Calibration of machining tools for a precision agriculture

Abstract

The present invention relates to the technical field of precision agriculture. The present invention relates to a method, a computer system, a computer program product and a system for calibrating a machining tool. The method (100) according to the invention comprises the steps of: creating a digital measure map for a region of the earth's surface (110), transmitting the digital measure map to the at least one machining tool (120), receiving a result (130), determining a deviation between the actual partial region and the target partial region (140), and modifying the at least one value of the at least one device parameter with respect to a reduced deviation and / or modifying the digital measure map with respect to a reduced deviation (150).

Description

[0001] Calibration of processing machines for precision agriculture

[0002] The present invention relates to the technical field of precision agriculture. The present invention relates to a method, a computer system, a computer program product, and a system for calibrating a processing machine.

[0003] The term precision farming refers to methods of site-specific and targeted management of agricultural land.

[0004] The practice of precision agriculture was made possible by the introduction of satellite-based positioning. Using remote sensing data and / or sensors within a field and / or sensors on processing machines moving within the field, a variety of properties can be recorded with high spatial resolution for different sub-areas within an agricultural area, such as crop yield, terrain features / topography, organic matter content, moisture, nitrogen content, pH value, soil texture, weed distribution, and much more.

[0005] Based on the recorded properties, digital feature maps can be created that represent the variability of an agricultural area in a spatially resolved manner.

[0006] For example, such a feature map may contain locations where weeds have been detected. In another example, such a feature map may contain sub-areas that are relatively dry. In another example, such a feature map may contain sub-areas that have a comparatively low crop yield.

[0007] Based on such feature maps, different measures can be planned for different sub-areas that take variability into account. Digital measure maps can be created on the basis of such feature maps. A digital measure map can contain instructions as to which measures should be taken in which sub-areas and / or at which positions in an agricultural area. For example, such a measure map can provide for the application of a herbicide for the positions where a weed has been detected. In another example, such a measure map can provide for irrigation for dry sub-areas. In another example, such a measure map can provide for fertilization for sub-areas with a lower crop yield.

[0008] Such digital action cards can be used to have processing machines carry out the measures specified in an action card at least partially automatically.

[0009] If a processing machine moves in an agricultural area, the position of the processing machine can be determined using satellite-based positioning and the measures planned for a sub-area according to the digital action map can be carried out automatically when the processing machine reaches the corresponding sub-area.

[0010] Often, the digital action maps are based on positioning data provided by a different device than the positioning data on which the processing machine performs the actions. For example, the positioning data underlying the digital action maps can come from a satellite and / or a manned and / or unmanned aerial vehicle, while the positioning data of the processing machine usually comes from a GPS sensor (or a comparable sensor) connected to the processing machine.

[0011] Precision agriculture requires that the position data used by the processing machine to perform measures match the position data used in the digital measure map. However, in practice, deviations can occur. Such deviations can mean that the measures are carried out, at least partially, in the wrong place.

[0012] A further problem arises from the fact that for many measures, the location within an agricultural area alone is not sufficient to execute a measure in a way that achieves optimal results. Instead, device parameters must be determined to achieve the best possible result. This will be illustrated by an example.

[0013] An action carried out by a processing machine usually affects a defined area. When controlling weeds, for example, it may be necessary to spray herbicide only on the plants actually identified as weeds in a field, while surrounding areas should be exempt from herbicide treatment. In addition to the instructions in the digital action map, device parameters determine which areas are affected by a action. In the example of herbicide treatment, device parameters can determine how fast a processing machine moves in an area, at what time a valve for dispensing herbicide is opened, at what time the valve is closed, how many valves are opened and / or closed, at what pressure the herbicide is applied, and the like.All of these device parameters can influence which areas are affected by a treatment. For example, if a processing machine opens a valve when it is located in an area where a herbicide is to be applied according to the treatment map, and the pressure for applying the herbicide builds up slowly, it is possible that the area will only be partially treated with herbicide.

[0014] In addition to correct positioning, it is therefore necessary to have the correct device parameters in order to correctly carry out the measures provided in a digital action map or to achieve an optimal result in terms of precision agriculture.

[0015] This problem is solved by the subject matter of the independent claims. Preferred embodiments can be found in the dependent claims, the present description, and the drawings.

[0016] A first object of the present invention is a method comprising the steps:

[0017] Creating a digital action map for an area of ​​the earth's surface, wherein at least one target sub-area is identified in the digital action map, wherein the target sub-area is identified by a position on the earth's surface as well as by a size and / or shape and / or extent in one or more directions, wherein at least one measure is recorded in the digital action map for the target sub-area, which measure is to be carried out in the target sub-area by at least one processing machine on the basis of at least one value of at least one device parameter,

[0018] Transmitting the digital action map to the at least one processing machine and / or executing the at least one measure according to the digital action map by means of the at least one processing machine,

[0019] Receiving and / or determining a result, wherein the result comprises at least one actual sub-area, wherein the at least one actual sub-area indicates in which sub-area / sub-areas of the earth's surface the at least one measure was carried out by the at least one processing machine, wherein the at least one actual sub-area is characterized by a position on the earth's surface as well as by a size and / or shape and / or extent in one or more directions, wherein the result was / is determined by means of one or more sensors, wherein the one or more sensors detect / detect one or more effects of the processing machine as a result of the execution of the at least one measure on the at least one actual sub-area of ​​the earth's surface,

[0020] Determining a deviation between the at least one actual sub-range and the at least one target sub-range,

[0021] Modifying the at least one value of the at least one device parameter with a view to a reduced deviation and / or modifying the digital action map with a view to a reduced deviation.

[0022] Another object of the present invention is a computer system comprising

[0023] • a control and calculation unit,

[0024] • a transmitting and receiving unit and

[0025] • a data memory, wherein the control and calculation unit is configured: to create a digital action map for an area of ​​the earth's surface, wherein at least one target sub-area is identified in the digital action map, wherein the target sub-area is identified by a position on the earth's surface as well as by a size and / or shape and / or extent in one or more directions, wherein at least one action is recorded in the digital action map for the target sub-area, which action is to be carried out in the target sub-area by at least one processing machine based on at least one value of at least one device parameter, to cause the transmitting and receiving unit to transmit the digital action map to the at least one processing machine, to cause the transmitting and receiving unit to receive a result, wherein the result comprises at least one actual sub-area,wherein the at least one actual sub-area indicates in which sub-area(s) of the earth's surface the at least one measure was carried out by the at least one processing machine, wherein the at least one actual sub-area is characterized by a position on the earth's surface as well as a size and / or shape and / or extent in one or more directions, wherein the result was determined by means of one or more sensors, wherein the one or more sensors detect one or more effects of the processing machine as a result of the execution of the at least one measure on the at least one actual sub-area of ​​the earth's surface, to determine a deviation between the actual sub-area and the target sub-area, to modify the at least one value of the at least one device parameter with a view to a reduced deviation and / or to modify the digital measure map with a view to a reduced deviation,to include the at least one modified value of the at least one device parameter in the modified action map and / or to store the at least one modified value of the at least one device parameter and / or the modified digital action map in the data memory and / or to transmit the at least one modified value of the at least one device parameter and / or the modified digital action map to the at least one processing machine. A further subject of the present invention is a computer program product comprising a data memory, wherein the data memory comprises a computer program that can be loaded into a working memory of a computer system and causes the computer system to perform the following steps:

[0026] Creating a digital action map for an area of ​​the earth's surface, wherein at least one target sub-area is identified in the digital action map, wherein the target sub-area is identified by a position on the earth's surface as well as by a size and / or shape and / or extent in one or more directions, wherein at least one measure is recorded in the digital action map for the target sub-area, which measure is to be carried out in the target sub-area by at least one processing machine on the basis of at least one value of at least one device parameter,

[0027] Transmitting the digital action map to at least one processing machine,

[0028] Receiving a result, wherein the result comprises at least one actual sub-area, wherein the at least one actual sub-area indicates in which sub-area / sub-areas of the earth's surface the at least one measure was carried out by the at least one processing machine, wherein the at least one actual sub-area is characterized by a position on the earth's surface and by a size and / or shape and / or extent in one or more directions, wherein the result was determined by means of one or more sensors, wherein the one or more sensors detect / detect one or more effects of the processing machine as a result of the execution of the at least one measure on the at least one actual sub-area of ​​the earth's surface,

[0029] Determining a deviation between the actual sub-range and the target sub-range,

[0030] Modifying the at least one value of the at least one device parameter with a view to a reduced deviation and / or modifying the digital action map with a view to a reduced deviation,

[0031] Storing the at least one modified value of the at least one device parameter and / or the modified digital action map in a data memory and / or incorporating the at least one modified value of the at least one device parameter into the modified action map and / or transmitting the at least one modified value of the at least one device parameter and / or the modified digital action map to the at least one processing machine.

[0032] A further subject of the present invention is a system comprising a computer system and one or more sensors for detecting one or more effects of at least one processing machine as a result of an execution of at least one measure on at least one actual partial area of ​​the earth's surface, wherein the computer system comprises:

[0033] • a control and calculation unit,

[0034] • a transmitting and receiving unit and

[0035] • a data memory, wherein the control and calculation unit is configured: to create a digital action map for an area of ​​the earth's surface, wherein at least one target sub-area is identified in the digital action map, wherein the target sub-area is identified by a position on the earth's surface as well as by a size and / or shape and / or extent in one or more directions, wherein the digital action map for the target sub-area lists the at least one measure that is to be carried out in the target sub-area by the at least one processing machine based on at least one value of at least one device parameter, to cause the transmitting and receiving unit to transmit the digital action map to the at least one processing machine, to cause the transmitting and receiving unit to receive a result, wherein the result comprises the at least one actual sub-area,wherein the at least one actual sub-area indicates in which sub-area / sub-areas of the earth's surface the at least one measure was carried out by the at least one processing machine, wherein the at least one actual sub-area is characterized by a position on the earth's surface as well as a size and / or shape and / or extent in one or more directions, wherein the result was determined by means of the one or more sensors, wherein the one or more sensors detect / detect one or more effects of the processing machine as a result of the execution of the at least one measure on the at least one actual sub-area of ​​the earth's surface, to determine a deviation between the actual sub-area and the target sub-area,to modify the at least one value of the at least one device parameter with a view to a reduced deviation and / or to modify the digital action map with a view to a reduced deviation, to include the at least one modified value of the at least one device parameter in the modified action map and / or to store the at least one modified value of the at least one device parameter and / or the modified digital action map in the data memory and / or to transmit the at least one modified value of the at least one device parameter and / or the modified digital action map to the at least one processing machine.

[0036] The invention is explained in more detail below, without distinguishing between the subject matter of the invention (method, computer system, computer program product, system). Rather, the following explanations are intended to apply analogously to all subject matter of the invention, regardless of the context in which they occur (method, computer system, computer program product, system).

[0037] If steps are mentioned in a particular order in this description or in the claims, this does not necessarily mean that the invention is limited to that order. Rather, it is conceivable that the steps may be performed in a different order or even in parallel; unless a step builds on another step, which absolutely requires that the subsequent step be performed (which will become clear in individual cases). The specified sequences thus represent preferred embodiments of the invention.

[0038] The present invention provides means for calibrating a processing machine. Such a processing machine is preferably a machine used in agriculture to cultivate an agricultural area. In this description, no distinction is made between agriculture, forestry, pastoral farming, and other forms of land use. The terms agriculture / agricultural are intended to encompass any land use for economic and / or ecological purposes.

[0039] Such a processing machine can be, for example, a crop protection device (field sprayer), a fertilizer spreader, a tiller, a cultivator, a plough, a planting machine, a seed drill, a mower, a mulcher, a manned or unmanned aerial vehicle (UAV, also known as a drone) equipped with one or more sensors and / or the like.

[0040] Preferably, the processing machine is a machine for spreading seeds, plant protection products, plant nutrients (e.g. fertilizers) and / or water (for irrigation).

[0041] The processing machine has means that allow it to move within or above the agricultural area. The processing machine can be designed as a vehicle, an aircraft (e.g., a drone), or a robot. The processing machine can be controlled by a human or move autonomously.

[0042] The processing machine preferably comprises means for determining position. The position determination is preferably based on a navigation satellite system, preferably a global navigation satellite system (GNSS). Examples of global navigation satellite systems are NAVSTAR GPS, GLONASS, Galileo, and Beidou. The processing machine preferably has a sensor for receiving signals from a satellite navigation system, colloquially referred to as a GPS sensor.

[0043] Preferably, the positioning system has real-time kinematics (RTK) methods for the precise determination of position coordinates in the centimeter range.

[0044] The processing machine is configured to carry out at least one action. The at least one action is typically a measure carried out in agriculture in an area where crops are or are to be grown, in order to improve soil quality, improve the health of the crops being grown / to be grown, increase biological diversity (biodiversity) in the area, increase crop yield and / or harvest quality, and / or prevent the spread of pests and / or plant diseases. It can also be a measure used to determine properties of the soil and / or the cultivated plants, and / or a measure intended to identify and / or characterize and / or quantify pests and / or pathogens in a sub-area.

[0045] In a first step, an action map is created for an area. This area is preferably a part of the earth's surface that is or can be used for agricultural purposes. Preferably, this is a field used for growing crops. The term "crop" refers to a plant that is purposefully cultivated as a useful or ornamental plant through human intervention.

[0046] A digital management map is a representation of the Earth's surface. The term "digital" means that the management map can be processed by a machine, usually a computer system. "Processing" refers to the well-known electronic data processing (EDP) methods.

[0047] Typically, a digital measure map is a grid-like arrangement of pixels or voxels. Each pixel / voxel typically represents a sub-area of ​​the Earth's surface. Accordingly, each pixel / voxel can be assigned position data (e.g., geocoordinates) that indicate the location of the sub-area represented by the pixel / voxel on the Earth's surface.

[0048] At least one sub-area is identified in a digital action map. This at least one sub-area is also referred to in this description as the target sub-area. The target sub-area is identified by a position on the earth's surface as well as by a size and / or shape and / or extent in one or more directions. Furthermore, at least one measure is assigned to the target sub-area in the digital action map. The at least one measure specifies which action(s) should be carried out in the sub-area by one or more processing machines. Preferably, the at least one measure involves the application of one or more substances. Preferably, the at least one substance is a solid, a liquid, or a suspension; most preferably, it is a liquid or a suspension.For example, an aqueous liquid or suspension can be applied, i.e., a liquid / suspension with water as one of its components. Preferably, water is the main component.

[0049] In a preferred embodiment, the at least one measure comprises the application of a dye, for example a liquid or a suspension comprising a dye, or a dye in solid form. This is preferably a dye that stands out against the soil and / or against plants growing in the soil. It is preferably a yellow, gold, orange, rose, pink, red, violet, blue and / or metallically shiny dye. In a preferred embodiment, it is a fluorescent and / or phosphorescent dye that itself emits electromagnetic radiation (usually a different wavelength range) when irradiated with electromagnetic radiation of a defined wavelength range, and is thus easier to detect than a dye that does not emit electromagnetic radiation but merely reflects / scatters it.

[0050] The sub-area can be point-shaped. In such a case, the sub-area can only be specified by a position (e.g. in the form of geocoordinates) on the earth's surface. The sub-area can extend in one or more dimensions. Such an extension can run along the earth's surface or perpendicular to the earth's surface (e.g. towards the earth's center or away from the earth's center) or in another direction. The sub-area can be, for example, a straight line, a curve, a surface or a volume. If the sub-area extends in one or more dimensions, the sub-area can be specified not only by a position (e.g. in the form of geocoordinates) but also by the respective extension in the respective dimension.

[0051] Preferably, the partial region is point-shaped or planar. In the case of a planar partial region, the partial region preferably has the shape of a circle, an ellipse, a square, a rectangle, a parallelogram, a trapezoid, or a triangle. However, the partial region may also have a different shape.

[0052] If the at least one sub-area is a volume, this can, for example, be cuboid-shaped, cylindrical, pyramid-shaped, tetrahedral-shaped or spherical, or have the shape of an ellipsoid or another shape.

[0053] In addition to the marking on the digital action map, the sub-area can also be marked on the earth's surface. The sub-area can be marked, for example, by an object (e.g., a physical object) that at least partially fills and / or covers and / or overlaps the sub-area and / or that demarcates the sub-area from one or more surrounding sub-areas. The sub-area can be marked, for example, by a surveying pole, a traffic cone, or another position marker. The sub-area can be marked by a dye and / or a string.

[0054] In a preferred embodiment, the subarea is provided with one or more sensors. Such a sensor can be used to qualitatively and / or quantitatively detect the execution of a measure. Such a sensor can be, for example, a liquid sensor, a sensor for electromagnetic radiation, a temperature sensor, an acoustic sensor, a sensor for electrical voltage and / or electrical current and / or electric fields, a sensor for magnetic fields, a pH sensor, a sensor for specific substances in the air and / or in the soil and / or the like. Preferably, the at least one sensor is part of a sensor unit, which, in addition to the at least one sensor, comprises a power supply (e.g. in the form of an electrochemical cell, a solar cell, a fuel cell, a wind generator and / or a supercapacitor) and a transmitting unit for transmitting sensor data, preferably via radio (e.g.via a mobile network). The term sensor also includes indicators that indicate (make visible) a state and / or a change in state. Examples of such an indicator are a humidity indicator (see, for example, EP3177250A1), a pH indicator (see, for example, EP2452987A1), a light indicator (see, for example, DE4213493A1), and a temperature indicator (see, for example, EP0116584A1).

[0055] Preferably, a plurality of sub-areas are marked in the digital action map. The term "plurality" means more than one. Preferably, more than ten sub-areas are marked.

[0056] Preferably, subregions are selected according to a predefined method. The subregions can, for example, be distributed in the form of a pattern within the region. Such a pattern can, for example, be a triangular, square, or hexagonal grid. Such a pattern can also have the shape of concentric circles or a spiral shape. Preferably, the subregions are distributed within the region such that, for three randomly selected subregions, no two subregions are at the same distance from each other. However, it is also possible for the subregions to be selected arbitrarily and / or randomly.

[0057] The selection of at least one sub-area can be made in the action map and / or in the area of ​​the earth's surface represented by the action map. The selection of at least one sub-area can be made, for example, by a user of a computer system. The user can display the action map on a monitor of the computer system. Using input devices such as a keyboard, a computer mouse, a touch-sensitive surface, a microphone, a trackball, and / or the like, the user can draw the at least one sub-area in the action map. The computer system can also be configured to draw the at least one sub-area itself in the action map. The computer system can be configured to draw the at least one sub-area in the action map according to predetermined rules.A combination of the selection of the at least one sub-area by a user and by a computer system is also conceivable; for example, it is conceivable that the computer system generates a suggestion that the user can accept or change; it is also conceivable that the user specifies one or more sub-areas and the computer draws one or more further sub-areas based on the specified sub-area(s). For example, a computer system can be configured to distribute a specified number of sub-areas over an area of ​​the earth's surface in such a way that the positions of the sub-areas are evenly distributed over the area or each have a maximum distance from the positions of neighboring sub-areas.

[0058] If the selection of at least one sub-area is made in the area of ​​the Earth's surface represented by the action map, a person can define at least one sub-area on the Earth's surface arbitrarily or according to defined rules. To do so, they can locate the at least one sub-area and, with the help of a positioning system, determine and record the position of the sub-area. The position can then be transferred to the digital action map. They can also mark the sub-areas and / or identify them with one or more objects. It is also possible for the at least one sub-area to be defined or located by a processing machine, and for the position of the sub-area to be recorded using a positioning system.It is also possible that in a first step the at least one partial area is defined and marked on the earth's surface by a person or by a processing machine and / or marked with one or more objects. In a second step the at least one marked partial area can then be detected by a processing machine, preferably by an aircraft (e.g. a drone), and the position of the at least one partial area is determined. The determined position can be included in the measures map. The at least one measure that is to be carried out in the partial area by at least one processing machine is preferably the same measure(s) for all partial areas of the plurality of partial areas.

[0059] The at least one measure is carried out by the at least one processing machine. The target sub-area determines the location(s) on the earth's surface where the at least one measure is carried out. However, device parameters also influence the location(s) where the at least one measure is carried out.

[0060] The digital action map can contain one or more values ​​and / or value ranges for device parameters; however, it is also conceivable for the action map to not include any information on device parameters. Preferably, the digital action map contains at least one value for at least one device parameter.

[0061] In the event that the at least one measure comprises the application of a liquid, the device parameters may, for example, include the following information: number of nozzles from which the liquid emerges, distance between the nozzles, pressure in front of the nozzles, type of nozzles, height of the nozzles above the ground, angle of the liquid emerging from the direction of gravity, shape of the outlet, width of the outlet, quantity of the outlet, speed of the processing machine above the ground and / or the like.

[0062] In a further step, the digital action map is transmitted to at least one processing machine. The transmission can take place, for example, by the digital action map first being saved from the computer system on / with the help of which the digital action map was created onto a removable data storage device (e.g. a USB mass storage device, USB = Universal Serial Bus). The removable data storage device can then be connected to a control unit of the processing machine. However, it is also possible for the digital action map to be transmitted wirelessly (e.g. via a Bluetooth connection, a WLAN connection (WLAN = Wireless Local Area Network), a mobile phone connection, an infrared interface or via another wireless communication connection or via a combination of different communication connections) from the computer system to the control unit.

[0063] In a further step, the at least one processing machine carries out the at least one measure according to the measure card and based on at least one value of at least one device parameter.

[0064] Execution can be automated, i.e., without human intervention. Execution can also be semi-automated, i.e., there are actions that are performed by the processing machine without human intervention, and there are actions that require human intervention. Such partial automation can, for example, consist of a human controlling the processing machine through the area and, in doing so, controlling one or more target sub-areas. With the help of a positioning system, the position of the processing machine in the area is recorded and tracked. Upon reaching a target sub-area, the processing machine automatically executes one or more actions (measures). However, it is also conceivable for the processing machine to move autonomously through the area, autonomously controlling the target sub-area or sub-areas, and autonomously executing at least one measure upon reaching a target sub-area.

[0065] The execution of at least one measure by at least one processing machine leads to a result. The result comprises information about one or more effects of the at least one processing machine on one or more actual sub-areas as a result of the execution of at least one measure. At least one actual sub-area is therefore affected by the result. If, for example, the at least one measure comprises the application of a liquid in a target sub-area, the liquid wets an actual sub-area of ​​the earth's surface. It is also possible for the liquid to penetrate a defined depth into the earth's surface in the actual sub-area. If, for example, the at least one measure comprises the application of a solid in a target sub-area, the applied solid covers an actual sub-area of ​​the earth's surface.

[0066] If there are several target sub-areas, there is usually a corresponding actual sub-area for each target sub-area, which is affected by the effects of at least one measure that is to be carried out in the target sub-area according to the digital measure map.

[0067] Ideally, each actual sub-area corresponds to the corresponding target sub-area. In other words, ideally, at least one processing machine performs at least one action in each target sub-area exactly as intended.

[0068] However, deviations usually occur; not every actual sub-area usually corresponds to every corresponding target sub-area.

[0069] In a further step, one or more deviations are determined between the at least one actual sub-range and the at least one target sub-range.

[0070] For example, an actual sub-area may have a different size than the corresponding target sub-area; it may be smaller or larger, for example. An actual sub-area may have a different shape than the corresponding target sub-area. The position of an actual sub-area may not match the position of the corresponding target sub-area. An actual sub-area may have an extent in one or more directions that deviates from the corresponding extent of the corresponding target sub-area.

[0071] One or more deviations can be identified by analyzing which actual area of ​​the earth's surface is affected by the measure and whether the affected actual area corresponds to a target area. When a liquid is applied, for example, it is possible to determine which actual area is wetted by the liquid and / or how deep the liquid has penetrated. When a solid is applied, it is possible to determine which actual area is covered by the solid. The analysis can be made easier if the liquid or solid contains a dye, as described above, so that the wetted / covered area is easier to recognize: only the wetted / covered area is provided with dye. It is also possible, as described above, to arrange one or more sensors in and / or around the target area to provide information about the areas where the liquid has penetrated.The sub-area for which the analysis shows that it is affected by at least one measure is the actual sub-area. This actual sub-area is compared with the target sub-area, and one or more deviations between the actual sub-area and the target sub-area are determined with regard to their respective position, size, shape, and / or extent in one or more directions.

[0072] From the deviations, one or more device parameters can be determined whose value(s) must be changed in order to reduce the deviations, i.e., in an ideal case, to bring each actual sub-range into line with the corresponding target sub-range.

[0073] If the position of an actual sub-area does not match the position of the corresponding target sub-area, but has an offset, for example, then one or more values ​​of one or more device parameters of the position determination system of the processing machine can be changed.

[0074] If the actual sub-area is smaller or larger than the target sub-area and / or has a different shape, at least one value for at least one device parameter that influences the shape and / or size of the sub-area can be modified in order to reduce the deviations. For example, in the case of the application of a liquid, the number of nozzles, the pressure with which the liquid is dispensed, the speed of movement of the at least one processing machine, the time at which one or more valves are opened and / or closed and / or other values ​​of device parameters can be changed. The at least one modified value of the at least one device parameter can be stored in a data memory and / or included in a modified digital action map and / or transmitted to the at least one processing machine.

[0075] However, it is also possible to adapt (modify) the digital action map to reduce the deviations. If the position of at least one target sub-area does not match the position of at least one actual sub-area, the coordinates (position data) of at least one target sub-area in the digital action map can be replaced by the coordinates (position data) of at least one actual sub-area. The adapted (modified) digital action map can be stored in a data storage device and / or transmitted to the at least one processing machine.

[0076] The determination of modified values ​​of device parameters and / or a modified digital action card represents a calibration. After calibration, at least one further action can be carried out in the area. Based on the modified digital action card, a new action card can be created in which at least one action is recorded for at least one sub-area. The new action card can be transmitted to at least one processing machine. Based on the new digital action card and at least one modified value of at least one device parameter (if present in the modified action card), the processing machine can carry out at least one action recorded in the new digital action card.It can be checked whether the modification of the values ​​of the device parameters and / or the digital action cards leads to a reduced deviation of at least one actual sub-range from at least one target sub-range.

[0077] The invention is explained in more detail below with reference to drawings, without wishing to limit the invention to the features and combinations of features shown in the drawings.

[0078] Fig. 1 schematically shows an embodiment of the method according to the invention in the form of a flow chart. The method (100) comprises the following steps:

[0079] (HO) Creating a digital action map for an area of ​​the earth's surface, wherein at least one target sub-area is identified in the digital action map, wherein the target sub-area is identified by a position on the earth's surface as well as by a size and / or shape and / or extent in one or more directions, wherein at least one measure is recorded in the digital action map for the target sub-area, which measure is to be carried out in the target sub-area by at least one processing machine on the basis of at least one value for at least one device parameter,

[0080] (120) Transmission of the digital action map to at least one processing machine,

[0081] (130) Receiving a result, wherein the result comprises at least one actual sub-area, wherein the at least one actual sub-area indicates in which sub-area / sub-areas of the earth's surface the at least one measure was carried out by the at least one processing machine, wherein the at least one actual sub-area is characterized by a position on the earth's surface and a size and / or shape and / or extent in one or more directions, wherein the result was determined by means of one or more sensors, wherein the one or more sensors detect / detect one or more effects of the processing machine as a result of the execution of the at least one measure on the at least one actual sub-area of ​​the earth's surface,

[0082] (140) Determining a deviation between the at least one actual sub-area and the at least one desired sub-area with respect to the respective position as well as size and / or shape and / or extent in one or more directions, (150) Modifying the at least one value of the at least one device parameter with respect to a reduced deviation and / or modifying the digital action map with respect to a reduced deviation.

[0083] In one embodiment, the method (100) comprises a further step (160) following step (150):

[0084] (160) Storing the at least one modified value of the at least one device parameter and / or the modified digital action map and / or incorporating the at least one modified value of the at least one device parameter into the modified digital action map and / or transmitting the at least one modified value and / or the modified digital action map to the at least one processing machine.

[0085] The method (100) can be executed entirely by a computer system (for example, the computer system according to the invention). In one embodiment, the method (100) is thus a computer-implemented method. It is conceivable that a computer program comprises instructions to a computer system that cause the computer system to execute steps (100) to (160) of the method (100).

[0086] However, the method according to the invention may also include steps that cannot be performed by a computer system. Fig. 2 shows an example in the form of a flowchart. The method (200) shown in Fig. 2 comprises the steps:

[0087] (210) Creating a digital action map for an area of ​​the earth's surface, wherein at least one target sub-area is identified in the digital action map, wherein the target sub-area is identified by a position on the earth's surface and by a size and / or shape and / or extent in one or more directions, wherein at least one measure is recorded in the digital action map for the target sub-area, which measure is to be carried out in the target sub-area by at least one processing machine on the basis of at least one value for at least one device parameter,

[0088] (220) Carrying out the at least one measure by means of the at least one processing machine according to the digital measure map,

[0089] (230) Determining a result of the at least one measure in at least one actual area, wherein the at least one actual sub-area indicates in which sub-area / sub-areas of the earth's surface the at least one measure was carried out by the at least one processing machine, wherein the at least one actual sub-area is characterized by a size and / or shape and / or extent in one or more directions, wherein the result is determined by means of one or more sensors, wherein the one or more sensors detect / detect one or more effects of the processing machine as a result of the execution of the at least one measure on the at least one actual sub-area of ​​the earth's surface,

[0090] (240) Determining a deviation between the at least one actual sub-area and the at least one desired sub-area with respect to the respective position as well as size and / or shape and / or extent in one or more directions,

[0091] (250) Modifying the at least one value of the at least one device parameter with a view to a reduced deviation and / or modifying the digital action map with a view to a reduced deviation. Fig. 3 schematically shows a further embodiment of the method according to the invention in the form of a flow chart. The method (300) shown in Fig. 3 comprises the following steps:

[0092] (310) Identification of a plurality of sub-areas of the Earth’s surface,

[0093] (320) Detecting the positions of the designated sub-areas on the Earth's surface, preferably by means of an unmanned aerial vehicle,

[0094] (330) Creating a digital action map, wherein in the digital action map the marked sub-areas are marked as target sub-areas, wherein in the digital action map each target sub-area is marked by a recorded position on the earth's surface and by a size and / or shape and / or extent in one or more directions, wherein for each target sub-area at least one measure is recorded which is to be carried out in the target sub-area by at least one processing machine on the basis of at least one value for at least one device parameter,

[0095] (340) transmitting the digital action map to the at least one processing machine and / or executing the at least one action by means of the at least one processing machine in accordance with the digital action map,

[0096] (350) Receiving and / or determining a result of the at least one measure in at least one actual area, wherein the at least one actual sub-area indicates in which sub-area / sub-areas of the earth's surface the at least one measure was carried out by the at least one processing machine, wherein the at least one actual sub-area is characterized by a size and / or shape and / or extent in one or more directions, wherein the result is determined by means of one or more sensors, wherein the one or more sensors detect / detect one or more effects of the processing machine as a result of the execution of the at least one measure on the at least one actual sub-area of ​​the earth's surface,

[0097] (360) Determining deviations between the actual sub-areas and the target sub-areas with regard to the respective position and size and / or shape and / or extent in one or more directions,

[0098] (370) modifying the at least one value of the at least one device parameter with a view to reduced deviations and / or modifying the digital action map with a view to reduced deviations,

[0099] (380) Storing the at least one modified value of the at least one device parameter and / or the modified digital action map and / or incorporating the at least one modified value of the at least one device parameter into the modified digital action map and / or transmitting the at least one modified value and / or the modified digital action map to the at least one processing machine.

[0100] The step (320) “Detecting positions of the marked sub-areas” can be carried out, for example, with the aid of an unmanned aerial vehicle that moves autonomously over the area and detects the markings with the aid of one or more cameras and detects position data (e.g., geocoordinates) for the markings with the aid of a positioning system. The position data determined by the unmanned aerial vehicle for the sub-areas identified by means of the markings can be used to create the digital action map. The at least one action can be, for example, the application of a liquid, a solid, or a suspension. The liquid can be, for example, water or an aqueous solution of a dye. The suspension and / or the solid can comprise a dye.

[0101] The “determination of a result” in step (360) can, for example, comprise identifying partial areas wetted with liquids and / or the depth of a liquid that has penetrated the earth’s surface or partial areas covered by solids. The liquid and / or solids can, for example, be detected by means of one or more sensors in the partial areas. If an indicator is applied to the partial areas, the wetted / covered partial area can be detected, for example, by a color change. If the applied liquid / solid contains a dye, the wetted partial areas can be detected by the dye present there. A result that is expressed in visible features (e.g., dye, color change) can be recorded automatically, e.g., with the help of one or more cameras.It is possible for the result to be captured by the unmanned aerial vehicle preferably used in step (320). After the at least one measure has been carried out by the at least one processing machine, the unmanned aerial vehicle can move over the area again and automatically capture the sub-areas affected by the at least one measure.

[0102] To detect labeled areas and / or areas depicted in a camera image that are affected by a measure, machine learning models can be used that have been trained on a large number of training images to learn labels and / or the effects of measures. Details can be found in the numerous publications on object recognition in images (see, for example, J. Brownlee: Deep Learning for Computer Vision, Machine Learning Mastery, 2020).

[0103] Further embodiments of the present invention are:

[0104] (1) A method comprising the steps of:

[0105] Creating a digital action map for an area, wherein at least one target sub-area is identified in the digital action map, wherein at least one measure is recorded in the digital action map for the target sub-area, which is to be carried out in the target sub-area by at least one processing machine on the basis of device parameters,

[0106] Transmitting the digital action map to the at least one processing machine, receiving a result, wherein the result comprises an actual sub-area, wherein the actual sub-area indicates in which sub-area the at least one action was carried out by the at least one processing machine,

[0107] Determining a deviation between the actual sub-range and the target sub-range, modifying the device parameters with a view to reducing the deviation and / or modifying the digital action map with a view to reducing the deviation.

[0108] (2) The method according to embodiment (1), further comprising the steps of:

[0109] Identify a number of sub-areas of the Earth’s surface,

[0110] Collecting position data of the marked areas, preferably using an unmanned aerial vehicle,

[0111] Creation of the digital action map, whereby the marked sub-areas are marked as target sub-areas in the digital action map.

[0112] (3) The method according to any one of embodiments (1) or (2), further comprising the steps:

[0113] Execution of the measures recorded in the digital measure map by the at least one processing machine, recording a result, wherein the result comprises a plurality of actual sub-areas, wherein the actual sub-areas indicate in which sub-areas the at least one measure was executed by the at least one processing machine.

[0114] (4) The method according to any one of embodiments (1) to (3), further comprising the step:

[0115] Saving the modified device parameters and / or the modified digital action map.

[0116] (5) The method according to any one of embodiments (1) to (4), further comprising the steps of:

[0117] Creating a new digital action map, wherein the new digital action map lists at least one measure for at least one sub-area that is to be carried out in the at least one sub-area by the at least one processing machine on the basis of the modified device parameters,

[0118] Transmitting the new digital action map to at least one processing machine,

[0119] Execution of the measures recorded in the new digital action map by at least one processing machine based on the modified device parameters.

[0120] (6) The method according to any one of embodiments (1) to (5), further comprising the steps:

[0121] Arranging one or more sensors in the marked sub-area, recording the result using the one or more sensors.

[0122] (7) The method according to any one of embodiments (1) to (6), wherein the area is a field for growing crops.

[0123] (8) The method according to any one of embodiments (1) to (7), wherein the at least one measure comprises the application of a liquid in the at least one target sub-area.

[0124] (9) A system comprising

[0125] • a control and calculation unit,

[0126] • a transmitting and receiving unit and

[0127] • a data memory, wherein the control and calculation unit is configured to: create a digital action map for an area, wherein at least one target sub-area is identified in the digital action map, wherein at least one measure is recorded in the digital action map for the target sub-area, which is to be carried out in the target sub-area by at least one processing machine on the basis of device parameters, to cause the transmitting and receiving unit to transmit the digital action map to the at least one processing machine, to cause the transmitting and receiving unit to receive a result, wherein the result comprises an actual sub-area, wherein the actual sub-area indicates in which sub-area the at least one measure was carried out by the at least one processing machine, to determine a deviation between the actual sub-area and the target sub-area,to modify the device parameters with a view to a reduced deviation and / or to modify the digital action map with a view to a reduced deviation, to store the modified device parameters and / or the modified digital action map in the data memory.,

[0128] (10) The system according to embodiment (9), further comprising • a processing machine, wherein the processing machine is preferably a machine for spreading seeds, crop protection agents, plant nutrients and / or water.

[0129] (11) The system according to embodiment (9) or (10), further comprising

[0130] • an unmanned aerial vehicle comprising a camera and a positioning system, wherein the unmanned aerial vehicle is configured to move over the area and o to capture markings of sub-areas and to determine position data for the markings, and / or o to capture the result of the at least one measure in the area.

[0131] (12) A computer program product comprising a data memory, wherein the data memory comprises a computer program that can be loaded into a working memory of a computer system and causes the computer system to perform the following steps:

[0132] Creating a digital action map for an area, wherein at least one target sub-area is identified in the digital action map, wherein at least one measure is recorded in the digital action map for the target sub-area, which is to be carried out in the target sub-area by at least one processing machine on the basis of device parameters,

[0133] Transmitting the digital action map to the at least one processing machine, receiving a result, wherein the result comprises an actual sub-area, wherein the actual sub-area indicates in which sub-area the at least one action was carried out by the at least one processing machine,

[0134] Determining a deviation between the actual sub-range and the target sub-range,

[0135] Modifying the device parameters with a view to a reduced deviation and / or modifying the digital action map with a view to a reduced deviation, storing the modified device parameters and / or the modified digital action map in a data storage device.

[0136] The present invention may be implemented in whole or in part using one or more computer systems. A "computer system" is an electronic data processing device that processes data using programmable computing instructions. Such a system typically includes a "computer," the unit that includes a processor for performing logical operations, and peripherals.

[0137] In computer technology, "peripherals" refers to all devices connected to a computer that serve to control the computer and / or act as input and output devices. Examples include monitors, printers, scanners, mice, keyboards, drives, cameras, microphones, speakers, etc. Internal connectors and expansion cards are also considered peripherals in computer technology.

[0138] Today's computer systems are often divided into desktop PCs, portable PCs, laptops, notebooks, netbooks and tablet PCs and so-called handhelds (e.g., smartphones); all of these systems can be used to implement the invention.

[0139] Inputs into the computer are made via input devices such as a keyboard, a mouse, a touch-sensitive screen (touch display), a microphone and / or the like.

[0140] Output is typically provided via a screen, a printer, a loudspeaker and / or storage in a data storage device.

[0141] Fig. 4 shows an exemplary and schematic representation of a computer system according to the present invention. The computer system (10) shown in Fig. 4 comprises a transmitting and receiving unit (11), a control and calculation unit (12), and an output unit (13).

[0142] The control and calculation unit (12) serves to control the computer system (10), to coordinate the data flows between the units of the computer system (10) and to carry out calculations.

[0143] The control and calculation unit (12) is configured (for example, by means of the computer program according to the invention): to create a digital action map for an area of ​​the earth's surface, wherein at least one target sub-area is identified in the digital action map, wherein the target sub-area is identified by a position on the earth's surface as well as by a size and / or shape and / or extent in one or more directions, wherein at least one action is recorded in the digital action map for the target sub-area, which action is to be carried out in the target sub-area by at least one processing machine based on at least one value of at least one device parameter, to cause the transmitting and receiving unit (11) to transmit the digital action map to the at least one processing machine, to cause the transmitting and receiving unit (11) to receive a result,wherein the result comprises at least one actual sub-area, wherein the at least one actual sub-area indicates in which sub-area / sub-areas of the earth's surface the at least one measure was carried out by the at least one processing machine, wherein the at least one actual sub-area is characterized by a position on the earth's surface as well as a size and / or shape and / or extent in one or more directions, wherein the result was determined by means of one or more sensors, wherein the one or more sensors detect / detect one or more effects of the processing machine as a result of the execution of the at least one measure on the at least one actual sub-area of ​​the earth's surface, to determine a deviation between the actual sub-area and the target sub-area,to modify the at least one value of the at least one device parameter with a view to a reduced deviation and / or to modify the digital action map with a view to a reduced deviation and to cause the output unit (13) to include the at least one modified value of the at least one device parameter in the modified digital action map and / or to store the at least one modified value of the at least one device parameter and / or the modified digital action map in the data memory and / or to cause the transmitting and receiving unit (11) to transmit the at least one modified value of the at least one device parameter and / or the modified digital action map to the at least one processing machine.

[0144] Fig. 5 shows schematically a further embodiment of the computer system (10) according to the invention.

[0145] The computer system (10) shown in Fig. 5 comprises a processing unit (14) connected to a memory (15). The processing unit (14) and the memory (15) form a control and calculation unit (12), as shown in Fig. 4.

[0146] The processing unit (14) may comprise one or more processors alone or in combination with one or more memories (15). The processing unit (14) may be conventional computer hardware capable of processing information such as a digital action map, position data, sensor data, digital image recordings, computer programs, and / or other digital information. The processing unit (14) typically consists of an arrangement of electronic circuits, some of which may be embodied as an integrated circuit or as multiple interconnected integrated circuits (an integrated circuit is sometimes referred to as a "chip"). The processing unit (14) may be configured to execute computer programs that may be stored in a main memory of the processing unit (14) or in the memory (15) of the same or another computer system.

[0147] The memory (15) may be ordinary computer hardware capable of storing information such as values ​​for device parameters, digital action maps, sensor data, position data, digital image recordings, computer programs and / or other digital information either temporarily and / or permanently. The memory (15) may comprise volatile and / or non-volatile memory and may be permanently installed or removable. Examples of suitable memories are RAM (Random Access Memory), ROM (Read-Only Memory), a hard disk, flash memory, a removable computer diskette, an optical disc, magnetic tape or a combination of the above. Optical discs may include read-only compact discs (CD-ROM), read / write compact discs (CD-R / W), DVDs, Blu-ray discs and the like.

[0148] In addition to the memory (15), the processing unit (14) can also be connected to one or more interfaces (11, 13, 17, 18, 19) for displaying, transmitting, and / or receiving information. The interfaces can comprise one or more communication interfaces (11, 18) and / or one or more user interfaces (13, 17, 19). The one or more communication interfaces (11, 18) can be configured to send and / or receive information, e.g., to and / or from a camera, sensors, other computers, networks, data storage devices, or the like. The one or more communication interfaces (11, 18) can be configured to transmit and / or receive information via physical (wired) and / or wireless communication connections. The one or more communication interfaces (11, 18) can include one or more interfaces for connecting to a network, e.g.,using technologies such as cellular, Wi-Fi, satellite, cable, DSL, fiber optic, and / or the like. In some examples, the one or more communication interfaces (11, 18) may include one or more short-range communication interfaces configured to connect devices using short-range communication technologies such as NFC, RFID, Bluetooth, Bluetooth LE, ZigBee, infrared (e.g., IrDA), or the like.

[0149] The user interfaces (13, 17, 19) may comprise an output unit (13). An output unit (13) may be configured to display information to a user. Suitable examples include a liquid crystal display (LCD), a light-emitting diode display (LED), a plasma display (PDP), a printer, or the like. The user input interface(s) (13, 17, 19) may be wired or wireless and may be configured to receive information from a user into the computer system (10), e.g., for processing, storage, and / or display. Suitable examples of user input interfaces (17) include a microphone, an image or video capture device (e.g., a camera), a keyboard or keypad, a joystick, a touch-sensitive surface (separate from or integrated with a touchscreen), or the like.In some examples, the user interfaces (13, 17, 19) may include automatic identification and data capture technology (19) for machine-readable information. This may include barcodes, radio frequency identification (RFID), magnetic stripes, optical character recognition (OCR), integrated circuit cards (ICC), and the like. The user interfaces (13, 17, 19) may further include one or more interfaces for communicating with peripheral devices such as printers and the like.

[0150] One or more computer programs (16) can be stored in the memory (15) and executed by the processing unit (14), which is thereby programmed to perform the functions described in this description. The retrieval, loading, and execution of instructions of the computer program (16) can occur sequentially, so that one command at a time is retrieved, loaded, and executed. However, the retrieval, loading, and / or execution can also occur in parallel. Fig. 6 shows an exemplary and schematic illustration of the interaction of the computer system according to the invention with a processing machine and a sensor.

[0151] Fig. 6 shows an area (60) of the Earth's surface. A processing machine (63) moves across the area (60). The processing machine (63) is designed as an unmanned aerial vehicle (drone).

[0152] The processing machine (63) is equipped with means (64) for dispensing one or more substances.

[0153] The processing machine (63) further comprises a receiving unit (65) via which the processing machine (63) can receive a digital action map (70) from the computer system (10) according to the invention.

[0154] In the example shown in Fig. 6, the computer system (10) according to the invention and the receiving unit (65) of the processing machine (63) are connected to each other via a network (69).

[0155] The receiving unit (65) of the processing machine (63) receives data (e.g., the digital action map) via a radio connection (e.g., via a mobile radio connection). The computer system (10) according to the invention can be connected to the network (69) via a cable connection and / or radio connection.

[0156] The digital action map (70) is a digital representation of the area (60) of the Earth's surface. Target sub-areas (61) are marked in the digital action map (70). Each target sub-area is characterized by a position on the Earth's surface as well as by a size and / or shape and / or extent in one or more directions. In the present example, the target sub-areas (61) have the shape of an ellipse. The geocoordinates of the geometric center of gravity of the ellipse can be used as the position of a target sub-area.

[0157] The digital action map (70) lists at least one action for each target sub-area (61) that is to be carried out in the target sub-area (61) by the processing machine (63) based on device parameters (not explicitly shown in Fig. 6). In the present example, the at least one action is the application of one or more substances using the means (64) for applying one or more substances.

[0158] The processing machine (63) carries out the at least one measure according to the information in the digital measure map (70). The result of the execution of the at least one measure comprises actual sub-areas (62) in the area (60) of the earth's surface that have been treated with one or more substances. The actual sub-areas (62) do not correspond to the target sub-areas (61). Deviations exist. Although the actual sub-areas (62) also have the shape of an ellipse, the geometric centers of gravity (the positions) do not correspond, and the dimensions in the x-direction and y-direction do not match.

[0159] The result of the execution of the at least one measure by the processing machine (63) is recorded with the aid of a sensor (67). In the present example, the sensor (67) is a camera which is attached to an unmanned aerial vehicle (66). In the present example, the sensor (67) moves over the area (60) of the earth's surface and creates images of the actual partial areas (62). However, it is also conceivable for one or more sensors to be stationed in or above the area (60). The actual partial areas (62) can be recognized in the images, for example, by the fact that the actual partial areas (62) reflect electromagnetic radiation (e.g. sunlight) differently than surrounding areas which have not been treated with the one or more substances as a result of being wetted or covered with the one or more substances.the one or more substances comprise a dye that absorbs part of the sunlight, resulting in the radiation reflected by the dye having a characteristic spectrum by which the dye and thus the actual partial areas covered with dye can be identified. Optionally, the one or more substances comprise a fluorescent and / or phosphorescent dye which, when excited with electromagnetic radiation of a defined wavelength range, is excited to emit electromagnetic radiation with a characteristic spectrum by means of which the dye and thus the actual partial areas covered with dye can be identified. The aircraft (66) can be equipped with a source of electromagnetic radiation, the radiation of which leads, for example, to the excitation of a fluorescent and / or phosphorescent dye.

[0160] The unmanned aircraft (66) further comprises a transmission unit (66) with which the unmanned aircraft (66) can transmit images of the actual sub-areas (62) captured by the camera (67) via the network (69) to the computer system (10) according to the invention.

[0161] The computer system (10) according to the invention can be configured to determine deviations of the actual sub-areas (62) from the target sub-areas (61), for example by superimposing the image recording(s) of the actual sub-areas (62) with the digital action map (70).

[0162] The computer system (10) according to the invention can be configured to modify values ​​of the device parameters of the processing machine (63) such that the deviations of the actual sub-ranges (62) from the target sub-ranges (61) are reduced and / or minimized and / or eliminated.

[0163] The computer system (10) according to the invention can be configured to modify the digital action map (70) such that the deviations of the actual sub-areas (62) from the target sub-areas (61) are reduced and / or minimized and / or eliminated.

[0164] The computer system (10) according to the invention can be configured to store the modified device parameters and / or the modified digital action map in a data memory and / or to transmit them to the processing machine (63) via the network (69).

Claims

Patent claims 1. Comprehensive procedure: Creating a digital action map for an area of ​​the Earth's surface, wherein at least one target sub-area is identified in the digital action map, wherein the target sub-area is characterized by a position on the Earth's surface as well as by a size and / or shape and / or extent in one or more directions, wherein at least one action is recorded in the digital action map for the target sub-area, which is to be carried out in the target sub-area by at least one processing machine based on at least one value of at least one device parameter, Transmitting the digital action map to at least one processing machine and / or executing at least one action according to the digital action map using at least one processing machine, Receiving and / or determining a result, wherein the result comprises at least one actual sub-area, wherein the at least one actual sub-area indicates in which sub-area(s) of the earth's surface the at least one action was carried out by the at least one processing machine, wherein the at least one actual sub-area is characterized by a position on the earth's surface as well as by a size and / or shape and / or extent in one or more directions, wherein the result was / is determined by means of one or more sensors, wherein the one or more sensors detect / detect one or more effects of the processing machine as a result of carrying out the at least one action on the at least one actual sub-area of ​​the earth's surface. Determining a deviation between at least one actual sub-area and at least one target sub-area, Modifying at least one value of at least one device parameter with regard to a reduced deviation and / or modifying the digital action map with regard to a reduced deviation.

2. The method according to claim 1, comprising Creating a digital action map for an area of ​​the Earth's surface, wherein at least one target sub-area is identified in the digital action map, wherein the target sub-area is characterized by a position on the Earth's surface as well as by a size and / or shape and / or extent in one or more directions, wherein at least one action is recorded in the digital action map for the target sub-area, which is to be carried out in the target sub-area by at least one processing machine based on at least one value of at least one device parameter, Transmitting the digital action map to at least one processing machine, Receiving a result, wherein the result comprises at least one actual sub-area, wherein the at least one actual sub-area indicates in which sub-area(s) of the earth's surface the at least one measure was carried out by the at least one processing machine, wherein the at least one actual sub-area is characterized by a position on the earth's surface as well as by a size and / or shape and / or extent in one or more directions, wherein the result was determined by means of one or more sensors, wherein the one or more sensors are one or several effects of the processing machine resulting from the execution of at least one measure on at least one actual sub-area of ​​the earth's surface are recorded / recorded, Determining a deviation between at least one actual sub-area and at least one target sub-area, Modifying at least one value of at least one device parameter with regard to a reduced deviation and / or modifying the digital action map with regard to a reduced deviation, characterized in that all steps of the procedure are carried out by a computer system.

3. Method according to claim 1, comprising Creating a digital action map for an area of ​​the Earth's surface, wherein at least one target sub-area is identified in the digital action map, wherein the target sub-area is characterized by a position on the Earth's surface as well as by a size and / or shape and / or extent in one or more directions, wherein at least one action is recorded in the digital action map for the target sub-area, which is to be carried out in the target sub-area by at least one processing machine based on at least one value of at least one device parameter, Execution of at least one measure according to the digital action map using at least one processing machine, Determining a result, wherein the result comprises at least one actual sub-area, wherein the at least one actual sub-area indicates in which sub-area(s) of the earth's surface the at least one action was carried out by the at least one processing machine, wherein the at least one actual sub-area is characterized by a position on the earth's surface as well as by a size and / or shape and / or extent in one or more directions, wherein the result is determined by means of one or more sensors, wherein the one or more sensors detect(s) one or more effects of the processing machine as a result of carrying out the at least one action on the at least one actual sub-area of ​​the earth's surface. Determining a deviation between at least one actual sub-area and at least one target sub-area, Modifying at least one value of at least one device parameter with regard to a reduced deviation and / or modifying the digital action map with regard to a reduced deviation.

4. A method according to any one of claims 1 to 3 further comprising: Storing the at least one modified value of the at least one device parameter and / or the modified digital action map and / or recording the at least one modified value of the at least one device parameter into the modified digital action map and / or transmitting the at least one modified value and / or the modified digital action map to the at least one processing machine.

5. Method according to any one of claims 1 to 4, further comprising: Creating a new digital action map, wherein the new digital action map includes at least one action for at least one sub-area, which is included in the at least one sub-area is to be executed by the at least one processing machine based on the at least one modified value of the at least one device parameter, Transmit the new digital action plan to at least one processing machine, Exports of the measures recorded in the new digital measures map by at least one processing machine based on at least one modified value of at least one device parameter.

6. Method according to any one of claims 2 to 5, further comprising: Arranging one or more sensors in and / or on and / or above the at least one target sub-area, Capturing the result using one or more arranged sensors.

7. Method according to any one of claims 1 to 6, wherein the area is a field for the cultivation of crops.

8. Method according to any one of claims 1 to 7, wherein the at least one measure comprises the application of a liquid, a suspension and / or a solid in the at least one target sub-area.

9. The method according to claim 8, wherein the liquid, suspension and / or solid comprises a dye.

10. Method according to any one of claims 1 to 9, wherein the one or more sensors comprise one or more cameras configured to produce one or more image recordings of the at least one actual sub-area.

11. Method according to claim 10, wherein determining a deviation between the at least one actual sub-area and the at least one target sub-area comprises: Overlaying one or more images with the digital action map.

12. Method according to any one of claims 1 to 11, comprising: Marking a plurality of sub-areas of the Earth's surface, Determining the positions of the marked sub-areas on the Earth's surface, preferably using an unmanned aerial vehicle, Creating a digital action map, wherein the marked sub-areas in the digital action map are designated as target sub-areas, wherein in the digital action map each target sub-area is characterized by a recorded position on the earth's surface as well as by a size and / or shape and / or extent in one or more directions, wherein for each target sub-area at least one action is recorded which is to be carried out in the target sub-area by at least one processing machine based on at least one value for at least one device parameter, Transmitting the digital action map to at least one processing machine and / or executing at least one action using at least one processing machine in accordance with the digital action map, Receiving and / or determining a result of at least one measure in at least one actual area, wherein the at least one actual sub-area specifies in which sub-area / in which sub-areas of the earth's surface the at least one measure was carried out by the at least one processing machine, wherein the at least one actual sub-area is characterized by a size and / or shape and / or extent in one or more directions, wherein the result is determined by means of one or more sensors, wherein the one or more sensors detect one or more effects of the processing machine as a result of the execution of the at least one measure on the at least one actual sub-area of ​​the earth's surface, Determining deviations between the actual sub-areas and the target sub-areas with regard to the respective position as well as size and / or shape and / or extent in one or more directions, Modifying at least one value of at least one device parameter with regard to reduced deviations and / or modifying the digital action map with regard to reduced deviations, Storing the at least one modified value of the at least one device parameter and / or the modified digital action map and / or recording the at least one modified value of the at least one device parameter into the modified digital action map and / or transmitting the at least one modified value and / or the modified digital action map to the at least one processing machine.

13. Computer system comprehensive • a control and calculation unit, • a transmitting and receiving unit and • a data storage device, wherein the control and calculation unit is configured to: create a digital action map for an area of ​​the Earth's surface, wherein at least one target sub-area is identified in the digital action map, wherein the target sub-area is characterized by a position on the Earth's surface as well as by a size and / or shape and / or extent in one or more directions, wherein at least one action is recorded in the digital action map for the target sub-area, which is to be carried out in the target sub-area by at least one processing machine based on at least one value of at least one device parameter, cause the sending and receiving unit to transmit the digital action map to the at least one processing machine, cause the sending and receiving unit to receive a result, wherein the result comprises at least one actual sub-area,wherein the at least one actual sub-area indicates in which sub-area(s) of the earth's surface the at least one measure was carried out by the at least one processing machine, wherein the at least one actual sub-area is characterized by a position on the earth's surface as well as a size and / or shape and / or extent in one or more directions, wherein the result was determined by means of one or more sensors, wherein the one or more sensors detect(s) one or more effects of the processing machine as a result of the execution of the at least one measure on the at least one actual sub-area of ​​the earth's surface, to determine a deviation between the actual sub-area and the target sub-area, to modify at least one value of at least one device parameter with regard to a reduced deviation and / or to modify the digital action map with regard to a reduced deviation, to include at least one modified value of at least one device parameter in the modified action map and / or to store at least one modified value of at least one device parameter and / or the modified digital action map in the data storage and / or to transmit at least one modified value of at least one device parameter and / or the modified digital action map to the at least one processing machine.

14. Computer system according to claim 13, wherein the computer system comprises means for executing the method according to claims 2 and / or 4.

15. Computer program product comprising a data storage device, wherein the data storage device comprises a computer program that can be loaded into the main memory of a computer system and causes the computer system to perform the following steps: Creating a digital action map for an area of ​​the Earth's surface, wherein at least one target sub-area is identified in the digital action map, wherein the target sub-area is characterized by a position on the Earth's surface as well as by a size and / or shape and / or extent in one or more directions, wherein at least one action is recorded in the digital action map for the target sub-area, which is to be carried out in the target sub-area by at least one processing machine based on at least one value of at least one device parameter, Transmitting the digital action map to at least one processing machine, Receiving a result, wherein the result comprises at least one actual sub-area, wherein the at least one actual sub-area indicates in which sub-area(s) of the earth's surface the at least one action was carried out by the at least one processing machine, wherein the at least one actual sub-area is characterized by a position on the earth's surface as well as by a size and / or shape and / or extent in one or more directions, wherein the result was determined by means of one or more sensors, wherein the one or more sensors detect(s) one or more effects of the processing machine as a result of carrying out the at least one action on the at least one actual sub-area of ​​the earth's surface. Determining a deviation between the actual sub-area and the target sub-area, Modifying at least one value of at least one device parameter with regard to a reduced deviation and / or modifying the digital action map with regard to a reduced deviation, Storing the at least one modified value of the at least one device parameter and / or the modified digital action map in a data storage device and / or recording the at least one modified value of the at least one device parameter into the modified action map and / or transmitting the at least one modified value of the at least one device parameter and / or the modified digital action map to the at least one processing machine. system comprehensive • a computer system according to one of claims 13 or 14 and • one or more sensors for detecting one or more effects of at least one processing machine as a result of carrying out at least one measure on at least one actual sub-area of ​​the earth's surface, wherein the one or more sensors comprise one or more cameras, and • Optionally, at least one processing machine.

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