodenbesamungssystem in einer weiteren schematischen Ansicht mit besonderem Blick auf Bestandteile des Fluggeräts.

The invention is explained below by way of example with reference to the attached drawings using preferred embodiments, wherein the features shown below can represent an aspect of the invention both individually and in combination. They show:

• 1 a soil insemination system for inseminating a soil from the air, comprising an aircraft and a ground station in a schematic view, and
• 2 the ground insemination system in another schematic view with a special focus on components of the aircraft.

1 shows a general overview of an insemination system 1 or “system” for short in use.

A ground station 200 is provided, which in particular has a remote control or RC connection 202. In particular, the ground station 200 is a human interface of the system, at which a user can start and stop the sowing and monitor the process. Calculations are also carried out here if necessary. An operator is located at the ground station 200, for example.

An aircraft 2 is provided. The aircraft 2 is an unmanned aerial vehicle or UAV and/or a drone. The aircraft 2 carries a sowing mechanism as a seed launching device 10, a sensor or a sensor device 30 and an on-board computer or a control device 20.

The aircraft 2 can communicate with the ground station 200, for example via on-board telemetry systems, and/or receive the instructions and can report all relevant results and/or events.

The seed launching device 10 is a mechanical device that holds at least one seed pod 12, in particular a plurality of seed pods 12, and can drive it into the soil G. In particular, the seed launching device 10 is attached to the aircraft 2.

The seed pod 12 is a housing or a pod or a capsule containing seed or seeds. The seed pod 12 serves to protect the seed or seeds during transport, flight and sowing. In particular, the seed pod 12 is designed as a launchable missile that can follow a flight path FP without wobbling if possible.

An insemination area SA on the ground G is the area on which the seed pod 12 is to land, in particular penetrating it. This area should have a minimum size. The area can be determined manually or by other software. The area is typically an optimal location for sowing.

Shown is a seed pod 12 that has penetrated the soil G in the insemination area SA. The seed pod 12 is located at an insemination position SP in the insemination area SA. In this case, the seed pod 12 has hit the insemination position SP following a curved trajectory FP.

In 2 In particular, individual components of the ground insemination system 1, in particular of the aircraft 2, are shown in more detail. Basically, the aircraft 2 communicates with the ground station 200 via an RC connection 202. In particular, the RC connection 202 is intended for bidirectional communication.

The aircraft 2 has a seed launching device 10 for launching a seed pod 12 (not shown here) containing a seed from the aircraft 2 for inseminating the soil G. The seed launching device 10 can in particular communicate with a targeting device 40, either only from the direction of the targeting device 40 and/or bidirectionally.

The aircraft 2 has a control device 20 for controlling the aircraft 2 and for communicating with the ground station 200. The control device 20 can in particular communicate with the target device 40, either only from the direction of the target device 40 and/or bidirectionally.

The aircraft 2 has a sensor device 30 for recording data on environmental conditions and further data on an insemination position SP and/or flight path FP defined by a fired semen pod 12. The sensor device 30 can in particular communicate with the target device 40, in particular bidirectionally.

The aircraft 2 has the target device 40, which is used to determine a probability of hitting the target insemination area SA with the semen pod 12 and at least one firing configuration, each in at least an indirect dependence speed of the data from the sensor device 30.

The target device 40 is designed to give a control command to the control device 20 depending on a comparison of the probability with a limit probability in order to control the aircraft 2 to a first launch configuration.

The target device 40 is designed to give a further control command to the control device 20 depending on a comparison of the probability with a limit probability in order to control the aircraft 2 to a further launch configuration in order to increase the probability.

The aiming device 40 is designed to give a firing command to fire a seed pod depending on a comparison of the probability with a limit probability of the seed firing device 10, in particular when a focus signal is present.

The target device 40 has a locating module 50 which is designed to receive data from the sensor device 30 and to determine locating data for the aircraft 2. The locating module 50 can communicate with the sensor device 30, in particular bidirectionally.

The soil insemination system 1 has a virtual map of the soil G. The target insemination area SA lies on the virtual map and includes an area with a good probability of survival of the seed. The virtual map can, for example, be sent to the locating module 50 or received by the locating module 50.

The target device 40 has a determination model 60 that is designed to receive the location data and/or the data from the sensor device 30 in order to determine a probability density function that relates to a probable insemination position SP. The determination model 60 can communicate with the sensor device 30, in particular bidirectionally. The determination model 60 can communicate with the location module 50, in particular only from the direction of the location module 50 or bidirectionally.

The targeting device 40 has a comparator module 70 which is designed to receive the probability density function and to compare the probability density function with the target insemination area SA in order to determine the probability, wherein the comparator module 70 is designed to determine the firing configurations. The comparator module 70 can communicate with the determination model 60, in particular only from the direction of the determination model 60 or bidirectionally.

The target device 40 has a control module 80 of the target device 40, which is designed to receive the probability and/or the firing configurations from the comparator module 70, wherein the control module 80 can carry out the comparison and issue the control command and the firing command. The control module 80 can communicate with the comparator module 70, in particular only from the direction of the comparator module 70 or bidirectionally. In particular, the control module 80 can communicate with the seed launching device 10 and the control device 20, typically only in their direction or bidirectionally.

The sensor device 30 generally has a GPS device with GPS sensors, a camera device with multiple cameras, a distance measuring device with distance measuring sensors, an IMU device with IMU sensors, an anemometer device with anemometer sensors, a visual sensor device with visual sensors, a LIDAR device with LIDAR sensors, a hyperspectral sensor device with hyperspectral sensors, an acceleration measuring device with acceleration measuring sensors (e.g. G-sensor, e.g.: one-, two- or three-axis), an optical flow sensor device and/or a speed measuring device with speed measuring sensors (e.g. for a speed of the aircraft 2 relative to the ground G and/or relative to the air mass).

In particular, the GPS device, the camera device, the distance measuring device and/or the acceleration measuring device are provided for direct communication with the locating module 50.

In particular, the acceleration measuring device, the anemometer device, the optical flow sensor device and/or the speed measuring device are intended for direct communication with the determination model 60.

The ground station 200 is designed to establish the RC connection 202 to the aircraft 2. From the ground station 200, manual control of the aircraft 2 and/or the semen launching device 10 is provided and a focus signal, the target insemination area SA and the virtual map can be sent to the targeting device 40.

With the soil insemination system 1, a process for inseminating the soil G from the air can be carried out.

1. i. Steuern des Fluggeräts 2 zu der ersten Abschusskonfiguration,
2. ii. Vergleichen der Wahrscheinlichkeit mit der Grenzwahrscheinlichkeit, und wenn die Wahrscheinlichkeit kleiner als die Grenzwahrscheinlichkeit ist, Steuern des Fluggeräts 2 ausgehend von der ersten Abschusskonfiguration zu der weiteren Abschusskonfiguration als die erste Abschusskonfiguration, und danach
3. iii. Vergleichen der Wahrscheinlichkeit mit der Grenzwahrscheinlichkeit, und wenn die Wahrscheinlichkeit kleiner als die Grenzwahrscheinlichkeit ist, Wiederholen von Schritt ii. , und bevorzugt danach
4. iv. Vergleichen der Wahrscheinlichkeit mit der Grenzwahrscheinlichkeit, und wenn die Wahrscheinlichkeit gleich oder größer als die Grenzwahrscheinlichkeit ist, Abschießen von einer Samenhülse 12.

The procedure typically involves the following steps:

1. i. Controlling the aircraft 2 to the first launch configuration,
2. ii. comparing the probability with the limiting probability, and if the probability is smaller than the limiting probability, controlling the aircraft 2 from the first launch configuration to the launch configuration further than the first launch configuration, and then
3. iii. comparing the probability with the marginal probability, and if the probability is smaller than the marginal probability, repeating step ii. , and preferably thereafter
4. iv. Comparing the probability with the marginal probability, and if the probability is equal to or greater than the marginal probability, shooting from a seed pod 12.

The method optionally provides for recording the data and the additional data, further transforming the additional data into coordinates for the insemination position, and further updating the determination model 60 on the basis of the data, the additional data, the transformed additional data, and the coordinates.

The following should be said about the procedure for using the Soil Insemination System 1 during a soil insemination mission.

In particular, the aircraft 2 is navigated to the approximate destination. In this step, the aircraft 2 can be guided to the corresponding area using commercially available navigation software (e.g. UgCS or ‘Ground Station Software UgCS PC Mission Planning’ and/or ArduPolot Mission Planner).

(insemination area SA). The GPS coordinates can be generated based on a specific flight altitude and/or a point directly above the target area.

In particular, a target acquisition loop is performed, e.g. in the targeting device 40. In particular, as soon as the aircraft 2 has reached a certain distance from the GPS point or insemination area SA, the target acquisition loop is activated and can take over control of the aircraft 2. The targeting device 40 can control the aircraft 2 based on a model. This model can predict where the seed pod 12 will land based on incoming sensor data. In particular, as soon as the model predicts that the seed pod 12 will land in the target area with a certain probability, the sowing mechanism or seed launcher 10 is activated. A confidence level or probability is a parameter that can be changed depending on the requirements of the mission. For example, with inexpensive seeds, a confidence level of 70% can be set for faster sowing. This 70% means that the model predicts a 70% chance that semen pod 12 will land in the insemination area SA.

In particular, when the model is ready, a signal can be sent to the seed launcher 10 and a seed pod 12 is launched or planted. The seed pod 12 is sown in particular with the aid of a mechanical mechanism of the seed launcher 10, which can be controlled by a controller. The mechanism and a control firmware are generally designed such that the seed pod 12 is launched quickly (e.g. within 1000, 500 or 100 milliseconds) when a launch signal is received, in particular when the focus signal is also present. This means that the seed pod 12 can be planted immediately when the aircraft 2 is correctly positioned, without the targeting system or the targeting device 40 having to specify timing or without the target acquisition loop having to be run through.

When the launch signal is sent, the target acquisition loop and/or the aiming device 40 may also typically be activated. In particular, the aiming device 40 uses IMU, GPS, altimeter, rangefinder, lights and/or multiple cameras to detect the trajectory FP and the insemination position SP of the seed pod 12. In this way, the performance of the system 1 can be tracked and determined, where the seeds were planted, when they need to be checked and whether the process was successful.

In particular, an update of the determination model 60 of the target device 40 can be provided. The model 60 can be updated based on a marked insemination position SP. This update can make minor adjustments to the model 60 in order to improve the prediction of the insemination position SP for this and/or other missions.

A communication system used can be interchangeable, but ideally it would be something like MAVLink, a network communication system. In particular, the communication system allows for routing and/or pass-through of connections, meaning that not every device or module/model needs to have a direct connection to send information. Information can be passed through interconnected devices.

In particular, for example using the MAVLink protocol, the seed launching device 10 can send a message to a controller, in particular via the control device 20 as an on-board PC and/or a drone controller.

The aforementioned controller may be associated with and/or be a component of the seed launcher 10, the sensor device 30, the targeting device 40, the location module 50, the determination model 60, the comparator module 70 and/or the control module 80.

A controller of the seed launcher 10 may be provided. This is in particular the low-level controller of the seed launcher 10, which can, for example, interact directly with sensors and/or actuators for the seed launcher 10. The firmware running on the controller can be executed in real time. It can receive commands from other controllers and/or on-board computers and/or send back its status. Regardless of whether the aircraft 2 is controlled manually from the ground station 200 or semi-autonomously from the on-board computer, there should be a connection to the controller to indicate that the aircraft 2 is still under the control of the operator.

An onboard PC may be provided. This may be, for example, a portable single-board computer such as an NVIDIA Jetson or ODROID that can perform low-latency or "online" tasks in the area of target acquisition and/or location determination. The onboard PC may run most of the software that is used. The onboard PC may have a direct connection to the seed launcher 10. The onboard PC may have a direct connection to, or be part of, the drone controller and/or the sensor device 30 or onboard sensors and/or the targeting device 40.

The aircraft 2 can have the drone control. For example, the drone control is designed to stabilize the aircraft 2 in the air. The drone control can be integrated in the control device 20 and/or the targeting device 40. The drone control can be a controller such as the PixHawk cube (CubePilot | Autopilot-on-Module | Blue Manufactured in USA | Blue Assembled in USA | Pixhawk Original Team') and/or be directly connected to a hardware of the aircraft 2. The drone control can receive or collect sensor data (e.g. data or other data) and/or execute received commands such as speed and GPS point commands. The drone control communicates in particular with the ground station 200 via an on-board (UAV) communication system and/or the RC connection 202.

The system 1 can have a remote control, in particular as a subsystem, e.g. of the aircraft 2 and/or the ground station 200. The remote control is typically used to control the aircraft 2 in manual mode. The remote control can serve as a hub for accessing a/the communication network. The remote control can also be used to send focus, trigger and/or control signals or commands to the seed launcher 10.

The system 1 can have a mission planner or a mission planning program, in particular an off-board computer or off-board PC. The mission planner is used in particular to plan a flight route and/or parameters. Software of the mission planner or a mission planning software is e.g. UgCS and/or Mission Planner, and is executed in particular on the on-board computer. The mission planner can be used to support image processing, e.g. if the on-board PC is not powerful enough and/or to relieve the load on the on-board PC. The mission planner can store things like high-resolution maps that are to be used in particular for each mission, which can enable dynamic loading of map areas.

The targeting device 40 controls in particular when and/or where the seed-ejecting device 10 is to be triggered. The targeting device 40 can be divided into several, in particular four, core functions. The targeting device 40 can therefore have one, several or all of the following core functions or implement them in accordance with the functions described.

Core function of localization algorithm: The localization algorithm determines in particular the location of the aircraft 2 relative to the supplied map. This is done, for example, via a network of sensor inputs. GPS can be used for a rough localization ization and an internal IMU are used for a rough orientation determination. The location and orientation are refined in particular by an image comparison between the camera inputs and that of a layer of the map / map layer, for example an orthomosaic map layer (image). The result is in particular a location and orientation in GPS / global coordinates.

Core function mechanism model or determination model 60: Using the location and/or orientation from the localization algorithm and/or other sensor inputs or data, the determination model 60 predicts in particular where the seed pod is likely to land. Sensors that may be involved in this process may provide information about the current state of the aircraft 2 and the environmental conditions that could affect the seed pod 12 during flight, e.g. the speed of the aircraft 12, the distance to the ground G and/or a current wind speed. The insemination position SP as the landing position of the seed pod 12 is in particular predicted not as a point but as a probability density function (PDF), such as a 2D Gaussian function. This format makes it possible in particular to take into account the probabilistic nature of the accuracy of the seed launcher 10 in later functions. The location module 50 may be incorporated into the determination model 60, in particular through the mentioned update. This update occurs in particular after a seed has been planted. Based on the landing location of the seed pod 12, the determination model 60 can be improved, allowing the model 60 to dynamically adapt to unmodeled environmental conditions. This results in a more robust and accurate system 1. In particular, the output of the model 60 is a probability density function that indicates where the seed pod 12 is likely to land, in particular with respect to the map.

Core function comparator or comparator module 70: This function is used in particular to handle the probabilistic nature of the model output or determination model 60. The comparator module 70 may compare the predicted probability density function with the (target) insemination area SA or target area. The purpose of this comparison is in particular to determine the probability with which the semen pod 12 lands in the (target) insemination area SA. In particular, the probability density function and the (target) insemination area Sa are analyzed to determine how the movement of the aircraft 2 may affect the probability. This can be represented as a multivariate function describing the movement of the aircraft 2 in terms of the change in probability and/or as a vector. The output of the comparator module 70 is preferably the probability of the semen pod 12 hitting the (target) insemination area and/or an optimal vector and/or an optimization function.

Core function of the control algorithm or control module 80: The control module 80, if provided, can make the final decisions on the basis of the processed information or data. In particular, if the probability that the semen pod 12 lands in the insemination area SA reaches or exceeds the limit probability, the control module 80 can trigger the semen launching device 10. If this is not the case, the control module 80 can decide which movement of the aircraft 2 can improve this probability. In order not to get stuck in a loop here, it is preferable that the insemination area SA is large enough for the given flight conditions. This should be determined in advance when creating the flight mission and, in particular, checked during the flight to take dynamic environmental changes into account.

• GPS: Das Fluggerät 2 kann eine/die GPS-Einrichtung aufweisen und kann insbesondere ein zusätzliches RTK-GPS-System aufweisen. Dies kann eine Positionsgenauigkeit von beispielsweise 3 cm oder besser ermöglichen. Dies wird für die grobe Lokalisierung verwendet, da keine Orientierungsdaten vorliegen.

The following sensors feed in particular into the target device 40:

• GPS: The aircraft 2 may have a/the GPS device and may in particular have an additional RTK GPS system. This may enable a position accuracy of, for example, 3 cm or better. This is used for rough localization since no orientation data is available.

Camera: The aircraft 2 may be equipped with a number of different cameras for different purposes, such as remote mission monitoring, obstacle avoidance, localization and data collection. Some cameras are typically multi-use and can collect RGB, monochrome and/or multi/hyperspectral data. The majority of the camera data is either processed on board and/or stored for later analysis. If required, data can be transferred to computers outside the aircraft 2.

Rangefinder/LIDAR: This sensor is typically used to determine the distance of the aircraft to the ground G, which can also be done with other sensors but is usually not as accurate. Rangefinders and LIDAR devices have a lower sensitivity compared to other methods have much better accuracy and resolution. LIDAR has the additional advantage of being able to capture multiple ground points, which further improves accuracy and information gain, but can come with a significant increase in cost.

Accelerometer/Inertial Measurement Unit (IMU): Aircraft 2 are typically equipped with internal accelerometers and/or IMUs. The seed launcher 10 may be mounted on a gimbal system and/or a damping platform, so its movement may not exactly match that of the drone. In particular, an accelerometer and/or an IMU may be attached to the seed launcher 10. This data received thereby may be crucial for determining orientation and velocities, but may contain noise. To compensate for the noise, other sources such as LIDAR, optical flow or camera data should be combined with this data.

Anemometer: Wind speed is an important factor to consider when modeling projectiles through the air, as in the case of the seed pod 12. In particular, an anemometer is used to measure wind speed and direction, which can greatly improve the prediction accuracy of the models 60 for the seed launcher 10.

Optical Flow: Optical flow sensors are visual sensors that output the motion of visual features moving through their field of view. It can be used in GPS-less aircraft 2, especially drone flight, and/or can be particularly useful to supplement the data when attached to the seed launcher 10. The reason for this is that it can move independently of the aircraft 2, to which all GPS modules are attached.

Speed of the aircraft 2: By reading the telemetry data of the aircraft 2, the current speed and the actuation commands as well as other relevant information or data can be received. By taking the speed into account, the determination model 60 can make better predictions about where the seed pod 12 will or could land.

• Karte: Die Karte stellt insbesondere die Referenz bzw. Referenzdaten für Missionen zur Aussaat dar. Eine vorteilhafte Grundlage für diese Karte ist beispielsweise ein Referenz-Orthomosaik oder eine andere Referenz. Dieses kann man sich wie ein Bild vorstellen, das aus großer Entfernung aufgenommen wurde, eine hohe Auflösung hat und/oder für jedes Pixel eine bekannte GPS-Koordinate aufweist. Anhand der Karte werden insbesondere die Besamungsbereiche bestimmt und somit der Bezugsrahmen, in dem sich das Fluggerät befindet. Die Karte kann auch andere Daten enthalten, z.B. eine Tiefenkarte, LIDAR-Punktwolken und/oder wenigstens eine oder mehrere Spektralschichten.

Control inputs are user inputs used for referencing and/or controlling the aircraft 2 or the mission. These inputs are as follows:

• Map: The map represents the reference or reference data for seeding missions. An advantageous basis for this map is, for example, a reference orthomosaic or another reference. This can be imagined as an image taken from a great distance, with a high resolution and/or with a known GPS coordinate for each pixel. The map is used in particular to determine the insemination areas and thus the reference frame in which the aircraft is located. The map can also contain other data, e.g. a depth map, LIDAR point clouds and/or at least one or more spectral layers.

Target: The targets or insemination areas are areas on the map that can be considered as regions where each seed has a good chance of survival.

RC link: The RC link as an input to the targeting device enables, for example, manual takeover and/or indication of appropriate monitoring. In order to ensure a reliable connection and correct monitoring, a focus signal can be sent, in particular from the ground station 200. This focus signal is used in particular by the seed launcher 10 and can be used alternatively or additionally by the control algorithm or control module 80 in order to avoid time losses.

The outputs indicate, for example, how the targeting device 40 interacts with the aircraft 2. Outputs can in particular be the following.

Seed launcher 10: The target device 40 sends, for example, trigger signals or commands to the seed launcher 10 and/or receives possible error messages or feedback. The trigger signal indicates that a seed is to be fired and the seed launcher 10 preferably sends back a message describing the success of the operation.

Aircraft or drone control system: The aircraft usually has a built-in controller, in particular the control device 20, which can receive and execute high-level commands, e.g. speed commands. The target device 40 interacts with the aircraft 2, in particular with the control device 20, in this way and relieves it of calculations.

• Methode zur Bestimmung der Besamungsposition SP (z. B. Methode 1): Diese Methode kann eine Grundlage für die Zielvorrichtung 40 bilden. Diese Methode kann Sensordaten von einem oder mehreren Sensoren aufnehmen und insbesondere diese zur Messung der Besamungsposition SP verwenden. Es kann eine bis mehrere dieser Methoden geben, die jeweils unterschiedliche Techniken und/oder unterschiedliche Sensoren zur Messung der Besamungsposition SP verwenden. Ein Beispiel für eine Methode ist die Hochgeschwindigkeits-Objektverfolgung, bei der die Samenhülse 12 mit Hilfe von Computer-Vision auf Videodaten mit hoher Bildrate bis zu der Stelle verfolgt werden kann, an der sie auf dem Erdboden G aufschlägt. Diese Methode kann die Besamungspositionen SP in verschiedenen Formaten und Referenzrahmen ausgeben.

The purpose of the targeting device 40 or the tagging system is in particular to determine the landing location of the semen pod 12 or the insemination position SP after the seed launching device 10 has been actuated. This makes it possible to obtain feedback that can be used for monitoring growth and/or feedback for the models 60 of the system 1, in particular the targeting device 40. There can be several types of functions (in particular method(s), transformation(s), combination(s)), in particular three, that can be applied in the targeting device, as follows:

• Method for determining the insemination position SP (e.g. Method 1): This method may form a basis for the aiming device 40. This method may receive sensor data from one or more sensors and in particular use this to measure the insemination position SP. There may be one to several of these methods, each using different techniques and/or different sensors to measure the insemination position SP. An example of a method is high-speed object tracking, where the semen pod 12 can be tracked using computer vision on high frame rate video data to the point where it impacts the ground G. This method can output the insemination positions SP in various formats and reference frames.

Insemination position transformation (e.g. transformation 1): Since each of the above methods can have a different output, the outputs must be regularly transformed into a common format and/or coordinate frame. This is done, for example, using a transformation function. These transformations can use data from the sensors and/or from the map, in particular to determine the global position as insemination position SP. The result of these transformations is, for example, the insemination position SP in global coordinates.

Combination: The results of the insemination position transformation can be combined to obtain a more accurate and robust result. This combination can be simple, such as a 3D mean, or it can be more sophisticated and use a statistical model that can exploit the biases inherent in the different methods. This combination becomes more robust the more different methods are used and the more they differ from each other. For example, the output of this function is a point in GPS coordinates.

• Ausgabe der Zielvorrichtung 40 (Modell für die Samenabschussvorrichtung 10): Eine globale Koordinate der Besamungsposition SP wird beispielsweise an die Zielvorrichtung 40, das Bestimmungsmodell 60, die Steuerungsvorrichtung 20 und/oder die Samenabschussvorrichtung 10, gesendet, um dynamisch zu aktualisieren.

There are two main issues with the system:

• Output of the target device 40 (model for the semen launcher 10): A global coordinate of the insemination position SP is sent to, for example, the target device 40, the determination model 60, the control device 20 and/or the semen launcher 10 to dynamically update.

Map output: The insemination position SP as the landing position of the semen pod 12 is marked in particular on the map for performance modelling and/or easy growth monitoring.

The seed launcher 10 may have or be operated with firmware. Firmware may be a computer program. The firmware may assume one or more of the following states. In particular, one or more of the states may be displayed on the ground station 200.

Idle state: In this state, the aircraft 2, in particular the control device 20, the seed launcher 10, the sensor device 30 and/or targeting device 40, is connected to the ground station 200 but is not being used. If there is no seed pod 12 in the seed launcher 10 or in the chamber thereof, a "loading" state can be adopted in order to load a seed pod 12 ready for launch. Otherwise, for example, the control device 20 and/or the aircraft 2 does not read any sensors in this state and only communicates its status to the RC connection 202 or the RC network while waiting for an arming signal.

Load state: As soon as an arming signal has been received, in particular via the RC connection 202, and a seed pod 12 is in the chamber, the load state is activated. In this state, the pressure is directed into the pressure chamber behind a chamber for the seed pod 12. For this purpose, an inlet valve to the chamber is opened for a certain time and/or until a certain pressure is reached and then the valve is closed. This can be considered a dangerous state in which the seed launcher 10 can have the energy to eject a seed pod 12.

If an arming signal is not received within a required time, for example within 2 seconds, 10 seconds, 100 seconds or 1000 seconds, System 1 may enter a “vent” state, which will cause System 1 safe. After the loading state, system 1 waits until a trigger signal is received and then goes into the start state or trigger state.

Start or Trigger State: In this state, the seed launcher 10 plants a seed pod 12 by activating a lock that maintains pressure, releasing the compressed air behind the seed pod 12 and firing it or shooting it into the ground. After the lock is activated, the system 1 waits a short time until the seed pod 12 has left the seed launcher 10 and then releases the remaining pressure from the pressure chamber. After venting, the system 1 waits for a lock sensor to indicate that it is now closed so that the pressure in the pressure chamber is maintained. If this sensor does not trigger within a certain time, the system 1 may enter the "lock error" state. If the lock sensor is triggered in time, the system 1 enters the load state.

Loading state: In this state, the seed pod 12 is moved into the chamber by a loading system. This is done, for example, via a gear system driven by a motor, in particular a DC motor, in particular with an encoder at the output. In the loading state, the motor receives a signal to move the seed pod 12 and/or the speed of the motor is monitored. If a change in position of the motor is larger than expected and/or the speed is outside an expected threshold, the system goes into a motor fault state, for example. This is done to prevent jamming that could damage something. If these conditions are not met and a sensor on the chamber receives a signal with, for example, a falling edge, indicating that a seed pod 12 is in the chamber, the system 1 goes back to the idle state.

Venting state: In this state, the venting valve is activated for a certain time. In particular, system 1 then returns to the idle state.

Lock Error State: This state sends a signal indicating an error and then waits indefinitely until the error is corrected and System 1 is reset.

Engine Fault Condition: This condition sends a signal indicating a fault and then waits indefinitely until the fault is corrected and System 1 is reset.

Emergency State: This state can be reached from any state of the system 1. Once an emergency signal is received from the RC link, the aircraft 2, seed launcher 10, control device 20 and/or target device 40 expects a crash so that the vent valve is kept open until the system 1 is reset.

Other conditions and/or a waiver of one or more of the above conditions is/are conceivable.

The invention underlying this patent application was developed in the project called “Garrulus” funded by the MULNV.

list of reference symbols

2

aircraft

10

sperm ejection device

12

seed pod

20

control device

30

sensor device

40

aiming device

50

tracking module

60

determination model

70

comparator module

80

control module

200

ground station

202

RC connection

FP

trajectory

G

ground

SA

insemination area

SP

insemination position

Claims (10)

Soil insemination system (1) for inseminating a soil (G) from the air in a target insemination area (SA), comprising - an aircraft (2), - a ground station (200), - a seed launching device (10) for launching a seed pod (12) with a seed from the aircraft (2) for inseminating the soil (G) with the seed pod (12), - a control device (20) for controlling the aircraft (2) and for communicating with the ground station (200), - a sensor device (30) for recording data on environmental conditions and further data on a seed launched by a insemination position (SP) and/or flight path (FP) defined by the seed pod (12) and - a targeting device (40) which is designed to determine a probability of the target insemination area (SA) being hit by the seed pod (12) and at least one firing configuration, in each case at least indirectly dependent on the data from the sensor device (30), wherein the targeting device (40) is further designed, depending on a comparison of the probability with a limiting probability: - to give the control device (20) a control command to place the aircraft (2) in a first firing configuration, - to give the control device (20) a further control command to place the aircraft (2) in a further firing configuration to increase the probability, and - to give the seed firing device (10) a firing command to fire a seed pod. Soil insemination system (1) according to the preceding claim, comprising a locating module (50) of the target device (40), which is designed to receive data from the sensor device (30) and to determine locating data for the aircraft (2). Soil insemination system (1) according to the preceding claim, comprising a virtual map of the ground (G), and wherein the target insemination area (SA) lies on the virtual map and comprises an area of good probability of survival of the seed. Soil insemination system (1) according to one of the preceding claims, comprising a determination model (60) of the target device (40) which is designed to receive the location data and/or the data of the sensor device (30) in order to determine a probability density function which relates to a probable insemination position (SP). Soil insemination system (1) according to the preceding claim, comprising a comparator module (70) of the target device (40) which is designed to receive the probability density function and to compare the probability density function with the desired insemination area (SA) in order to determine the probability, in particular wherein the comparator module (70) is designed to determine the firing configuration(s). Soil insemination system (1) according to the preceding claim, comprising a control module (80) of the target device (40) which is designed to receive the probability and/or the firing configuration(s) from the comparator module (70), wherein the control module (80) can carry out the comparison and issue the control command and the firing command. Soil insemination system (1) according to one of the preceding claims, wherein the sensor device (30) comprises a GPS device, a camera device, a distance measuring device, an IMU device, an anemometer device, a visual sensor device, a LIDAR device, a hyperspectral sensor device and/or a speed measuring device. Ground insemination system (1) according to one of the preceding claims, wherein the ground station (200) is designed to establish an RC connection (202) to the aircraft (2), and wherein manual control of the aircraft (2) and/or the seed launching device (10) is provided from the ground station (200) and/or a focus signal, the target insemination area (SA) and/or the virtual map can be sent to the target device (40). Method for seeding a soil (G) from the air, in which the soil seeding system (1) according to one of the preceding claims is provided, comprising the steps i. placing the aircraft (2) in the first launch configuration, ii. comparing the probability with the limit probability, and if the probability is smaller than the limit probability, placing the aircraft (2) starting from the first launch configuration into the further launch configuration than the first launch configuration, and then iii. comparing the probability with the limit probability, and if the probability is smaller than the limit probability, repeating step ii., iv. comparing the probability with the limit probability, and if the probability is equal to or greater than the limit probability, firing from a seed pod (12). Method according to the preceding claim, comprising acquiring the data and the further data, transforming the further data into coordinates for the insemination position, and updating the determination model (60) of the target device (40) on the basis of the data, the further data, the transformed further data, and the coordinates.

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