System for controlling pests on plants

Abstract

A system for controlling pests on plants located in an agricultural area comprises a population of drones (1) configured to autonomously fly to the plants and control means for controlling the drones (1). The control device and the drone (1) are equipped with communication devices for interchanging data with each other. The drone (1) is equipped with a sensor (125) for detecting pest infestation on plants and a laser device (127) suitable for pest control and is configured to enable targeted control of the detected pest infestation by means of the laser device (127).

Description

Technical Field

[0001] The invention relates to a pest control system according to the preamble of independent patent claim 1. Background Art

[0002] Comprehensive protection of useful plants from all kinds of pests is necessary to ensure sustainable production of agricultural products and is becoming increasingly important for all of humanity as the demand for agricultural products continues to grow. For reasons of environmental protection, the trend is away from chemical plant protection products and towards physical methods of pest control.

[0003] Michal Mazur's article "Six Ways Drones Are Revolutionizing Agriculture" published in MIT Technology Review on July 20, 2016 describes the possibility of using drones for agricultural work. The article mentions that drones equipped with suitable sensors and equipment can be used for example for soil / field monitoring, planting, yield assessment, irrigation, plant health assessment, etc. The article also mentions pest control in crops, where drones are used for targeted spraying of plants with chemicals. Drones can also be configured for different tasks, and a swarm of drones can also be used.

[0004] The article "Eyes in the sky: 5 ways drones will change agriculture" by Rachel Ehrenberg, published on Knowablemagazin.org on November 10, 2018, describes possible uses of drones in agricultural work in the future. The article mentions that drones equipped with suitable sensors can be used, for example, to detect the ripeness of grapes in vineyards, for detecting bad plants in planting areas, for detecting irrigation needs, for detecting unhealthy plants or free-floating pathogens, and for example for counting cattle or for artificial pollination of flowers. The specific form of the system equipped with drones is 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 in a working area. The use of multiple drones is also mentioned.

[0006] The article "Lichtstatt Chemie (Light instead of chemicals)" published on the News Portal phi of Produktionstechnik Hannover describes the basic concept of a system for weed control in fields of crop plants, which uses laser radiation instead of chemical treatment to partially eliminate weeds, at least to the extent that the weeds no longer damage the development of the crop plants. The article mentions that electronic image recognition methods can be used to distinguish between crop plants and weeds. As a prospect, it also mentions that lasers can also be used for pest control in plant breeding, for example.

[0007] US 2019 / 0031346 A1 discloses a system for controlling pests on plants in an agricultural area by means of drones, in which pest control is achieved by spraying with pesticides. Summary of the invention

[0008] The problem underlying the present invention is to improve a pest control system of a generic type so that it can control pests without human intervention and without the use of pesticides. The system should be suitable for use in any agricultural area, in particular including in mixed crops.

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

[0010] In the context of the present invention, pest control includes the control of harmful organisms on plants and the diseases caused by those organisms, as well as the control of pests that cause vegetative damage. Pests should therefore be understood as harmful organisms or pests that cause vegetative damage.

[0011] The core of the invention is as follows: A system for controlling pests on plants located in an agricultural area comprises a group of drones and a control device for controlling the drones. The control device and the drones are equipped with communication means for exchanging data with each other. The drones are configured to fly autonomously to the plants and are each equipped with a sensor for detecting pest infestation and a laser device suitable for pest control, and are configured to achieve targeted control of the detected pest infestation by means of the laser device.

[0012] By means of a swarm of preferably extremely small autonomously operated drones, the determined working area can be scanned fully automatically for pests, and any infestation can be detected and autonomously controlled using suitable physical or mechanical means. A swarm of drones advantageously comprises a large number (ranging from tens to hundreds or thousands) of small, lightweight and inexpensive drones operating in coordination with one another, the drones behaving like a swarm of bees or ants in order to perform their work in a selectively targeted manner for target plants, in contrast to conventional agriculture, in which treatments are applied over large areas and are non-diversified and non-targeted. Preferably, the drones have only small dimensions in the range of less than 25 cm, preferably in the range of 2 cm to 25 cm or in the range of 0.5 cm to 15 cm. Preferably, the drones have a low maximum take-off weight of less than 500 g, preferably in the range of 5 g to 500 g. Thus, firstly, drones are cheap, which also allows them to be used in large numbers, and secondly, they are also safer than heavier aircraft, since they pose less risk to humans and the environment in the event of a collision.

[0013] A particular advantage of the system according to the invention in terms of pest control is that, in contrast to conventional chemical pest control methods which are usually used over large areas and act equally on infested and non-infested plants, the drone can be operated very selectively so that only the actually infested plants or parts of plants are treated. The system according to the invention is also particularly suitable for detecting and controlling potential pest infestations in individual plants at an early stage, before the pest infestation can spread to other plants or even the entire area, and accordingly overall contributes to low-impact, low-risk and efficient farming.

[0014] By using laser devices as a control tool, very targeted pest control is possible.

[0015] Advantageously, the laser device has an automatically adjustable optical system, by which the focus is adjustable. Thus, the drone does not have to fly to a precise distance from the target object, since the adjustable optical system allows an optimal focus in the target object.

[0016] Preferably, the control device is configured to define an agricultural target area to be treated and communicate the target area to the drone, and the drone is configured to fly to plants within the defined target area, thereby allowing efficient and targeted treatment.

[0017] The control device is advantageously configured to control the drones such that a defined target area is first scanned for pest infestation and only once the search is completed does the control device determine the required treatment and transmit a corresponding assignment to the selected drone to perform the desired treatment steps.

[0018] A particular advantage of the system according to the invention is the possibility of inspecting and, if necessary, treating individual plants. This makes it possible to grow more mixed crops, for example, instead of homogeneous monocultures that have many disadvantages from an ecological point of view (they have little ecological value because the diversity of useful organisms is hardly supported and are particularly susceptible to pests that specialize in individual useful plants or a small number of useful plants). Mixed crops are characterized by planting and cultivating different useful plants side by side and intercropping. Individual useful plants benefit from mutual benefits (such as improved nutrient availability or a more resilient ecosystem formed by a diverse community). The disadvantages of such mixed crops that are traditionally managed by selective pest control, i.e., the difficulty (if not the impossibility) does not occur in the system according to the invention, because drones are able to find individual desired plants in the area of ​​the entire mixed crop and treat these plants as needed. A group of correspondingly equipped drones can search an area with multiple intercropped useful plant varieties and carry out pest control if necessary.

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

[0020] Advantageously, the drone is configured to transmit data captured by its sensors to the control device, and the control device is configured to analyze the data transmitted by the drone and subsequently transmit control information to the drone. In this way, a large part of the control work is outsourced to the control device, so that the mobile drone can have a simpler and correspondingly lighter construction.

[0021] The sensor or at least one of the sensors of each drone is advantageously configured as a camera. The camera can operate in the visible light range or in the infrared or UV range. Instead of or in addition to the camera, the drone can also be equipped with an ultrasonic sensor, a radar sensor or a laser sensor. For example, such sensors make it possible to detect pest infestations or facilitate the navigation of the drone.

[0022] Advantageously, the drones are equipped with position determination means for navigation. This allows a more targeted use of each drone and a more exact position overview.

[0023] Through the laser device of each drone, the organisms on the target object can be weakened, sterilized, killed or eliminated.

[0024] Advantageously, the drone has an orientation arrangement for orienting the laser device relative to the target object. Thus, the target object can be processed more accurately regardless of the exact position of the drone.

[0025] Preferably, the drone is electrically operated and is equipped with electrical energy storage means (rechargeable batteries). The system advantageously comprises at least one charging device for the energy storage means of the drone. If its energy storage means need to be charged, the drone is advantageously configured to interrupt its activity, autonomously fly to at least one charging device and charge its energy storage means. In this way, the operating time of the drone is practically unlimited. Advantageously, the drone is configured to automatically resume its activity as soon as its energy storage means are fully charged.

[0026] Advantageously, the system has at least one landing platform for drones, which provides space for a plurality of drones, and at least one charging device is integrated in the landing platform. Thus, the drones have a safe landing place, in particular for charging.

[0027] In an advantageous embodiment, the landing platform has an electrically charged energy storage device for supplying energy to at least one charging device and has a photovoltaic panel or is itself configured as a photovoltaic panel, by which the charged energy storage device can be charged. Under favorable conditions, this allows long periods of energy self-sufficient operation.

[0028] Advantageously, the landing platform is movable, in particular self-propelled. This facilitates installation on site.

[0029] The control device (except for the communication device) can be designed completely as a virtual unit (all data processing, evaluation and issuing of commands / control via suitable programs in the Internet / in the cloud) or can include a physical central control unit with its own corresponding processing unit or a physically decentralized control unit (which can even be part of the drone itself).

[0030] In this case, a physical central or decentralized control unit for controlling the drone advantageously has a processing unit, a communication device and an energy supply.

[0031] Preferably, the physical central or decentralized control unit is also configured as a storage and landing platform with an integrated charging device for the drone.

[0032] Advantageously, the communication means of the system are configured to communicate or exchange data with various parts of the device via telephone network, radio, Bluetooth, wireless, IR or laser.

[0033] The central control unit is advantageously configured as a communication hub for communication with and between the drone and, if applicable, the remote monitoring unit.

[0034] Advantageously, the drone is equipped with solar cells for charging its energy storage device, thereby making it possible to dispense with a separate charging station.

[0035] The physical central control device is advantageously mobile so that it can be transported to the deployment area. In this case, the central control device is advantageously configured to move autonomously to and within the deployment area. The physical central control device itself may also be capable of flying. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] A pest control system according to the present invention will now be described in more detail based on various exemplary embodiments and with reference to the accompanying drawings, in which:

[0037] Figure 1 is a block diagram of a first exemplary embodiment of a system according to the present invention;

[0038] Figure 2 is a block diagram of a second exemplary embodiment of a system according to the present invention;

[0039] Figure 3 to Figure 4 A simplified view of the control device of the system according to the invention is shown, with the drone in an idle state and in use;

[0040] Figure 5 A simplified schematic diagram of a mobile control device is shown;

[0041] Figure 6 shows a schematic diagram of a fixed position control device;

[0042] Figure 7 An exemplary arrangement of fixed position control devices in a farm field is shown;

[0043] Figure 8 A simplified view of a drone showing a system according to the invention is shown;

[0044] Figures 9 to 12 A simplified view of the different control tools of the drone is shown;

[0045] Figure 13 to Figure 14 A diagram illustrating the operating mode of the control means of the drone is shown; and

[0046] Figures 15 to 18 Using the example of a mixed crop field, views of exemplary embodiments of a system according to the invention are shown in various stages of use of the field. DETAILED DESCRIPTION

[0047] The following remarks apply to the following description: If reference numerals are included in a figure for the sake of clarity, but are not mentioned in the directly relevant part of the specification, reference should be made to the explanation of these reference numerals in the previous or later part of the specification. Conversely, in order to avoid over-complication of the figures, reference numerals that are not directly relevant to the understanding are not included in all figures. In this case, reference should be made to other figures.

[0048] The term "drone" is understood to mean an unmanned aircraft that can be operated and navigated autonomously, without an onboard crew, by internal computers and / or externally via a remote control system.

[0049] Basically, the system according to the invention comprises as the most important components a plurality of drones 1, control devices 2, 2' for the drones 1, and a local computer 3. For the sake of clarity, the drones in the figures of the accompanying drawings are denoted overall by the same reference numeral 1, regardless of the specific details of their construction. Figure 1 and Figure 2 Only a small number of drones 1 are shown, but in practice the system according to the invention comprises a substantially larger number of drones 1. A local computer 3 is usually located at the operating base of the system (e.g. at an agricultural facility) and serves as a user interface for exchanging data and instructions with the control devices 2, 2'. The user operates the system via the local computer 3. He plans the deployment, determines the deployment area, working methods, schedules, etc., and starts and monitors the deployment. Furthermore, evaluation of the completed deployment, monitoring of the status of the drones located in the field, etc. are also performed here.

[0050] exist Figure 1 In the exemplary embodiment of the invention, the control device 2 includes a central control unit 20, which in turn includes a processing unit 21 and a communication device 22. The drones 1 each include an internal controller 11 and an internal communication device 12. The control device 2 and the drone 1 communicate with each other via the communication device 22 and the internal communication device 12, so that data can be transmitted and exchanged between the central control unit 20 or its processing unit 21 and the internal controller 11. The local computer 3 also has a communication device 32 for exchanging data with the central control unit 20.

[0051] exist Figure 2 In an exemplary embodiment of the present invention, the control device 2' has a decentralized layout and includes two or more decentralized control units 20' (in Figure 2), two or more decentralized control units 20' each in turn comprise a processing unit 21' and a communication device 22'. The drones 1 are organized into groups 1' and again each comprise an internal controller 11 and an internal communication device 12. Each group 1' of drones 1 is assigned to one of the decentralized control units 20'. The number of drones 1 within each group 1' can be the same or different. The decentralized control units 20' and the drones 1 communicate with each other via the communication device 22' and the internal communication device 12 of the drone 1, so that data can be transmitted and exchanged between the decentralized control units 20' and the drones 1. The local computer 3 also communicates with the decentralized control unit 20' via its communication device 32. Communication between the decentralized control unit 20' and the mobile drone 1 and with the local computer 3 can of course also be achieved indirectly via a central communication device not described herein.

[0052] The decentralized control units 20' are each configured as independent physical units together with a corresponding dedicated energy supply, which are placed in the field to be treated when the system is in operation. Each unit preferably has at least one landing platform for the drone 1 and a charging station.

[0053] The communication between the drone 1 and the control device 2 , 2 ′ is preferably realized wirelessly via a suitable technology (eg radio, mobile phone network, laser, Bluetooth, WiFi).

[0054] The basic concept of the invention is to perform the desired agricultural work by means of a multitude of highly autonomously operated drones. Therefore, the drone 1 is provided with special tools, in particular control tools, with the help of which one or more types of agricultural work can be performed. Such work mainly includes controlling pests on plants, but also includes, for example, harvesting fruits, removing weeds, pollinating flowers, fertilizing, irrigating, planting seeds or seedlings, etc. The drone 1, together with the control devices 2, 2', forms an autonomous system linked by a communication network for performing the desired agricultural work. The "intelligence" of the system, i.e. the flight and navigation of the drone and the control of the control tools and the processing of the data captured by the drone and the subsequent functions necessary for deriving instructions for the drone, is shared between the internal controller 11 of the drone 1 and the central control unit 20 or the decentralized control unit 20', most of the processing power required for this purpose is preferably provided by the central control unit 20 or the decentralized control unit 20', so that the internal controller 11 of the drone 1 can be relatively uncomplicated.

[0055] According to an important aspect of the present invention, the drone 1 is electrically operated. A typical example of a drone is Figure 8. The drone is configured here, for example, as a quadcopter. A quadcopter drone with four individually controllable rotors requires only relatively simple control electronics and does not require any type of additional movable control elements, since all directional movements of the drone's flight are achieved entirely by coordinated changes in the speed of the individual rotors. This accordingly enables a large number of small drones to be manufactured very economically.

[0056] It will be understood that other types of drones (an ornithopter with flapping wings, a helicopter equipped with a main rotor and a tail rotor, a helicopter with counter-rotating rotors, or a fixed-wing aircraft, or a motor-driven airship-type drone, etc.) may also be used as a drone.

[0057] Figure 8 The drone, indicated as a whole by reference numeral 1, comprises a fuselage 120 on which are mounted via a boom 121 four electric motors 122, which drive horizontally positioned, vertically acting rotors 123. The fuselage 120 houses an internal controller 11, internal communication means 12, and energy storage means in the form of rechargeable batteries 124.

[0058] The drone 1 has sensors 125 that enable it to sense the environment. For example, the sensors are configured as cameras operating in the visible range. However, advantageously, it can also have sensors that operate in the infrared range, UV range or other wavelength ranges, so that, for example, any damaged or pest-infested plants or plant parts can be detected based on their thermal radiation or UV radiation that is different from that of healthy or non-infested plants, as well as detecting and even identifying infestations. The detection of (useful) plants, pests, fruits, etc. is achieved by a correspondingly suitable image recognition system. Such a system is advantageously implemented in a central control unit 20 or a decentralized control unit 20 'equipped with processing capabilities suitable for this purpose. Therefore, the internal control unit 11 of the drone 1 itself does not need to contain any complex image recognition and analysis systems, and can therefore remain small and lightweight.

[0059] In order to be able to determine the position of the drone 1 at all times, it is equipped with a position determination device 126. Such a position determination device can be, for example, a GPS receiver, but can also be, for example, a gyro-assisted system or a system using acceleration measurements.

[0060] The drone 1 also comprises a control tool, which in the example shown here is in the form of a laser device 127, with which the pests can be irradiated and sterilized, injured or even eliminated accordingly, depending on the laser power and the irradiation time. Other control tools are listed and explained below. Advantageously, the control tool or laser device 127 is mounted on an orientation arranger 128, which can be oriented in one or more axes and allows the control tool 127 to be oriented relative to the desired target object independently of the orientation and position of the drone 1 itself. However, if the flight controller of the drone itself is also capable of accurately and precisely positioning the fixedly mounted tool in three-dimensional space by orienting the entire drone relative to the target object and maintaining this position for a long enough time for the control tool to perform and complete its task, such an orientation arranger can be omitted.

[0061] The laser device 127 used as a control tool for pest control is designed so that its focal point is about 1 cm to 200 cm from the laser device. Advantageously, the laser device 127 has an automatically adjustable optical system (focusing lens), by which the focus can be adjusted as required within a certain range. This means that the drone does not need to fly to a precise distance from the target object, because the adjustable optical system allows the optimal focus in the target object. Suitable adjustment mechanisms correspond to technical standards and are not described further here.

[0062] To control pests, have 10 -5 Up to 10 6 A laser with a wavelength of 10600 nm is suitable. For weed control, for example, a CO2 laser with a wavelength of 10600 nm or a thulium fiber laser with a wavelength of about 2000 nm can be used.

[0063] Depending on the field of application of the drone 1, in addition to the control tools, it may be advantageous to add other aids to the directional arranger 128 (e.g. a camera or a laser rangefinder) which allow better identification of the target object than would be possible with the drone's own sensors 125, or allow determination of the exact distance to the target object, which in turn will allow optimal adjustment of the focus of the laser device 127, for example for pest control. Such optional sensors and tools (not shown) may also be advantageously mounted on the directional arranger. It will be understood that it is also possible and advantageous to equip the drone with a variety of tools suitable for different tasks. For example, such a multipurpose drone may be equipped with a laser device for pest control and, at the same time, with a gripper, for example as a tool for harvesting and weeding.

[0064] Tests have shown that even with a small laser having a power of 2 W and a wavelength of 405 nm, it is possible to ignite organic material after a period ranging from only a few milliseconds to a few seconds, even at a distance of 1 to 2 meters. However, for the control of harmful organisms, even lower powers per unit time are sufficient, since the target organism does not necessarily need to be burned, but only needs to be damaged to the extent that it dies or can no longer reproduce. This is in Fig.13 Using a laser beam 127b focused to a small spot by a focusing lens 127a, it is possible to damage a small area of ​​pests 1101 on a plant 1100, even with a short laser pulse, for example, of 0.1 second duration. In contrast, Fig.14 A larger area of ​​pest infestation 1201 is shown on a plant 1200, which is illuminated by the same laser device 127 with a laser beam 127c, which is widely / diffusely focused by a focusing lens 127a. In this case, a relatively long illumination time, such as 3 seconds, is required in order to apply sufficient laser energy to the entire surface of the pest 1201 and harm the organism.

[0065] Advantageously, the working tool, in particular the laser device 127 , is mounted on the drone 1 in such a way that it can act vertically and horizontally on the largest possible area without the drone itself having to be oriented by corresponding flight maneuvers.

[0066] Depending on the field of application, other control tools are also possible. For harvesting fruits (e.g. berries and nuts, but also larger fruits and vegetables depending on the size of the drone), a suitably constructed gripping tool is advantageous as a control tool, which, if necessary, can be replaced or supplemented with pliers or scissors or an additional laser device capable of cutting parts of the plant, such as the stems of fruits or leaves.

[0067] Figures 9 to 12 Different control tools of the drone 1 for various agricultural tasks are shown in a very simplified form.

[0068] like Figure 8 Same, Fig. 9 A laser device 127 designed for pest control is shown, which is mounted on an orientation arrangement 128, by which the laser device 127 can be oriented relative to a target object. A focusing device 127a, for example in the form of an adjustable lens system, allows the laser beam to be focused onto a defined point or onto a defined area as desired (in this respect, see also the laser device 127a with reference to FIG. 1 ). Fig.13 and Fig.14 Related comments).

[0069] Fig.10A robotically controlled tool is shown in the form of a gripper 131 mounted on a micro-robotic arm 130 which in turn is mounted on the orienter 128. The gripper 131 is configured to be able to grip, remove and transport parts of plants, fruit or the like, for example.

[0070] Fig.11 A control tool in the form of a pollination brush 132, which is specially designed for pollinating flowers, is shown, and is mounted on a micro-robotic arm 130. Using the pollination brush 132, pollen can be transported from one flower to one or more other flowers, where the pollen is deposited. In this case, the micro-robotic arm 130 is also mounted on the directional arranger 128.

[0071] Fig.12 A control tool in the form of a metering device 133 for selectively dispensing fluids (e.g. water, fertilizers, special pesticides, plant protection products) is shown. The metering device 133 is mounted on a robot arm 130 and is connected to a fluid reservoir 135 via a fluid line 134, which is in turn mounted on an orientation arranger 128. The metering device 133 can dispense the fluid at the desired target location with precise amounts and high accuracy. Of course, all common metering devices for fluids and solids (pipettes, prefilled cartridges, metering containers, etc.) can be used. Of course, depending on the field of application, individual auxiliary devices can also be omitted. For example, if the drone 1 itself is technically configured so that it can be positioned so that the fixedly mounted control tool can be oriented and positioned relative to the target object with sufficient accuracy and precision, then there can be no orientation arranger 128.

[0072] Depending on the specific application, the exhaust air of the drone's rotors can itself be used to perform the mission, for example the wind from the rotors can be used to blow away and thus remove impurities (dust, soot, organic matter).

[0073] The drone 1 may also be equipped with photovoltaic cells (not shown in the drawings), for example in the form of a coating on the rotors or photovoltaic cells on the fuselage, etc., which enable the energy storage device 124 to be charged during flight, but especially once the drone has landed. The amount of energy thus obtained can be used for an emergency landing or an emergency return flight of the drone.

[0074] As already explained, the individual drones 1 are constructed differently depending on their specific intended use. However, they all have in common that they have small dimensions and a low maximum take-off weight, which allows them to be manufactured cheaply and deployed in correspondingly large numbers. Furthermore, lightweight drones are safer than heavier aircraft and pose hardly any risk to humans and the environment in the event of a collision. A size (maximum dimension) of less than 25 cm, preferably 2 cm to 25 cm and a maximum take-off weight of less than 500 g, preferably 5 g to 500 g is optimal, but slightly larger / heavier and especially smaller / lighter drones are also possible.

[0075] Important requirements for drones are that (while in flight) they can be extremely accurately and precisely positioned relative to target objects (e.g. plants) and have a stable flight attitude.

[0076] Since the control tools mounted on the drone usually need to be oriented very accurately (in the centimeter to millimeter range) relative to the target object (e.g. pests on the plant, fruit to be harvested, etc.) and / or need to maintain a well-defined position as accurately as possible for several seconds so that, for example, the control tool (such as a laser device or a gripper) has enough time to perform its task, extremely precise positioning in three-dimensional space is required. The technology required for this is available to the person skilled in the art and does not require further explanation.

[0077] The system according to the invention does not have to have only a single type of drone, but can also include drones of different configurations, which drones and their control tools are designed and optimized for different tasks. For example, some drones can be configured for pest control, while other drones, which can optionally be used simultaneously, are configured for the cultivation of agricultural plants (irrigation, planting / seeding, pollination), and still other drones are equipped for harvesting or weeding.

[0078] The central control unit 20 of the control device 2 can be purely virtual, for example in the form of corresponding programs and database structures in the Internet or the cloud. However, it can also be configured as a physical unit. The same applies to the decentralized control unit 20' of the control device 2'.

[0079] The control device 2, 2' is configured such that it can communicate with both an idle (landed) drone 1 as well as a drone 1 currently in use (flying), for example in order to obtain position details and image or other sensor data from the drone 1 currently in use. These data are evaluated by the control device 2, 2' and on the basis of this the control device 2, 2' transmits detailed instructions to the drone 1, or even controls the drone itself. Since the main processing work is respectively performed directly in the control device 2, 2', the drone 1 can be kept sufficiently small and light, which is advantageous since the drone can be cheaper and simpler in construction and have a favorable weight ratio between the actual drone, the rechargeable batteries necessary for operation and the payload of the drone represented by the control means.

[0080] Figure 3 and Figure 4 The actual implementation of the control device 2 is shown in diagrammatic form.

[0081] The control device, which is generally indicated by reference numeral 200, comprises a housing 201 in which a processing unit 21 and a communication device 22 as well as a charging energy storage device 23 are accommodated. The upper side of the housing 201 is configured as a landing platform 203. In or on the landing platform 203, a plurality of (in the example shown: five) charging devices 202 are arranged, which are supplied by the charging energy storage device 23. The charging device 202 can be configured, for example, as an inductive charging device that allows contactless charging. The drone 1 can fly to the landing platform or its charging device 202 in order to (re)charge its energy storage device there. Figure 3 The control device 200 is shown in a storage / idle state, with all drones 1 positioned on the landing platform 203 . Figure 4 The control device 200 is shown in a state in which some of the drones 1 are in use while others are located on a charging device on a landing platform. Dashed lines 111 and 33 represent communication links between the communication device 22 and the drones 1 and the local computer 3 (not shown here), respectively.

[0082] Figure 5 The mobile implementation of the control device in the form of an autonomous mobile control device is shown. The control device, which is here generally indicated by the reference numeral 300, is in the form of a mobile control device in addition to several additional components. Figure 3 and Figure 4The control device 300 is constructed in the same manner as shown. The control device 300 comprises a housing 301, in which the processing unit 21 and the communication device 22 as well as the charging energy storage device 23 are accommodated. The upper side of the housing 301 is configured as a landing platform 303. In or on the landing platform 303, a plurality of (in the example shown: twelve) charging devices 302 supplied by the charging energy storage device 23 are arranged. The charging device 202 can be configured, for example, as an inductive charging device that allows contactless charging. The drone 1 can fly to the charging device 302 to (re)charge its rechargeable battery. The landing platform 303 is equipped with photovoltaic cells and serves as an energy supplier for the charging energy storage device 23. In addition, the control device 300 comprises a position determination device 304 (for example a GPS receiver) and a mobile device, which is represented here, for example, by a wheel 305 preferably driven by a motor. Alternatively, the mobile device can also be configured in the form of a track drive or a walking leg. The mobile device is controlled by the processing unit 21 with the help of the position determination device 304 and the sensor 307, so that the control device 300 (guided by instructions from the local computer 3) can move autonomously.

[0083] The autonomous mobile control device 300 can, for example, autonomously search for its deployment area or return to base from there. It can also autonomously follow a group of drones operating in the deployment area in order to supply them with radio information and instructions and provide optimal assistance as a charging station. In a further special configuration, the mobile control device itself can not only travel, but even fly and act as a "mother ship" for the travel or flight of a group of drones.

[0084] Figure 6An alternative embodiment of the control device is shown. The control device, which is here indicated as a whole by the reference numeral 400, is suitable for use alone (as a central control unit 20) or in a multiple configuration (as a decentralized control unit 20') and is configured as a physical unit to be set up in a fixed position (for example, close to, directly at or in the agricultural area to be treated). For this purpose, it comprises a column (ground spike) 401, which is advantageously high enough to protrude above the vegetation in an upright state. In the case of a central control unit, the processing unit 21, the communication device 22 and the charging energy storage device 23 are mounted on the column 401, and in the case of a decentralized control unit, the processing unit 21', the communication device 22' and the charging energy storage device 23' are mounted on the column 401. In addition, a landing platform 403 for one or more drones 1 is arranged at the end of the column 401. The landing platform 403 is equipped with photovoltaic cells and serves as an energy supplier for the charging energy storage devices 23, 23'. Furthermore, at least one charging device 402 for the drone 1 landing thereon is arranged in or on the landing platform 403. The charging device 402 can be configured, for example, as an inductive charging device allowing contactless charging. Under sufficient light conditions, the charging energy storage device 23, 23' is charged via the photovoltaic surface of the landing platform 403, and the stored energy is used to operate the processing unit 21, 21' and the communication device 22, 22' and to charge the drone 1, and allows the entire control device to be used largely autonomously.

[0085] Figure 7 It is shown how a plurality of such decentralized control devices 400 can be arranged on a field to be treated by the system according to the invention. The figure shows by way of example four control devices 400, each of which (here by way of example) is assigned a drone 1. The control devices 400 communicate with a local computer 3. Of course, in practice, more drones are in use and are assigned in groups to the individual decentralized control devices. The control and data-related organization of the devices is correspondingly the same as according to Figure 2 The control and data related organizations correspond to each other.

[0086] Treatment of an agricultural area by a system according to the invention typically comprises the following steps:

[0087] The user determines a desired deployment area (target area) using the local computer 3. For example, the area may be a continuous agricultural area or a plurality of discontinuous sub-areas.

[0088] The user determines which task(s) are to be performed in the determined deployment area (e.g., control pest A, control pest B, harvest produce C, harvest produce D, irrigate at location X, sow plants E, pollinate plants F, etc.).

[0089] The user determines which system components (central control unit, decentralized control units, drone type) are to perform the work.

[0090] According to an embodiment, the control device(s) are moved by a user to a determined deployment area, or they move to this area autonomously. Alternatively, the control device(s) may also be installed at fixed locations in or around the deployment area (see Figure 7 ).

[0091] The central control device or the decentralized control device starts its work and sends the drones on their way to perform the task. The control device sends the individual drones to the sub-areas in each case, and the drones then search for the desired agricultural parameters (e.g. pest infestation) with their sensors in a grid pattern. Advantageously, the evaluation of the sensor data of the drones is not carried out in the drones themselves (due to their extremely small design, drones do not have suitably powerful processing units for evaluating the sensor data), but the data are sent to the control device and evaluated there.

[0092] The control device evaluates the data collected by the drones, identifies the areas in the working area that correspond to the desired parameters and need to be treated or acted upon (plant groups, plants, parts of plants), and issues instructions to the selected drones to perform the task.

[0093] The drone thus instructed moves to its assigned target and acts on it. Depending on the mission, this may include, for example, selectively controlling pests using a built-in laser device or some other suitable tool, targeted harvesting of individual fruits, or other tasks performed by drones.

[0094] If the battery charge of an individual drone falls below a specified value (defined by the energy required for the mission and the flight distance to the target and back to the landing platform), the individual drones return to the central control unit or to one of the decentralized control units, where they land on the landing platform and are recharged for further use.

[0095] Other drones that are still sufficiently charged continue the work of the withdrawn drone at the point where the withdrawn drone interrupted its work due to its low battery state.

[0096] Advantageously, the control means are configured so that all available drones are coordinated so that they can act on the determined deployment area in the best possible way and as efficiently as possible. For example, in a first "reconnaissance phase", a swarm consisting of a number of drones is sent out, each individual drone in the swarm surveying a determined sub-area of ​​the work area. If, while doing so, a drone finds plants that need to be treated, it starts the work. If the workload is found to be too much for one drone (e.g. a large area of ​​plants infested with pests or a "mass infestation" of several plants, or the picking of fruits at optimal maturity), the control means summon more drones to assist. In this case, it is particularly advantageous that the drones are very small and therefore cheap, allowing a large number (ranging from tens to hundreds or even thousands, i.e. a whole swarm) of drones to be in use at the same time, and any individual loss of such a small and cheap drone will not have a particularly negative impact.

[0097] In a particular configuration of the system according to the invention, the (central) control device has no physical processing unit, except for the navigation controller, and all data processing, organization and issuing of commands to the drones are realized only via a virtual controller, which exists as a program and database structure in the Internet or in the cloud. In this case, the drones are configured so that they can autonomously charge their energy storage devices (for example, by finding ground-based charging devices or, advantageously, even through solar cells built into the drones) and only connect to the virtual controller via, for example, a radio or telephone network to exchange data with it or receive commands from it. In such a swarm, the drones will be assigned a task, perform this task autonomously (or under the control of the virtual controller) and land if necessary (low battery charge), recharge and, once charging is complete, autonomously resume their work again or continue with a different task at a different location (if, during the charging period, their previous task has been performed and completed by other drones that were accordingly instructed).

[0098] Fig.15 An agricultural field 1000 to be treated is shown, which is cultivated as a mixed crop. Here, different useful plants (e.g., fruit-bearing plants 1001 and 1002) as well as weeds 1003 and plants showing pest infestation 1004 (e.g., plants of the same species as 1002) are growing within each other in the field.

[0099] A plurality of drones in idle mode are stored, i.e. parked, on a landing platform near the field 1000 and connected via radio to a communication device 22, which in turn is connected to a virtual internet / cloud-based central control unit 21, which in turn is connected to a local computer 3 at the user's base, as in combination with Figure 1For a better understanding of the following comments, the four drones shown here are denoted by reference numerals 1a, 1b, 1c and 1d.

[0100] Fig.16 The field 1000 is shown after some of the drones (here 1a, 1b and 1c) have started their work and are scanning the entire field for the desired parameters (presence of ripe fruits, presence of pests, etc.), which were started by the user using the local computer 3 and controlled by the virtual control unit 21 via the communication means 22. Another drone 1d currently has too low battery and remains in an idle state in order to be charged by its built-in solar cell.

[0101] Once the current state of the field 1000, i.e. the various useful and harmful organisms 1001, 1002, 1003 and 1004, is detected, the control unit 21 determines the current needs and, on this basis, assigns tasks to the various drones or controls the drones so that they perform these tasks, e.g. Fig.17 Drones 1a and 1b are collecting ripe fruits from plants of type 1001, while drone 1c is controlling pest infestations detected on plants of type 1002 by means of lasers. Drone 1d, which was previously charging, is now fully charged and ready for use; it has been tasked with controlling weeds of type 1003, and is also performing this task by using lasers.

[0102] Fig.18 The state of a mixed crop field 1000 after treatment is completed is shown. The pest infestation 1004 on the plants of type 1002 has been successfully controlled and the ripe fruits of type 1001 have been harvested. The drones 1a to 1d have landed away from the field (e.g. on a landing platform), are idle and are being charged via their solar cells. In the next round of work, the field will be scanned repeatedly and, for early detection, the field will be monitored again for the reappearance or re-outbreak of pests and the maturity of the fruits of type 1002 will be checked and then treated accordingly.

Claims

1. A system for controlling pests on plants located in an agricultural area, the system comprising: A swarm of drones (1) configured to autonomously fly to plants and each equipped with a sensor (125) for detecting pest infestation, and A control device (2; 2'; 200; 300; 400) for controlling the drone (1), wherein the control device (2; 2'; 200; 300; 400) and the drone (1) are equipped with communication devices (12, 22; 22') for exchanging data with each other, characterized in that: The drone (1) is equipped with a laser device (127) suitable for pest control and is configured to achieve targeted control of detected pest infestation through the laser device (127).

2. The system according to claim 1, characterized in that The laser device (127) has an automatically adjustable optical system, by means of which the focus is adjustable.

3. The system according to claim 1 or 2, characterized 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 the area to the drone (1), and the drone (1) is configured to fly to plants within the defined target area (1000).

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

5. The system according to any one of claims 1 to 4, characterized in that The drone (1) is configured to transmit data captured by a sensor (125) of the drone to the control device (2; 2'; 200; 300; 400); and the control device (2; 2'; 200; 300; 400) is configured to analyze the data transmitted by the drone (1) and then transmit control information to the drone (1).

6. The system according to any one of claims 1 to 5, characterized in that The drone (1) has a maximum dimension of 25 cm and / or a maximum take-off weight of 500 g.

7. The system according to any one of claims 1 to 6, characterized in that The drone (1) is equipped with a position determination device (126).

8. The system according to any one of claims 1 to 7, characterized in that The drone (1) has an orientation arrangement device (128) for orienting the laser device (127) relative to a target object.

9. The system according to any one of claims 1 to 8, characterized in that The drone (1) is equipped with an electrical energy storage device (124); the system has at least one charging device (202; 302; 402) for the energy storage device (124) of the drone (1); and in the event that the energy storage device (124) of the drone needs to be charged, the drone (1) is configured to interrupt the activity of the drone, autonomously fly to the at least one charging device (202; 302; 402), charge the energy storage device (124) of the drone, and automatically resume the activity of the drone once the energy storage device (124) of the drone has been fully charged.

10. The system according to claim 9, characterized in that The system comprises at least one landing platform (203; 303; 403) for the drone (1); the landing platform (203; 303; 403) provides 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. The system according to claim 10, characterized in that The landing platform (203; 303; 403) has an electrically charged energy storage device (23; 23') for supplying energy to the at least one charging device (202; 302; 402).

12. The system according to claim 11, characterized in that The landing platform (203; 303; 403) has a photovoltaic panel or is configured as a photovoltaic panel, and the charging energy storage device (23; 23') can be charged by the photovoltaic panel.

13. The system according to any one of claims 10 to 12, characterized in that The landing platform (303) is movable.

14. The system according to claim 13, characterized in that The landing platform (303) is self-propelled.

15. The system according to any one of claims 1 to 14, characterized in that At least some functions of the control device (2) are implemented as software provided on a server in the Internet.

Images