System for controlling pests on plants

Description

[0001] The present invention relates to a system for pest control according to the preamble of independent claim 1.

[0002] To ensure the sustainable production of agricultural products, comprehensive protection of crops from various pests is essential and is becoming increasingly important with the ever-growing demand for agricultural products for all of humanity. For environmental reasons, the trend is moving away from chemical pesticides towards pest control using physical methods.

[0003] In an article titled "Six Ways Drones Are Revolutionizing Agriculture," published in MIT Technology Review on July 20, 2016, Michal Mazur describes the potential use of drones in agriculture. The article mentions that drones equipped with suitable sensors and devices could be used for tasks such as soil / field monitoring, planting, crop yield assessment, irrigation, and plant health evaluation. Pest control in crops is also mentioned, with drones being used to precisely spray plants with chemicals. Drones can also be trained for various tasks, and swarms of drones could be deployed.

[0004] In an article titled "Eyes in the sky: 5 ways drones will change agriculture," published on Knowablemagazin.org on November 10, 2018, Rachel Ehrenberg describes the potential future use of drones in agriculture. She mentions that drones equipped with suitable sensors could be used, for example, to determine the ripeness of grapes in vineyards, identify unwanted plants in fields, assess irrigation needs, detect diseased plants or airborne pathogens, and even count livestock or artificially pollinate flowers. Specific training programs for drone-equipped systems are not described.

[0005] EP 3 500 877 B1 describes a system for harvesting fruit, in which a drone equipped with a camera detects and picks ripe fruit within a work area. The use of multiple drones is also mentioned.

[0006] An article titled "Light Instead of Chemicals," published on the phi news portal of the production engineering department in Hanover, describes a basic concept for a weed control system in crop fields. This system uses laser irradiation to partially destroy weeds, rather than chemical treatment, to the point where they no longer harm the development of the crops. The article mentions that electronic image recognition methods could be used to distinguish between crops and weeds. Looking ahead, it also suggests that lasers could be used for pest control in plant breeding.

[0007] US patent 2019 / 0031346 A1 discloses a system for pest control on plants located in an agricultural area using drones, in which pest control is carried out by spraying pesticides.

[0008] The present invention is based on the objective of improving a pest control system of the generic type in such a way that it is able to control pests without human interaction and without the use of pesticides. The system should be usable in any type of agricultural area, in particular also in mixed crops.

[0009] This problem is solved by the pest control system according to the invention, as defined in independent claim 1. Advantageous embodiments are described in the dependent claims.

[0010] Within the scope of the present invention, pest control comprises the control of harmful organisms on plants and the diseases they cause, as well as the control of feeding pests. Accordingly, pests are to be understood as harmful organisms or feeding pests.

[0011] The essence of the invention is as follows: A system for pest control on plants located in agricultural land comprises a swarm of drones and a control device for controlling the drones. The control device and the drones are equipped with communication devices for mutual data exchange. The drones are designed to autonomously fly to plants and are each equipped with a sensor for detecting pest infestations and a laser device suitable for pest control, and are designed to selectively combat detected pest infestations using the laser device.

[0012] A swarm of preferably small, autonomously operating drones can automatically search a defined work area for pests, detect any infestations, and combat them independently using suitable physical or mechanical means. Advantageously, the drone swarm comprises a large number (dozens to hundreds or thousands) of small, lightweight, and inexpensive drones that work in a coordinated manner, acting similarly to a swarm of bees or ants to carry out their work in a targeted and precise way on specific plants. This contrasts with traditional agriculture, where treatments are large-scale and not diversified or targeted. Preferably, the drones have small dimensions, typically less than 25 cm, ideally in the range of 2-25 cm or 0.5-15 cm. Preferably, the drones have a low maximum takeoff weight of less than 500 g, ideally in the range of 5-500 g.This makes drones both cost-effective, which allows for their use in large numbers, and safer compared to heavier aircraft, as they pose less of a risk to people and the environment in the event of a crash.

[0013] A particular advantage of the system according to the invention in connection with pest control is that, unlike traditional chemical pest control methods, which are usually applied over large areas and affect not only infested but also uninfested plants, the drones can work very precisely, so that only actually infested plants or plant parts are treated. The system according to the invention is also particularly suitable for detecting and combating any pest infestation at an early stage in individual plants, before an infestation can spread to other plants or even entire areas, and thus contributes to a more sustainable, low-risk, and efficient agriculture as a whole.

[0014] Using a laser device as a pest control tool allows for very targeted pest control.

[0015] Advantageously, the laser device features automatically adjustable optics, allowing the focal point to be adjusted. This means the drone doesn't need to approach the target object to a precise distance, as the adjustable optics enable an optimal focal point on the target.

[0016] Preferably, the control device is configured to define an agricultural target area to be cultivated and to communicate this to the drones, and the drones are configured to fly to plants within the defined target area. This enables efficient and targeted cultivation.

[0017] Advantageously, the control device is designed to control the drones in such a way that the drones first search the defined target area for pest infestation and only after this search is completed is the need for processing determined by the control device and corresponding work orders transmitted to selected drones for the processing of desired processing steps.

[0018] A particular advantage of the system according to the invention is the ability to examine individual plants and, if necessary, to modify them. This allows, for example, the increased cultivation of mixed crops instead of homogeneous monocultures, which have numerous ecological disadvantages (ecologically low value, as they hardly promote the diversity of beneficial organisms, and are particularly susceptible to pests that specialize in one or a few crop plants). Mixed crops are characterized by the fact that different crop plants are planted and cultivated side by side and intermingled. The individual crop plants benefit from mutual advantages such as improved nutrient availability or a more resilient ecosystem due to the diverse communities of organisms.The disadvantage of such mixed cropping systems, namely the difficult, if not impossible, traditional management through selective pest control, does not exist in the system according to the invention, since the drones can search for the individual desired plants throughout the entire mixed crop area and treat them as needed. A suitably equipped swarm of drones can survey an area with several mixed crop species and carry out pest control if necessary.

[0019] Preferably, the drones are designed to communicate with each other directly or via the control device. This helps to avoid collisions between drones, for example.

[0020] Advantageously, the drones are designed to transmit data collected by their sensors to the control device, and the control device is designed to analyze data transmitted by the drones and subsequently send control information back to the drones. In this way, a large part of the control effort is outsourced to the control device, allowing the mobile drones to be simpler and therefore lighter in design.

[0021] It is advantageous for the sensor, or at least one of the sensors, of each drone to be designed as a camera. The camera can operate in the visible, infrared, or ultraviolet range. Instead of or in addition to a camera, the drones can also be equipped with ultrasonic, radar, or laser sensors. These sensors enable, for example, the detection of pest infestations or facilitate drone navigation.

[0022] Advantageously, the drones are equipped with a positioning system for navigation. This allows for more targeted deployment of each drone and a more accurate situational awareness.

[0023] Each drone's laser device can weaken, sterilize, kill, or destroy an organism on the target object.

[0024] Advantageously, the drones feature an alignment system for directing the laser device towards a target object. This allows for more precise treatment of the target object, regardless of the drones' exact position.

[0025] Preferably, the drones are electrically powered and equipped with an electrical energy storage device (accumulator). The system advantageously includes at least one charging device for the drones' energy storage. Advantageously, the drones are designed to interrupt their operation when their energy storage needs charging, autonomously fly to the at least one charging device, and recharge their energy storage. In this way, the drones' operating time is practically unlimited. Advantageously, the drones are designed to automatically resume their operation after their energy storage has been recharged.

[0026] Advantageously, the system features at least one landing platform for the drones, which can accommodate several drones and integrates at least one charging device. This provides the drones with a safe landing option, especially for charging.

[0027] In an advantageous embodiment, the landing platform has an electrical energy storage system for supplying energy to at least one charging device and a photovoltaic panel, or is itself designed as a photovoltaic panel, with the energy storage system being rechargeable via the photovoltaic panel. Under favorable conditions, this enables energy-autonomous operation for extended periods.

[0028] The landing platform is advantageously mobile, especially self-propelled. This facilitates installation in the field.

[0029] The control device (with the exception of the communication device) can either be designed entirely as a virtual unit (all data processing, evaluation and command / control via suitable programs on the internet / in the cloud), or it can include a real central control unit or real decentralized control units (possibly even as part of the drones themselves), which themselves have corresponding computing units.

[0030] Advantageously, a real central or decentralized control unit for controlling the drones has a computing unit, a communication device and a power supply.

[0031] Preferably, a real central or decentralized control unit is also designed as a storage and landing platform with integrated charging facilities for the drones.

[0032] Advantageously, the communication devices of the system are designed for mutual communication or data exchange with the individual device parts via telephone network, radio, Bluetooth, wireless, IR or laser.

[0033] The central control unit is advantageously designed as a communication hub for communication with and between the drones and, if necessary, a remote monitoring unit.

[0034] Advantageously, the drones are equipped with solar cells to charge their energy storage. This eliminates the need for separate charging stations.

[0035] The central control device is advantageously designed to be mobile, allowing it to be transported to a deployment area. Ideally, the central control device is also designed to move autonomously to and within the deployment area. Furthermore, the central control device can also be capable of flight.

[0036] The pest control system according to the invention will now be described in more detail with reference to the attached drawings and various exemplary embodiments. These show: Fig. 1 - a block diagram of a first embodiment of the system according to the invention; Fig. 2 - a block diagram of a second embodiment of the system according to the invention; Figs. 3-4 - simplified representations of a control device of the system according to the invention with drones in a resting state and in an operational state, respectively; Fig. 5 - a simplified schematic representation of a mobile control device; Fig. 6 - a schematic representation of a stationary control device; Fig. 7 - an example arrangement of stationary control devices in an agricultural field; Fig. 8 - a simplified representation of a drone of the system according to the invention; Figs. 9-12 - simplified representations of different drone control tools; Figs. 13-14 - illustrations to explain the operation of a drone control tool; and Fig.15-18 - Illustrations of an embodiment of the system according to the invention in various phases of field application, using a mixed-crop field as an example.

[0037] The following rule applies to the description below: If reference symbols are indicated in a figure for the purpose of graphical clarity, but are not mentioned in the immediately corresponding descriptive section, reference is made to their explanation in preceding or subsequent descriptive sections. Conversely, to avoid graphical clutter, reference symbols that are less relevant for immediate understanding are not included in all figures. Reference is made to the remaining figures in these cases.

[0038] The term "drone" refers to an unmanned aerial vehicle that can be operated and navigated autonomously without a crew on board, either through an internal computer and / or remotely.

[0039] In principle, the system according to the invention comprises as its main components a plurality of drones 1 and a control device 2 or 2' for the drones 1, as well as a local computer 3. For the sake of clarity, all drones in the drawings are designated as a whole by the same reference numeral 1, regardless of their specific details. Figure 1 and 2Only a few drones 1 are shown, but in reality, the system according to the invention comprises a significantly larger number of drones 1. The local computer 3 is normally located at the system's base of operations (e.g., at a farm) and serves as a user interface for exchanging data and instructions with the control unit 2 or 2'. The user operates the system via the local computer 3. They plan missions, define operational areas, working methods, schedules, etc., initiate the mission, and monitor it. Furthermore, the evaluation of completed missions, monitoring of the condition of the drones in the field, etc., also takes place here.

[0040] In the exemplary embodiment of the Fig. 1The control device 2 comprises a central control unit 20, which in turn includes a computing unit 21 and a communication device 22. Each drone 1 comprises an internal controller 11 and an internal communication device 12. The control device 2 and the drones 1 are interconnected via the communication device 22 and the internal communication devices 12, enabling the mutual transmission and exchange of data between the central control unit 20, or its computing unit 21, and the internal controllers 11. The local computer 3 also has a communication device 32 for data exchange with the central control unit 20.

[0041] In the exemplary embodiment of the Fig. 2 The control device 2' is designed to be decentralized and comprises two or more (in Fig. 2The decentralized control units 20' (identified as such) each comprise a computing unit 21' and a communication unit 22'. The drones 1 are organized into groups 1', each of which again comprises an internal control unit 11 and an internal communication unit 12. Each group 1' of drones 1 is assigned to one of the decentralized control units 20'. The number of drones 1 within the groups 1' can be the same or different. The decentralized control units 20' and the drones 1 are interconnected via the communication units 22' and the internal communication units 12 of the drones 1, so that data can be transmitted or exchanged between the decentralized control units 20' and the drones 1. The local computer 3 is also interconnected with the decentralized control units 20' via its communication unit 32.The connection between the decentralized control units 20' and the mobile drones 1 as well as the local computer 3 can of course also be made indirectly via a central communication device not shown here.

[0042] The decentralized control units 20' are designed as independent physical units, each with its own power supply, and are placed in the field to be processed during system operation. Preferably, each unit has at least one landing platform and charging station for the drones 1.

[0043] Communication between the drones 1 and the control unit 2 or 2' preferably takes place wirelessly via a suitable technology such as radio, mobile phone network, laser, Bluetooth, WiFi.

[0044] The basic idea of ​​the invention is to carry out desired agricultural tasks using a large number of largely autonomous drones. Accordingly, the drones 1 are equipped with special tools, in particular pest control tools, with which one or more types of agricultural work can be performed. These include primarily pest control on plants, but also, for example, harvesting fruit, weed removal, pollination of flowers, fertilization, irrigation, planting of seeds or seedlings, etc. The drones 1, together with the control device 2 or 2', form a communicatively networked autonomous system for carrying out the desired agricultural tasks.The “intelligence” of the system, i.e., the functionalities required for flying and navigating the drones, controlling their combat tools, processing data captured by the drones, and deriving instructions for the drones from this data, is divided between the internal controls 11 of the drones 1 and the central control unit 20 or the decentralized control units 20', whereby preferably the main part of the required computing power is provided by the central control unit 20 or the decentralized control units 20', so that the internal control 11 of the drones 1 can be comparatively less complex.

[0045] According to an important aspect of the invention, the drones 1 are electrically powered. A typical example of a drone is in Fig. 8The drone is depicted here as a quadcopter. Quadcopter drones with four individually controllable rotors require relatively simple control electronics and no additional moving control elements, as all directional movements of the drone flight are achieved solely by coordinated changes in the rotational speed of the individual rotors. This allows for the very cost-effective production of a large number of small drones.

[0046] Of course, other types of drones can also be used (wing-flapping ornithopters, helicopters equipped with main and tail rotors, helicopters with counter-rotating rotors, or even fixed-wing aircraft or motorized airship-like drones, etc.).

[0047] The in Fig. 8The drone shown, designated as a whole by 1, comprises a fuselage 120 on which four electric motors 122 are mounted via booms 121, driving horizontally oriented, vertically acting rotors 123. The internal control unit 11, the internal communication unit 12, and an energy storage device in the form of a battery 124 are arranged in the fuselage 120.

[0048] The drone 1 is equipped with sensors 125, which allow it to perceive its environment. For example, one sensor is designed as a camera operating in the visible spectrum. Advantageously, sensors operating in the infrared, UV, or other wavelength ranges can also be present, making it possible, for instance, to detect damaged or pest-infested plants or plant parts by comparing their heat or UV radiation to that of healthy or unaffected plants, and thus to identify and even detect the infestation. The recognition of (crop) plants, pests, fruits, etc., is carried out using appropriately designed image recognition systems. These are advantageously implemented in the central control unit 20 or the decentralized control units 20', which are equipped with sufficient computing power for this purpose.As a result, the internal control unit 11 of the drone 1 itself does not need to contain a complex image recognition and analysis system and can therefore be kept small and lightweight.

[0049] To be able to determine the position of drone 1 at any time, it is equipped with a positioning device 126. Such a positioning device can be, for example, a GPS receiver, but also, for example, a gyroscope-based system or a system that uses acceleration measurement.

[0050] The drone 1 also features a pest control tool, in this example a laser device 127, which can be used to irradiate pests and thus sterilize, damage, or even destroy them, depending on the laser intensity and irradiation time. Other pest control tools are listed and explained below. Advantageously, the pest control tool or laser device 127 is mounted on an alignment arrangement 128 that can be adjusted in one or more axes, allowing the pest control tool 127 to be aimed at a desired target object independently of the orientation and position of the drone 1 itself.Such an alignment arrangement can only be dispensed with if the drone's flight control system itself has a sufficiently precise and accurate means of positioning a fixedly mounted tool with pinpoint accuracy in three-dimensional space, aligning the entire drone with a target object, and maintaining this position for a sufficient amount of time so that the combat tool can perform and complete its task.

[0051] The Laser 127, used as a pest control tool, is designed so that its focal point is approximately 1-200 cm away from the laser unit. Advantageously, the Laser 127 features automatically adjustable optics (focusing lens), allowing the focal point to be adjusted within a certain range as needed. This eliminates the need for the drone to approach the target object at a precise distance, as the adjustable optics ensure an optimal focal point on the target. The corresponding adjustment mechanism is standard technical and will not be described further here.

[0052] Lasers with a wavelength of 10⁻⁵ to 10⁶ nm are suitable for controlling pests. For example, a CO₂ laser with a wavelength of 10,600 nm or a thulium fiber laser with a wavelength of approximately 2,000 nm can be used to control weeds.

[0053] Depending on the application of the drone 1, it can be advantageous to add further aids to the alignment device 128 in addition to the pest control tool, such as cameras or laser rangefinders. These allow for better identification of a target object than would be possible with the drone's own sensors 125, or for determining the exact distance to the target object. This, in turn, would allow for the optimal adjustment of, for example, the focal point of the laser device 127 for pest control. Such optional sensors and tools (not shown) can also be conveniently mounted on the alignment device. It is also, of course, possible and advantageous to equip a drone with different tools suitable for various tasks. For example, such a multi-purpose drone could be equipped with a laser device for pest control and simultaneously with a gripper for, e.g., harvesting and weeding.

[0054] Tests have shown that even a small 2 W laser with a wavelength of 405 nm can ignite organic material at distances of 1-2 meters after just a few milliseconds to a few seconds of irradiation. However, to combat a pest organism, a lower power output per unit of time is sufficient, since the target organism does not necessarily need to be burned, but only damaged to the point of death or inability to reproduce. This is illustrated schematically in the following simplified diagram. Fig. 13 . With a laser beam 127b focused onto a small point by means of a focusing optic 127a, even small-area pest organisms 1101 on a plant 1100 can be damaged with short laser pulses of e.g. 0.1 s duration. Fig. 14In contrast, Figure 1 shows a more extensive pest infestation 1201 on a plant 1200, which is irradiated by the same laser device 127 with a laser beam 127c that is broadly / blurred by the focusing optics 127a. Here, a significantly longer irradiation time, e.g., 3 s, is necessary to deliver sufficient laser energy to the entire surface of the pest organism 1201 and damage it.

[0055] Advantageously, the working tool (especially the laser device 127) is attached to the drone 1 in such a way that the tool can process as large an area as possible both vertically and horizontally without having to align the drone itself by means of corresponding flight maneuvers.

[0056] Depending on the application, other control tools are also possible. For harvesting fruits, such as berries and nuts, but also larger fruits and vegetables depending on the size of the drones, a suitably designed gripping tool is advantageous, possibly replaced by or supplemented with pliers or scissors, or an additional laser device that can cut through plant parts such as the stem of a fruit or a leaf.

[0057] The Figures 9 to 12 The diagrams show, in a very simplified manner, various drone control tools for different agricultural tasks.

[0058] Fig. 9 presents as in Fig. 8A laser device 127 designed for pest control is shown, which is mounted on an alignment arrangement 128 and can be aligned to a target object by means of this arrangement. A focusing device 127a, for example in the form of an adjustable lens system, makes it possible to focus the laser beam on a defined point or a defined area as required (see also the explanations regarding Figures 13 and 14 ).

[0059] Fig. 10 Figure 1 shows a mechanical control tool in the form of a gripper 131, which is mounted on a mini-robot arm 130, which in turn is mounted on an alignment device 128. The gripper 131 is designed to grasp, remove and transport, for example, plant parts, fruits, etc.

[0060] Fig. 11Figure 1 shows a pollination tool specifically designed for pollinating flowers, in the form of a pollination brush 132, which is mounted on a mini-robot arm 130. The pollination brush 132 can transport pollen from one flower to one or more other flowers and deposit it there. Here, too, the mini-robot arm 130 is mounted on an alignment device 128.

[0061] Fig. 12Figure 133 shows a control tool in the form of a dosing device for the precise application of liquids (e.g., water, fertilizer, special biocide, pesticides). The dosing device 133 is mounted on a robot arm 130, which in turn is mounted on an alignment assembly 128, and is connected to a liquid reservoir 135 via a liquid line 134. The dosing device 133 can dispense liquid with precise volume and pinpoint accuracy at a desired target position. Naturally, all common dosing devices for liquids and solids (pipettes, pre-filled cartridges, dosing containers, etc.) can be used. And, of course, depending on the application, it is also possible to omit individual components.For example, the alignment arrangement 128 could be dispensed with if the drone 1 itself is technically designed in such a way that it can position itself so that a fixedly mounted combat tool can be aligned and positioned with sufficient accuracy and precision relative to a target object.

[0062] Depending on the application, even the exhaust air from the drone rotors can be used to perform tasks, for example by blowing away and thus removing contaminants (dust, soot, organic material) with the rotor wind.

[0063] The drone 1 can also be equipped with photovoltaic cells (not shown in the drawing), for example as a coating on the rotors, or photovoltaic cells on the fuselage, etc., which make it possible to charge the energy storage unit 124 during flight, but especially also when the drone has landed. The energy gained in this way can be used for an emergency landing or for the drone to return home.

[0064] As already explained, the individual drones, or drones 1, are designed differently depending on their specific purpose. However, they all share the characteristics of small dimensions and a low maximum takeoff weight, which allows for cost-effective production and thus mass production. Furthermore, lightweight drones are safer than heavier aircraft and pose little risk to people and the environment in the event of a crash. Ideally, the size (largest dimension) should be less than 25 cm, preferably 2-25 cm, and the maximum takeoff weight less than 500 g, preferably 5-500 g. However, slightly larger / heavier or, especially, smaller / lighter drones are also possible.

[0065] A key requirement for drones is that they can be positioned as accurately and precisely as possible (in flight) relative to a target object (e.g., a plant) and maintain a stable flight attitude. Since the control tools mounted on the drone often need to be aligned very precisely (within centimeters to millimeters) with a target object (e.g., a pest on the plant, fruit to be collected, etc.) and / or a clearly defined position must be maintained as accurately as possible for several seconds to allow a control tool, such as a laser device or gripper, sufficient time to perform its task, the most precise possible positioning in three-dimensional space is essential. The necessary technologies are readily available to experts and therefore require no further explanation.

[0066] The system according to the invention need not consist of only a single type of drone, but can also include differently trained drones, with these or their control tools being designed and optimized for different tasks. For example, individual drones can be trained for pest control, while others, possibly used simultaneously, are trained for the management of agricultural crops (irrigation, planting / sowing, pollination), and still other drones are specially equipped for harvesting or weeding.

[0067] The central control unit 20 of the control device 2 can be purely virtual, e.g., as a corresponding program and database structure on the internet or in a cloud. However, it can also be a physical unit. The same applies to the decentralized control units 20' of the control device 2'.

[0068] The control device 2 or 2' is designed to communicate with both stationary (landed) and currently operational (flying) drones 1, for example, to receive position data, images, or other sensor data from the currently operational drones 1. This data is evaluated by the control device 2 or 2', and based on this evaluation, the control device 2 or 2' sends detailed instructions to the drones 1 or even controls them itself. Since the main processing is thus performed directly in the control device 2 or 2',If the drones are carried out in 2', they can be kept sufficiently small and light, which is advantageous in that the drones can be more cost-effective on the one hand, and simpler in design on the other, and have a favorable weight ratio between the actual drone, the battery required for operation and the payload of the drone represented by the combat tool.

[0069] The Figures 3 and 4 schematically show a practical implementation of the control device 2.

[0070] The control device, designated as a whole by 200, comprises a housing 201, which contains the computing unit 21, the communication unit 22, and a charging energy storage device 23. An upper surface of the housing 201 is designed as a landing platform 203. Several charging devices 202 (five in the example shown) are arranged in or on the landing platform 203 and are powered by the charging energy storage device 23. The charging devices 202 can, for example, be designed as inductive charging devices, enabling contactless charging. The landing platform and its charging devices 202 can be approached by the drones 1 to (re)charge their energy storage devices. Fig. 3 The control device 200 is shown in storage / rest mode, with all drones 1 located on landing platform 203. Fig. 4Figure 1 shows the control device 200 in a state where some drones 1 are in operation and other drones are on the charging equipment of the landing platform. The dashed lines 111 and 33 symbolize the communication links between the communication device 22 and the drones 1 and the (not shown here) local computer 3, respectively.

[0071] Fig. 5 This shows a mobile implementation of the control device as an autonomously mobile control unit. With the exception of a few additional components, the control device, designated here as 300, is structured identically to the one shown in the Figures 3 and 4The control device 300 comprises a housing 301, which contains the computing unit 21, the communication unit 22, and a charging energy storage device 23. An upper surface of the housing 301 is designed as a landing platform 303. Several charging devices 302 (twelve in the example shown) are arranged in or on the landing platform 303 and are powered by the charging energy storage device 23. The charging devices 302 can, for example, be designed as inductive charging devices, enabling contactless charging. The drones 1 can approach the charging devices 302 to (re)charge their batteries. The landing platform 303 is equipped with photovoltaic cells and serves as an energy source for the charging energy storage device 23.The control device 300 also includes a positioning device 304, for example a GPS receiver, and a movement device, which is symbolically represented here, for example, by preferably motor-driven wheels 305. Alternatively, the movement device can also be designed as a track drive or in the form of walking legs. The movement device is controlled by the computing unit 21, supported by the positioning device 304 and sensors 307, so that the control device 300 (guided by instructions from the local computer 3) is autonomously movable.

[0072] The autonomous mobile control device 300 can, for example, independently travel to its operational area or return to its base. It can also autonomously follow a swarm of drones operating within an operational area, providing them with radio information and instructions, and optimally supporting them as a charging station. In another specialized configuration, the mobile control device itself could be not only capable of driving but also of flying, essentially functioning as a mobile or flying "mothership" for the drone swarm.

[0073] In Fig. 6An alternative implementation of a control device is shown. The control device, designated here as a whole by 400, can be used alone (as a central control unit 20) or in multiple versions (as decentralized control units 20') and is designed as a stationary physical unit to be erected, for example, near, directly at, or in the agricultural areas to be cultivated. It comprises a stake (ground spike) 401, which is advantageously high enough to extend above the vegetation when erected. In the case of a central control unit, a computing unit 21, a communication device 22, and a charging energy storage device 23 are mounted on the stake 401. In the case of decentralized control units, a computing unit 21', a communication device 22', and a charging energy storage device 23' are mounted on the stake 401. Additionally, a landing platform 403 for one or more drones 1 is arranged at the end of the stake 401.The landing platform 403 is equipped with photovoltaic cells and serves as an energy source for the charging energy storage unit 23 or 23'. Furthermore, at least one charging device 402 for drones 1 that have landed on it is arranged in or on the landing platform 403. The charging devices 402 can, for example, be designed as inductive charging devices, which enable contactless charging. Under sufficient light conditions, the charging energy storage unit 23 or 23' is charged via the photovoltaic surface of the landing platform 403, and this stored energy is used for the operation of the computing unit 21 or 21' and the communication device 22 or 22', as well as for charging the drones 1, thus allowing for largely autonomous operation of the entire control device.

[0074] In Fig. 7Figure 400 illustrates how several such decentralized control devices 400 can be arranged on a field to be processed by the system according to the invention. As an example, four control devices 400 are shown, each assigned a drone 1 (in this example). The control devices 400 are connected to the local computer 3. In practice, of course, many more drones are used and assigned to the individual decentralized control devices in groups. The control and data organization of the device thus corresponds to that shown in Figure 400. Fig. 2 .

[0075] The processing of an agricultural area using the system according to the invention typically comprises the following steps: The user defines the desired area of ​​application (target area) on the local computer 3. This can be, for example, a contiguous agricultural area, but also a number of non-contiguous sub-areas.

[0076] The user determines which task(s) (e.g., pest control A, pest control B, harvest agricultural product C, harvest agricultural product D, irrigation at location X, sowing plant E, pollination plant F...) is to be carried out in the defined area of ​​operation.

[0077] The user determines which system components (central control device, decentralized control devices, types of drones) are to be used to perform the work.

[0078] The control device(s) is / are either brought into the defined operating area by the user or, depending on the design, move autonomously to it. Alternatively, the control device(s) can also be permanently mounted in or around the operating area (see Fig. 7 ).

[0079] The centralized or decentralized control system begins its work and dispatches the drones to complete the task. The control system sends each drone to a specific area, which the drones then scan using their sensors in a grid pattern for a desired agricultural parameter (e.g., pest infestation). Advantageously, the evaluation of the drones' sensor data does not take place within the drone itself (which, due to its compact design, lacks a sufficiently powerful processing unit for this purpose). Instead, the data is sent to the control system for analysis.

[0080] The control device evaluates the data collected by the drones, identifies areas of the work area (plant groups, plants, plant parts) that correspond to the desired parameter and need to be treated or processed, and sends instructions to selected drones to carry out the task.

[0081] The drones, properly instructed, move to their assigned target and process it. Depending on the task, this can include, for example, the targeted control of pests with a built-in laser device or other suitable tool, the selective harvesting of individual fruits, or the performance of other tasks by the drones.

[0082] If the battery charge of individual drones falls below a certain value (defined by the energy requirements of the task as well as the flight distance to the target and back to a landing platform), the individual drones return to the central control device or one of the decentralized control devices, land on their landing platform(s) and can be recharged for another use.

[0083] Other drones with sufficient charge continue the work of the withdrawn drones, which had to stop work due to insufficient charge.

[0084] Advantageously, the control system is designed to coordinate all available drones so that the defined area of ​​operation can be processed optimally and as efficiently as possible. In an initial "reconnaissance phase," a swarm consisting of numerous drones would be deployed, with each individual drone in the swarm examining a defined section of the work area. If a drone detects plants that require treatment, it begins work. If the workload is deemed too great for a single drone (e.g., widespread pest infestation, a "pest hotspot" affecting several plants, or a cluster of perfectly ripened fruit), the control system dispatches additional drones for support.It is particularly advantageous if the drones are designed to be very small and therefore inexpensive, which allows a large number (dozens to hundreds or even thousands, i.e., a whole swarm) of drones to be in use simultaneously, and individual losses of these small, inexpensive drones do not have a particularly negative impact.

[0085] In a specific embodiment of the system according to the invention, the (central) control device, with the exception of the navigation control, dispenses with a physical computing unit, and all data processing, organization, and command issuance to the drones is carried out exclusively via a virtual controller that exists as a program and database structure on the internet or in the cloud. The drones are designed to recharge their energy storage independently (for example, by locating a ground-based charging station or, advantageously, even via solar cells integrated into the drone) and are connected to the virtual controller only via, for example, a radio or telephone network, exchanging data with it and receiving commands from it.In such a swarm, a drone would, for example, be assigned a task, complete it independently (or under the control of the virtual controller), and land when necessary (low battery charge), recharge, and resume work independently after recharging or continue with another task at a different location if the previous task was already completed by other, appropriately instructed drones during the recharging period.

[0086] In Fig. 15 Figure 1000 depicts an agricultural field to be cultivated, which is managed as a mixed crop. Various crops (e.g., fruit-bearing plants 1001 and 1002) grow together in the field, as do weeds 1003 and plants (e.g., of species 1002) infested with pests 1004.

[0087] Near field 1000, several drones are stored in standby mode or parked on a landing platform, connected via radio to a communication device 22, which in turn is connected to a virtual internet / cloud-based central control unit 21, the latter of which is connected to a local computer 3 at the user's base, as in connection with Fig. 1 Explained in detail. For easier understanding of the following explanations, the four drones shown here are labeled 1a, 1b, 1c and 1d.

[0088] Fig. 16Field 1000 is shown after individual drones, here 1a, 1b, and 1c, initiated by the user on the local computer 3 and controlled via the communication device 22 by the virtual control unit 21, have begun their work and are searching the entire field for desired parameters (presence of ripe fruit, presence of pests, etc.). Another drone, 1d, currently has insufficient battery charge and remains in standby mode to recharge itself electrically via its built-in solar cells.

[0089] After the current status of field 1000, or rather of the various beneficial and harmful organisms 1001, 1002, 1003 and 1004, has been determined, the control unit 21 defines the current needs, assigns tasks to the individual drones based on these needs, or controls them to carry out these tasks, as described in Fig. 17The scene is depicted. Drones 1a and 1b are collecting ripe fruit from plants of species 1001, while drone 1c is using a laser to combat a detected pest infestation on plant species 1002. Drone 7d, which was previously charging, is now also charged and ready for deployment; it has been tasked with controlling weed species 1003, which it is also accomplishing using a laser.

[0090] Fig. 18This now represents the state of mixed crop field 1000 after processing. The pest infestation 1004 on the plants of species 1002 was successfully controlled, and the ripe fruits of species 1001 were harvested. The drones 1a to 1d have landed away from the field (e.g., on a landing platform), are in a resting state, and are recharging using their solar cells. In a further work cycle, the field would be scanned again, and for the earliest possible detection, any reappearance or spread of the pests would be monitored. The fruits of species 1002 would also be checked for ripeness and then processed accordingly.

Claims

1. System for controlling pests on plants that are located in an agricultural area, having - a swarm of drones (1) which are configured to fly to plants autonomously and are each equipped with a sensor (125) for detecting pest infestation, and - a control device (2; 2'; 200; 300; 400) for controlling the drones (1), wherein the control device (2; 2'; 200; 300; 400) and the drones (1) are equipped with communication devices (12, 22; 22') for mutual exchange of data, characterised in that the drones (1) have a maximum size of 25 cm and are equipped with a laser device (127) suitable for pest control and are configured to effect targeted control of detected pest infestation by means of the laser device (127).

2. System according to claim 1, characterised in that the laser device (127) has an automatically adjustable optical system by means of which the focal point is adjustable.

3. System according to claim 1 or 2, characterised in that the control device (2; 2'; 200; 300; 400) is configured to define an agricultural target area (1000) to be treated and to communicate that area to the drones (1), the drones (1) being configured to fly to plants within the defined target area (1000).

4. System according to any one of claims 1 to 3, characterised in that the drones (1) are configured to communicate with one another directly or via the control device (2; 2'; 200; 300; 400).

5. System according to any one of claims 1 to 4, characterised in that the drones (1) are configured to transmit data captured by their sensors (125) to the control device (2; 2'; 200; 300; 400); and the control device (2; 2'; 200; 300; 400) is configured to analyse data transmitted by the drones (1) and consequently transmit control information to the drones (1).

6. System according to any one of claims 1 to 5, characterised in that the drones (1) have a maximum take-off weight of 500 g.

7. System according to any one of claims 1 to 6, characterised in that the drones (1) are equipped with a position determination device (126).

8. System according to any one of claims 1 to 7, characterised in that the drones (1) have an orientation arrangement (128) for orienting the laser device (127) with respect to a target object.

9. System according to any one of claims 1 to 8, characterised in that the drones (1) are equipped with an electrical energy storage means (124); the system has at least one charging device (202; 302; 402) for the energy storage means (124) of the drones (1); and in the event of their energy storage means (124) requiring charging, the drones (1) are configured to discontinue their activity, autonomously fly to the at least one charging device (202; 302; 402), charge their energy storage means (124) and resume their activity automatically once their energy storage means (124) has been charged.

10. System according to claim 9, characterised in that it has at least one landing platform (203; 303; 403) for the drones (1); the landing platform (203; 303; 403) offers space for a plurality of drones (1); and the at least one charging device (202; 302; 402) is integrated in the landing platform (203; 303; 403).

11. System according to claim 10, characterised in that the landing platform (203; 303; 403) has an electrical charging energy storage means (23; 23') for supplying energy to the at least one charging device (202; 302; 402).

12. System according to claim 11, characterised in that the landing platform (203; 303; 403) has a photovoltaic panel or is itself configured as a photovoltaic panel and the charging energy storage means (23; 23') is chargeable by means of the photovoltaic panel.

13. System according to any one of claims 10 to 12, characterised in that the landing platform (303) is mobile.

14. System according to claim 13, characterised in that the landing platform (303) is self-propelling.

15. System according to any one of claims 1 to 14, characterised in that at least some functionalities of the control device (2) are implemented as software provided on a server in the internet.