Soil insemination system

Abstract

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

Claims

[1] Soil insemination system (1) for inseminating a soil (G) from the air in a target insemination area (SA), comprising - an aircraft (2), - a ground station (200), - a seed launching device (10) for launching a seed pod (12) containing a seed from the aircraft (2) for inseminating the soil (G) with the seed pod (12), - a control device (20) for controlling the aircraft (2) and for communicating with the ground station (200), - a sensor device (30) for detecting data on environmental conditions and further data on an insemination position (SP) and / or trajectory (FP) defined by a discharged semen pod (12) and - a targeting device (40) which is designed to determine a probability of hitting the target insemination area (SA) with the semen pod (12) and at least one firing configuration, in each case at least indirectly dependent on the data of the sensor device (30), wherein the targeting device (40) is further designed, depending on a comparison of the probability with a limiting probability: - to give the control device (20) a control command to place the aircraft (2) into a first launch configuration, - to give the control device (20) a further control command to place the aircraft (2) into a further launch configuration to increase the probability, and - to give the seed firing device (10) a firing command to fire a seed pod. [2] Soil insemination system (1) according to the preceding claim, comprising a locating module (50) of the target device (40), which is designed to receive data from the sensor device (30) and to determine locating data for the aircraft (2). [3] Soil insemination system (1) according to the preceding claim, comprising a virtual map of the ground (G), and wherein the target insemination area (SA) lies on the virtual map and comprises an area of good probability of survival of the seed. [4] Soil insemination system (1) according to one of the preceding claims, comprising a determination model (60) of the target device (40) which is designed to receive the location data and / or the data of the sensor device (30) in order to determine a probability density function relating to a probable insemination position (SP). [5] Soil insemination system (1) according to the preceding claim, comprising a comparator module (70) of the aiming device (40) which is designed to receive the probability density function and to compare the probability density function with the desired insemination area (SA) in order to determine the probability, in particular wherein the comparator module (70) is designed to determine the firing configuration(s). [6] Soil insemination system (1) according to the preceding claim, comprising a control module (80) of the aiming device (40) which is designed to receive the probability and / or the firing configuration(s) from the comparator module (70), wherein the control module (80) can carry out the comparison and issue the control command and the firing command. [7] Soil insemination system (1) according to one of the preceding claims, wherein the sensor device (30) comprises a GPS device, a camera device, a distance measuring device, an IMU device, an anemometer device, a visual sensor device, a LIDAR device, a hyperspectral sensor device and / or a speed measuring device. [8] Ground insemination system (1) according to one of the preceding claims, wherein the ground station (200) is designed to establish an RC connection (202) to the aircraft (2), and wherein manual control of the aircraft (2) and / or the seed launching device (10) is provided from the ground station (200) and / or a focus signal, the target insemination area (SA) and / or the virtual map can be sent to the targeting device (40). [9] Method for inseminating a soil (G) from the air, in which the soil insemination system (1) according to one of the preceding claims is provided, comprising the steps i. Moving the aircraft (2) into the first launch configuration, ii. comparing the probability with the limiting probability, and if the probability is smaller than the limiting probability, moving the aircraft (2) from the first launch configuration to the further launch configuration than the first launch configuration, and then iii. Compare the probability with the marginal probability, and if the probability is smaller than the marginal probability, repeat step ii. , iv. Comparing the probability with the marginal probability, and if the probability is equal to or greater than the marginal probability, shooting from a seed pod (12). [10] Method according to the preceding claim, comprising acquiring the data and the further data, transforming the further data into coordinates for the insemination position, and updating the determination model (60) of the target device (40) on the basis of the data, the further data, the transformed further data, and the coordinates.

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