TECHNOLOGY FOR AUTOMATED PLANTING OF A SITE

Description

Technical area

[0001] The invention relates to the field of planting terrain. Specifically, a technique for the automated planting of terrain, in particular forest terrain, is described. background

[0002] The onset of climate change is causing extreme weather events that are severely impacting existing tree populations. Prolonged periods of drought and heat weaken forests, making trees more susceptible to disease and bark beetle infestation. More frequent and severe storms cause additional damage. This massively reduces tree populations, necessitating extensive reforestation measures to compensate. Reforestation or planting in inaccessible terrain requires the use of trained personnel and suitable technical resources and is therefore time-consuming and costly. Small and scattered areas that are destined for planting are often not planted at all due to the immense effort involved and are inevitably left to natural regeneration.

[0003] Various tools for (automated) planting are known from the state of the art. However, almost all known tools are designed for agriculture and are therefore unsuitable for difficult terrain, such as forest areas. For example, a remote-controlled tracked vehicle is known for reforestation that can plant seedlings in forest areas. However, these vehicles have high energy consumption and contribute to forest soil compaction due to their heavy weight. Furthermore, as diesel-hybrid vehicles, such tracked vehicles can only be partially powered by electricity.

[0004] There are also known attachments for excavators that can be used for reforestation. The use of excavators also significantly impacts the soil during planting, for example, compacting it or even tearing it up. Noise and exhaust fumes are also a factor. Flexible use of these two examples for planting small and scattered areas is not advantageous.

[0005] US 2018 / 160616 A1 describes a planting device for planting trees mounted on a tracked vehicle. CN 205 284 453 U also describes a planting device that moves independently on the ground and exchanges data with a surveillance drone. Furthermore, US 2016 / 307448 A1 teaches a seed distributor coupled to a hybrid flying object consisting of a gas balloon with propellers and used in agriculture to distribute seeds.

[0006] US 2019 / 116719 A1 also teaches a drone with a pot planting system that drops pots containing seeds or seedlings.

[0007] Furthermore, CN 109 240 304 A teaches the sowing of seeds using a drone. KR 102 288 037 B1 teaches the use of a drone to deploy a small ground robot at a deployment site in the context of military technology.

[0008] It is desirable to provide a technology that allows (impervious) terrain, such as a forest, to be planted in a particularly soil-friendly manner. Furthermore, it is also desirable to be able to efficiently plant small areas, such as those created by individual plantings. There is also a need for a resource-efficient, automated planting technology. Such a planting technology is intended to support forestry companies and forest owners in the reforestation of forest areas.

[0009] The object of the present invention is therefore to provide an environmentally friendly planting technique for a site, in particular for a forest area. A further object of the present invention is to provide an efficient and rapid planting technique. Furthermore, the provided planting technique should be flexibly adaptable to the individual conditions of the site to be planted. Brief outline

[0010] This object is achieved according to a first aspect by a method for planting a terrain, in particular a forest area. The method according to the invention comprises the following steps: creating a data model based on data that describes at least the terrain to be planted, wherein the data model is intended to identify suitable planting locations within the terrain; identifying suitable planting locations based on the created data model; providing at least one drone and at least one planting robot attached to the at least one drone via a transport cable; calculating a flight route based on the planting locations identified with the aid of the created data model;and automated planting of the terrain according to the calculated flight route by means of the at least one drone and the at least one planting robot, wherein the at least one drone is controlled such that it deposits the at least one planting robot at the respective identified planting locations along the flight route, and the at least one planting robot deposited at the respective planting location is controlled such that it drills a planting hole at the planting location and places a seedling in the planting hole;

[0011] The terms "terrain" and "area" are used synonymously and thus interchangeably in this disclosure. Terrain or area to be planted refers to a piece of land that is to be planted (e.g., reforested). In the geographical sense, the terrain to be planted represents a piece of the earth's surface that is limited in its area (and thus localized). Typically, the terrain to be planted (a piece of land or forest) is surrounded by additional terrain (e.g., an adjacent forest and / or land).

[0012] The data model (hereinafter also referred to as the terrain model) is created based on data that describes at least the terrain to be planted or reforested. According to one variant, the data can include not only the terrain to be planted but also data about the surrounding area. This can be particularly useful if the terrain to be planted is surrounded by forest and / or mountains, in order to calculate an optimal flight route.

[0013] The data for the terrain model can, in particular, include topographical data about the terrain to be planted (and its surroundings). Furthermore, the data for the terrain model can include geomorphological data, orographic data, vegetation data (e.g., tree population data), position data of the terrain, and / or position data about lines / routes (e.g., high-voltage lines). This data can be acquired using at least one reconnaissance drone flying over the terrain to be planted (and its surroundings). The at least one reconnaissance drone can comprise at least one camera. Photographic data about the terrain can be acquired using the at least one camera. Alternatively, or in addition to the at least one camera, the at least one reconnaissance drone can comprise at least one measuring sensor.With the aid of at least one measuring sensor, the above-mentioned geomorphological data, orographic data, vegetation data and / or position data can be recorded.

[0014] In addition to or as an alternative to the reconnaissance drone described above, reconnaissance satellites or other data acquisition systems can be used to collect the terrain data mentioned above.

[0015] The data model for the area to be planted is created using a computing unit based on the recorded terrain data described above. The created data model (terrain model) can be a computer-aided 3D data model that graphically describes (or graphically models) the area to be planted (and its surroundings), at least with regard to its topography and vegetation (vegetation zones, residual vegetation, etc.). In particular, the 3D data model can graphically describe (model) mountain ranges, valleys, terrain slopes, bodies of water (streams, springs, rivers), artificial routes, or pipelines in the area to be planted (and its surroundings). Furthermore, the 3D data model can assign recorded climate data to the modeled terrain.

[0016] Based on the created terrain model, suitable planting locations are identified (selected) in the terrain. This can be done by specifying suitable planting parameters, such as the type of plants to be planted, spacing between plants, distance to lines / routes, etc. A user (such as a forester) simply needs to enter or select suitable planting parameters in the data model (provided the parameters are already stored in the data model). Thus, the identification of suitable planting locations in the terrain can be carried out fully automatically with the help of the computer-aided 3D data model.

[0017] Suitable planting sites are those locations in the area to be planted that, depending on the terrain's characteristics (such as soil moisture, soil stability, temperature, elevation, and / or residual vegetation), are or appear to be most suitable for planting certain plants or plant species. Depending on the plant species used, planting sites can be selected that offer sufficient space for the plant species to grow. In addition, other external, human-induced factors, such as the presence of power lines, can be taken into account. Computer-aided modeling of the area to be planted allows the most suitable planting sites to be precisely determined, thus enabling efficient and optimized planting or reforestation of an area.

[0018] The flight route refers to the distance traveled (flying over) by at least one drone during the planting process. To calculate the flight route, (global) positioning data (e.g., GPS data) is assigned to the previously described planting locations determined using the terrain model. Based on this positioning data (and optional additional data that also describe the surrounding terrain), the most efficient (i.e., shortest and / or most energy-efficient) flight route for planting the site can then be calculated.

[0019] Automated planting refers to mechanical planting with the aid of at least one drone and at least one planting robot coupled to the at least one drone. The at least one drone can be controlled in such a way that it hovers above the at least one planting robot during the automated planting at the respective planting sites. The at least one drone can remain in the air directly above or in the immediate vicinity of the planting site, while the at least one planting robot lands on the ground and plants a plant (for example, a tree seedling) at the planting site. The planting process can be accelerated by the hovering of the drone during the planting process. Alternatively, it is also conceivable that the at least one drone is controlled in such a way that it hovers together with the at least one planting robot directly at the planting site or in the immediate vicinity of it on the

[0020] The drone can be switched off during the planting process to save energy.

[0021] The above-described control of the at least one drone can be carried out remotely (i.e., from a remote location via radio connection) or autonomously. With autonomous control, at least the calculated flight route and the position data of the planting locations along the flight route can be stored in a control device, in the at least one drone, or in the at least one planting robot. In this case, the at least one drone can carry out the planting process (fully) autonomously along the calculated flight route together with the planting robot.

[0022] Optionally, in a subsequent planting step, organic material can be distributed around the planted plant with the help of the planting robot. Before the drilling step, the appropriate planting site can also be cleared. All steps described here (including the clearing step) can be carried out by controlling the at least one planting robot whenever the at least one planting robot has been placed at a corresponding planting site on the ground surface by the at least one drone.

[0023] The control of the at least one planting robot for carrying out the above-mentioned planting steps can in turn be carried out remotely (i.e. from a distant location via radio connection) or autonomously. With autonomous control, at least the control routines required to carry out the above-mentioned planting steps can be stored in a control device in the at least one drone or in the at least one planting robot. In addition, the planting method according to the invention can comprise checking the planted area at predetermined intervals. In this process, information about the growth of the plants and / or accompanying vegetation can be collected. The collected information can provide information about the success of the planting or reforestation of the area. However, the collected information can also assist in deciding on further measures, such as carrying out further planting or removing accompanying vegetation.The inspection of the planted area can be carried out using the at least one drone or another reconnaissance drone. According to a second aspect of the invention, a system for the automated planting of an area, in particular a forest area, is provided, wherein the system comprises at least one drone and at least one planting robot, wherein the at least one planting robot comprises: a drilling device designed to drill a planting hole at a planting location in the area, and a planting device designed to plant a seedling in the drilled planting hole, wherein the at least one planting robot is attached to the at least one drone via a transport cable. The seedling can be a tree or another plant.

[0024] The drilling device may comprise a drill. This may be dimensioned and designed to drill a hole in the soil appropriately sized for the plant to be planted. As described in connection with the method above, the drilling process takes place after the planting robot has been placed at a suitable planting location.

[0025] The planting device of the planting robot can comprise a magazine for receiving seedlings and a gripper arm, wherein the gripper arm is configured to grab a seedling from the magazine and place it into the drilled planting hole. The plants (seedlings) to be planted at the planting locations along the flight path are accommodated in the magazine. At each planting location, the planting robot can grab a plant (seedling) from the magazine using its gripper arm and then place the plant in the drilled planting hole (and press it down). The planting robot can then distribute the organic material released by the drilling process around the planted plant using its gripper arm. According to an optional implementation, the planting robot of the system can further comprise a cutter. The cutter can be configured to clear the planting location. The clearing can take place before the drilling process.

[0026] The system can further comprise a support device provided for supporting the planting robot in the field. The support device is designed in particular such that the planting robot, or the planting robot together with the drone, stands (or is supported) stably on the ground during the planting process. For this purpose, the support device can have at least three support legs arranged on the underside of the planting robot. This allows for stable and gentle support of the robot (and the drone) in the field, since the load of the robot (and the drone) can be distributed across several support legs. In particular, the support legs only place a load on the ground at specific points (i.e., only where the legs rest on the ground). In particular, each support leg can be implemented as an extendable telescopic support leg.This allows stable mounting of the robot, particularly on slopes, by extending the support legs according to the slope of the terrain and the position of the robot in relation to the slope. However, in a further variant, the robot can also be designed so that it can move independently. The at least one planting robot can comprise a control device (comprising a processor and a memory). Control routines for controlling the drilling device and the setting device (gripper arm) can be stored in the control device (or in its memory). Control routines for controlling the milling cutter can also be stored in the control device. If the planting robot has optionally extendable telescopic support legs, the control device can further comprise control routines for controlling the telescopic legs.Control is provided by the control unit's processor, which retrieves the control routines from memory. This allows the planting robot to control itself (i.e., autonomously).

[0027] According to one implementation, additional data on the flight route and the position data of the planting sites can be stored in the planting robot's control unit. This allows the planting robot's control unit to also control the drone's flight path.

[0028] The planting robot can further include its own power supply, which supplies the drilling device, the setting device, and optionally the operable telescopic legs with power. The control device of the planting robot can also be supplied with power from the power supply. A rechargeable battery can be used as the power supply, which supplies the devices (e.g., electric drives of the gripper arm, the drilling device, and optionally the telescopic legs) with electrical energy. The energy can also be provided by a fuel cell, a combustion engine, or a hybrid engine.

[0029] The planting process described above is carried out using the system described here.

[0030] The at least one drone can be designed as a heavy-duty drone. For this purpose, the drone can have an electric drive comprising at least one electric motor or a hybrid drive comprising an electric motor and a gasoline engine to drive the rotors. The use of electric motors can significantly reduce noise (protecting wildlife in the forest) and exhaust emissions during the planting process. Regardless of the specific drive type, the drone must be designed to carry the planting robot (with the seedlings).

[0031] The at least one planting robot is attached to the at least one drone by a (flexible) transport cable. This allows the at least one drone to be controlled such that it hovers above the at least one planting robot during a planting process with the transport cable unloaded. This load-free hovering during the planting process can save energy. It can also accelerate the planting process, as the drone can fly more quickly to the next planting site. Furthermore, the use of a transport cable ensures that the drone is at a height above the forest floor that guarantees reliable (radio) communication with the operator / controller / base station.

[0032] The system can further comprise a control device for controlling the at least one drone and / or the at least one planting robot. In particular, the flight path of the drone and the (global) position data of the planting sites can be stored in the control device. As described above in connection with the planting robot, the control device for controlling the planting robot and the drone can be integrated into the planting robot. Alternatively, the control device can be integrated into the drone or distributed across the drone and the planting robot.

[0033] The system can consist of at least two drones and at least two planting robots, with each of the at least two drones being coupled to one of the at least two planting robots. The at least two drones and their planting robots can be combined to form a drone swarm. Each drone in the drone swarm can be assigned a calculated flight path with planting locations, so that each drone can deploy its planting robot at the planting locations along its assigned flight path. Using a drone swarm can significantly increase planting performance, allowing even large areas to be planted or reforested quickly and efficiently.

[0034] According to a third aspect, the use of the system described above for the automated planting of an area, in particular a forest area, according to the planting method described above is provided. Short description of the characters

[0035] Further details and advantages of the invention will be described further with reference to embodiments illustrated in the figures. They show: Figure 1 is a schematic representation of a system for planting a terrain according to the present invention; Figure 2 is a flow chart for schematically illustrating a method for planting a terrain according to the present invention; Figures 3a-3 are schematic representations illustrating implementations of the Figure 1 system shown and the one in Figure 2 show the procedure shown. Detailed description

[0036] In connection with Figure 1 A system 10 for planting a site according to the present invention is further described. The system 10 comprises a drone 100 and a planting robot 200. The planting robot 200 is attached to the drone 100 via a (flexible) transport cable.

[0037] The system 10 may further comprise a computing unit 300, which does not necessarily have to be permanently connected to the system 10, but can also be connected via a temporary connection (e.g., plug-in connection, wireless connection) for the required duration. This computing unit is designed to model a 3D terrain model based on acquired terrain data. The terrain data may include topographical data, geomorphological data, orographic data, and / or vegetation data (e.g., tree population data). Furthermore, the terrain data may include position data of the terrain and / or position data about lines / routes (e.g., high-voltage lines) that cross the terrain.

[0038] The computing unit 300 can be designed to identify suitable planting locations (and their position data) in the terrain and use this to calculate the flight route for the drone 100. However, the data required for the 3D terrain model can also be collected by a drone specifically designed for this task. The flight route can then be calculated following such a terrain data collection flight using appropriate software on a computer (computing unit 300). The final flight route can then be transmitted to the control unit 210 via a storage medium (USB stick, SD card, etc.) or via a wireless connection (Wi-Fi, Bluetooth, etc.).

[0039] The drone 100 may be an electrically powered heavy-duty drone capable of carrying the planting robot 200. According to one implementation, the drone 100 may be used not only for the planting process described in more detail below, but also for reconnaissance purposes, such as for collecting data about the area to be planted (terrain data) or for inspecting the planted area. Alternatively, the system 10 may comprise, in addition to the at least one drone 100, a reconnaissance drone (this is shown in the Figure 1 not shown), which is used to collect terrain data.

[0040] The planting robot 200 comprises a control device 210, a drilling device 220, and a planting device 230. The drilling device 220 comprises a drill and is designed to drill a planting hole at a suitable planting location in the field. A milling device (not shown) can either be integrated into the drilling device or installed as an additional module.

[0041] The planting device 230 is designed for planting a seedling (tree or other plant) in the planting hole drilled by the drilling device 220. It comprises a magazine 231 for receiving seedlings and a gripper arm 232 that grips the seedlings from the magazine 231 and inserts them into the planting hole.

[0042] The control device 210 is designed to control the planting robot 200 and the drone 100 to carry out the planting method described in more detail below. Corresponding control routines are stored for this purpose in a memory of the control device 210. In particular, the calculated flight route data and (global) position data of the planting locations along the flight route can be stored in the control device 210 (in Figure 1 (indicated by arrow 310). Safety-relevant devices for collision avoidance in autonomous mode are also connected to the control unit, so that in an emergency, the control unit 210 sends appropriate evasive maneuvers to the drone 100. Thus, autonomous control of the drone 100 and the planting robot 200 is possible.

[0043] In connection with the Figure 2 A planting method according to the invention is further described, which is carried out with the aid of the Figure 1described system 10.

[0044] According to a first step S10, a data model is created with the aid of the computing unit 300 based on data describing the terrain to be planted. The data about the terrain can be collected using a reconnaissance drone. Additionally or alternatively, satellite data about the terrain can be used.

[0045] The created data model is a 3D terrain model, which primarily models the topography of the terrain. However, the 3D terrain model can also include geomorphological data, orographic data, vegetation data (e.g., tree population data), and / or position data on lines / routes (e.g., high-voltage lines).

[0046] In a further step S20, the data associated with the Figure 1The drone 100 and planting robot 200 described above are provided. The planting robot 200 is rigidly or flexibly coupled to the drone 100 and is carried by the drone 100. It is understood that according to one implementation, several drones 100, each with an associated planting robot 200, can be provided, which can be used simultaneously to plant a site.

[0047] In a further step S30, a flight route for the drone 100 is calculated based on the data model with the aid of the computing unit 300. For this purpose, suitable planting locations in the terrain and their (global) position data are first determined based on the 3D terrain model and specified planting parameters. The specified planting parameters can, for example, indicate the type of plants to be planted, the distance between the plants and between lines / routes. Based on the position data of the planting locations, the most efficient flight route for planting the terrain can then be calculated. The flight route thus calculated is then transmitted, together with the position data of the planting locations, to the control device 210 of the planting robot 200 (see also Fig. 3(a) ).

[0048] In a subsequent step S40, the terrain is flown over by the at least one drone 100 and the planting robot 200 coupled thereto. At the positions of each planting site, the drone 100 is lowered so that the planting robot 200 can land on the terrain, drill a hole, and plant a seedling into the terrain.

[0049] In connection with the Figures 3a-3i will be an implementation of the Figure 1 System 10 shown and the one in Figure 2 The planting procedure shown is further described.

[0050] The Figures 3a-3iThe system 10 shown comprises a drone 100, in particular a heavy-duty drone, which is coupled to the planting robot 200 via a flexible transport cable. The planting robot 200 further comprises a settling device which has at least three legs. The position data of suitable planting locations determined with the aid of the 3D terrain model, as well as the flight route calculated therefrom, are transmitted to the control device 210 (see Figure 2 ) of the planting robot 200. This step is in Figure 3a shown (see floppy disk symbol, which symbolizes data transfer).

[0051] The drone 100 is now controlled by the control device 210 (and the control routines stored therein) so that it slowly ascends until the transport cable is taut (see Figure 3b ). The drone 100 continues to ascend, causing the planting robot 200 to lift off the ground (see Figure 3c). The drone 100 then flies the planting robot along the specified flight route to the first planting site (see Figure 3c ). Above the first planting site, the drone 100 stops (see Figure 3d ). The drone 100 is now lowered (by the control device 210) until the planting robot 200 touches down on the ground and the transport cable is free of load (see Figure 3e ). The drone 100 is further controlled by the control device 210 in such a way that it hovers over the planting robot 200 during the subsequent automated planting at or in the immediate vicinity of the planting site (see Figure 3e ).

[0052] The planting process is now carried out in conjunction with the Figures 3a-3i described further. First, the planting site is cleared, if necessary, by a cutter of the planting robot 200 (in Figure 3not shown). Then, using the drilling device 220 of the planting robot 200, a corresponding planting hole is drilled into the soil at the planting site (see Figure 3f ). Subsequently, a seedling is picked from the magazine 231 using the gripper arm 232 of the planting robot 200 (see Figure 3g ). The seedling is transported towards the planting hole with the help of the gripping arm 232 and inserted into the planting hole and lightly pressed down (see Figure 3h ). Finally, the organic material previously brought to the surface by the drilling process is distributed around the seedling (and optionally further pressed) (see Figure 3i ).

[0053] The planting process at the first planting site is now complete and the drone 100 is now controlled in such a way that it lifts the planting robot 200 again and flies to the next planting site on the flight route. Figures 3c-3iThe steps shown are repeated for each planting location along the flight path. At the end of the flight path, the drone 100 returns to its starting position together with the planting robot 200.

[0054] The planting method and system described here has the advantage over conventional systems as described above in that it enables gentle and environmentally friendly planting of a site. By selectively placing the planting robot 200 at appropriate planting locations on the site, the soil is protected. In particular, this prevents the soil from being torn up, which can happen, for example, when using excavators or tracked vehicles to plant a site. The use of an electrically powered drone also makes it possible to design a low-emission planting process. Furthermore, the modeling of the site to be planted, as described here, can identify suitable planting locations, thus enabling particularly efficient reforestation of a site.

[0055] By using the system 10 described here, which is essentially autonomously controlled, it is also possible to quickly and efficiently reforest large, sometimes even difficult-to-access areas with minimal personnel expenditure. This is especially true when several of the drones described here with planting robots are deployed simultaneously in the form of a drone swarm.

[0056] Furthermore, this system also enables the planting of small and scattered areas without additional effort. Due to the technical maximum load, the system 10 can only transport and plant a certain number of seedlings. Once all seedlings have been planted, the drone 100 returns to the takeoff point, where the seedling magazine can be refilled and the batteries can be replaced or the fuel tank can be filled. The drone can then take off again. However, it does not matter whether the area of the first flight is so large that several flights are necessary for complete planting, or whether there are several small areas in the vicinity of the takeoff point that can each be completely planted with a single planting flight. In the latter case, the system 10 is significantly superior to all previously known technical solutions (tracked vehicle, excavator, etc.) as well as to conventional manual planting.

Claims

1. Method for planting a terrain, in particular a forest area, comprising: creating a data model on the basis of data describing at least the terrain to be planted, wherein the data model is intended to identify suitable planting locations within the terrain; identifying suitable planting locations on the basis of the created data model; providing at least one drone (100) and at least one planting robot (200) attached to the at least one drone (100) via a transport cable; calculating a flight route on the basis of the planting locations identified with the aid of the data model; and automatically planting the terrain in accordance with the calculated flight route by means of the at least one drone (100) and the at least one planting robot (200), wherein the at least one drone (100) is controlled in such a way that it deposits the at least one planting robot (200) at the respective identified planting locations along the flight route, and the at least one planting robot deposited at the respective planting location is controlled in such a way that it drills a planting hole at the planting location and places a seedling in the planting hole.

2. Method according to claim 1, further comprising: acquiring data describing the terrain to be planted, wherein the acquired data comprise at least topographical data of the terrain.

3. Method according to claim 2, wherein the acquiring of the data is performed using at least one reconnaissance drone that collects data about the terrain by means of at least one camera and / or at least one sensor.

4. Method according to one of the preceding claims, wherein the flight route is calculated on the basis of position data that can be assigned to the identified planting locations.

5. Method according to one of claims 1 to 4, wherein the at least one drone (100) is controlled in such a way that it hovers or rests above the planting robot (200) at the respective planting locations during the automated planting.

6. Method according to one of the preceding claims, further comprising: checking the planted terrain at predetermined time intervals.

7. Method according to claim 6, wherein the checking comprises collecting information about the growth of the planting and / or accompanying vegetation.

8. System (10) for automated planting of a terrain, in particular a forest area, wherein the system comprises at least one drone (100) and at least one planting robot (200), wherein the at least one planting robot (200) comprises: a drilling device (220) configured to drill a planting hole at a planting location in the terrain, and a placing device (230) configured to plant a seedling in the drilled planting hole, wherein the at least one planting robot (200) is attached to the at least one drone (100) via a transport cable.

9. System (10) according to claim 8, wherein the placing device (230) of the planting robot (200) comprises a magazine (231) for receiving seedlings and a gripper arm (232), wherein the gripper arm (232) is configured to grip a seedling from the magazine and place it in the drilled planting hole.

10. System (10) according to claim 9 or 10, wherein the planting robot (200) further comprises a set-down device which is provided for supporting the planting robot (200) on the terrain.

11. System (10) according to claim 10, wherein the set-down device comprises at least three support legs arranged on the underside of the planting robot (200), wherein each support leg is realized as an extendable telescopic support leg.

12. System (10) according to any one of claims 8 to 11, wherein the planting robot (200) further comprises a cutter designed to clear the planting location.

13. System (10) according to one of claims 8 to 12, wherein the planting robot (200) further comprises a control device (210) for controlling the drilling device and / or the placing device.

14. System (10) according to one of claims 8 to 13, wherein the system (10) comprises at least two drones (100) and at least two planting robots (200), wherein each drone (100) of the at least two drones (100) is coupled to one of the at least two planting robots (200).

15. System according to one of claims 8 to 14, wherein at least two drones are combined with their planting robots (200) to form a drone swarm.

16. System (10) according to one of claims 8 to 15, further comprising a control device (210) for controlling the at least one drone (100) and / or the at least one planting robot (200).

17. Use of the system (10) according to one of claims 8 to 16 for the automated planting of a terrain, in particular a forest area.