Ground seeding system

Abstract

The invention relates to a ground seeding system (1), having a flying device (2), a seedpod launching device (10), a control device (20) for controlling the flying device and for communicating with a ground station (200), a sensor device (30) for sensing surroundings data and other data for a seeding position (SP) and / or flight path (FP) defined by a launched seedpod, and a target device (40) designed to determine a probability of a target seeding area (SA) being hit, and at least one launch configuration, in each case depending on the data, wherein the target device is furthermore designed, depending on a comparison of the probability with a limit probability: - to give the control device a control command in order to put the flying device into a first launch configuration, - to give the control device a further control command in order to put the flying device into a further launch configuration to increase the probability, and - to give the seed launch device (10) a launch command in order to launch a seedpod.

Description

[0001] Soil insemination system

[0002] The invention relates to a soil insemination system for inseminating soil from the air and using an aircraft and a ground station. The soil insemination system comprises a seed launching device for launching a seed pod containing a seed from the aircraft and / or from the air to inseminate the soil, a control device, a sensor device, and a targeting device. The invention further relates to a method for inseminating soil from the air, in which a soil insemination system is provided.

[0003] Currently, forests are dying at a rapid rate, and planting trees to offset these losses is difficult and expensive. This is especially true in protected forests where the soil cannot be worked with heavy machinery. Aerial seeding, or sowing of seeds, eliminates the need for heavy machinery and significantly reduces the labor required to reforest forest areas.

[0004] One well-known technique is to drop seed-containing balls or cubes onto the ground so they land on the surface and germinate. This involves using either a wide-area spray or single-trigger mechanism in a pattern. These features are found in devices from several companies. Unfortunately, some seeds are very difficult to obtain and can be quite expensive, so indiscriminately spraying seeds onto the ground without soil preparation, which is not possible in protected forests, will not work. Simply scattering the seeds onto the ground is also not an optimal technique, as the seeds do not develop robustly but instead have short root systems or other vulnerabilities, resulting in weaker forests.

[0005] DE 10 2021 116 515 A1 describes a soil insemination system, in particular a controlled aircraft for inseminating soil by dropping seeds or seed pellets into a predetermined target area. US 11 083 129 B2 describes a soil insemination system, in particular an aircraft for inseminating soil, which has a rotating drum for distributing seeds.

[0006] One aim of the invention is to optimize tree strength while efficiently using seed stock to reduce waste and increase coverage with a limited number of seeds.

[0007] Another object of the invention is to sow seeds, in particular tree seeds, from the aircraft with high reliability and accuracy.

[0008] The problem is solved in particular by the features of the independent claims. Preferred embodiments are specified in the subclaims and in the description, each of which, individually or in combination, may represent an aspect of the invention.

[0009] A ground insemination system is proposed for inseminating soil from the air in a target insemination area, using an aircraft and a ground station. The ground insemination system comprises:

[0010] - a seed launching device for launching a seed pod containing a seed from the aircraft to inseminate the soil with the seed pod,

[0011] - a control device for controlling the aircraft and communicating with the ground station, and

[0012] - a sensor device for collecting data on environmental conditions and further data on an insemination position and / or trajectory defined by a discharged semen pod, and

[0013] - a targeting device configured to determine a probability of the target insemination area being hit by the semen pod and at least one launch configuration of the aircraft (2), each at least indirectly dependent on the data from the sensor device. According to the proposal, the targeting device is configured to determine, depending on a comparison of the probability with a limiting probability:

[0014] - to give the control device a control command to place the aircraft in a first launch configuration,

[0015] - to give the control device a further control command to place the aircraft into a further launch configuration to increase the probability, and

[0016] - to give the seed launching device a firing command to fire a seed pod.

[0017] In other words, a system is proposed that comprises an aircraft such as a drone and a ground station for the drone. Typically, a device for firing seeds into seed pods is provided on the aircraft. Furthermore, the aircraft comprises a device for controlling the aircraft, i.e., in particular, for steering and / or commanding, and for establishing a wireless connection, in particular, with the ground station. In addition, the aircraft comprises sensors for detecting environmental conditions and information regarding the landing location of a fired seed pod or its trajectory. Furthermore, a targeting device is provided that can determine a hit probability based on data from the sensors.The aiming device can compare the hit probability with a predetermined probability in order to take measures based on this comparison to increase the hit probability, namely by adopting the firing configuration with the aircraft. The firing configuration can be approached locally ("steer to the firing configuration") and / or adopted by aligning or moving the aircraft ("place into the firing configuration"). To increase the hit probability, for example, the aircraft can be steered to a location with a higher hit probability and / or a firing command can be given and / or a setting of the aircraft or the seed firing device can be changed. The invention can implement targeted, high-precision direct sowing. Because the invention enables the target insemination areas orBecause target areas can be reliably hit with seeds, the amount of wasted seed is significantly reduced. The sowing method also anchors seeds in the soil, leading to more natural germination and producing stronger seedlings that are well adapted to the environment. The combination of these advantages results in highly efficient use of seeds. Advantageously, the present invention enables the firing signal or the triggering of the seed firing device to be determined at least indirectly depending on a predicted landing location or a hit probability. As a result, the insemination system can react highly adaptively to environmental influences.

[0018] The soil insemination system enables more efficient use of seeds that are only available in limited quantities. In particular, the proposed seed launcher allows seeds to be placed deep (e.g., at least 3 cm deep) into the soil. Once the seeds have been sown, the soil insemination system can be used to mark the location to monitor growth from the seeds.

[0019] The proposed solution should allow sowing seeds in a given target area (with a minimum size) with a certain reliability, e.g., landing in the given target area 95% of the time.

[0020] In particular, targeted sowing is enabled or suggested, rather than purely coordinate-based sowing, which otherwise carries a high risk of missing the targeted coordinates. This allows for more efficient use of seeds by planting seeds only in viable locations or locations that will most benefit the seed, thus increasing the seed's chances of becoming an established tree.

[0021] By precisely marking the landing site, plant growth can be easily monitored for analysis purposes and the targeting device can be improved. Growth can be easily monitored for better tree care. The functionality of the launching device can be monitored and optimized. It is possible to evaluate how well the target insemination area has been selected. Feedback can be provided to the targeting device for continuous optimization.

[0022] Soil-penetrating direct seeding, or penetrating the soil with the seed pod, creates natural seeding conditions to produce stronger trees and forests. This invention enables faster germination compared to unaided surface sowing. By placing the seeds at the optimal depth, the seeds germinate faster than if they had to wait until they had naturally worked their way to the correct depth.

[0023] It creates protection from animals. Under the topsoil, the seeds are less likely to fall prey to birds and other seed-eating animals. It provides a more natural environment for germination. Compared to the use of fertilizers or other chemicals, the seeds grow more naturally, adapt better to the environment, form stronger seedlings, and increase the establishment rate.

[0024] Insemination means, in particular, that the soil is provided with at least one seed.

[0025] The earth's surface includes, in particular, the earth's subsurface, including the subsoil. The earth's surface includes, in particular, all objects on the earth's surface, such as trees, dead trees, rocks, and the like.

[0026] The target insemination area is, in particular, an area and / or a point on the ground where insemination is to take place. The insemination position is to be located within the target insemination area. The aircraft is, in particular, a flight-capable device. The aircraft is, in particular, wirelessly remote-controlled. The aircraft can be a drone. The aircraft can be radio-capable.

[0027] The aircraft is in particular part of the ground insemination system and typically comprises, at least in part, the seed launching device, the control device, the sensor device, the aiming device, a positioning module, a determination model and / or a comparator module.

[0028] The ground station is, in particular, a device on the ground designed for communication with the aircraft or its components. From the ground station, a mission to be flown can be observed, controlled, monitored, and / or manipulated. The ground station may be equipped with a remote control. The ground station may be radio-capable.

[0029] The seed launcher is, in particular, a mechanism for firing or propelling seed pods, which can then penetrate the soil. The seed launcher can have a chamber. Furthermore, a plurality of seed pods can be accommodated or provided. A magazine for seed pods can be provided, which can be individually loaded into the chamber. The seed launcher can have a compressed air generator and / or compressed air reservoir for propelling a seed pod.

[0030] Firing means that a seed pod is subjected to thrust from the seed firing device, for example thrust from compressed air, and is shot in a targeted direction. After firing, the seed pod follows a particular trajectory to the ground. The aim is usually to hit the desired insemination area. The impact location is then called the insemination position. The trajectory or impact location is influenced by environmental conditions, such as wind, humidity, air pressure, flight altitude or launch altitude, etc. The seed pod is typically a housing, cartridge case, case, seed pod, or the like. The seed pod is typically suitable for firing from the air. The seed pod is particularly suitable for penetrating the soil and for the subsequent germination of the seeds it contains.For example, the seed pod has a cylindrical and / or elongated shape, at least in sections, in order to be able to follow a straight trajectory, in particular with little to no wobble.

[0031] Preferably, the seed-launching device is suitable for inseminating the soil with the seed pod by penetrating the soil. Penetration is understood, in particular, to mean penetrating a soil surface to enable the best possible germination and / or to protect the seed for some time after penetration.

[0032] The control device comprises, in particular, a programmable computer. The control device is intended, in particular, for flying the aircraft and / or for communicating with the ground station.

[0033] Controlling, in particular, means maneuvering the aircraft. Controlling, in particular, means controlling actions, for example, sending orders and / or commands and / or signals. Similarly, communicating means controlling, for example, sending orders and / or commands and / or signals.

[0034] The sensor device is understood, in particular, to be a device with sensors for sensing information or data. The sensor device can communicate its sensing data to the target device and / or a locating module and / or a determination module or provide it upon request.

[0035] Data on environmental conditions include, in particular, weather data, position data, altitude, and the like. Environmental conditions can also refer to the ground. Further data relating to an insemination position and / or trajectory defined by a discharged seed pod include, in particular, the insemination position and / or trajectory. In this respect, it should be understood that the sensor device can detect the insemination position and / or trajectory, which arise empirically after the discharge of a seed pod and in interaction with the environmental conditions.

[0036] The aiming device is a key component of the aircraft. The aiming device determines, in particular, the first firing configuration from which it is assumed that the target insemination area can be reached when firing a semen pod. If this is not the case, the aiming device can determine a further firing configuration from which it is assumed that the target insemination area can be reached with a higher probability.

[0037] The launch configuration refers in particular to the position of the aircraft. In particular, the launch configuration has or represents a launch position. Alternatively or additionally, the launch configuration may refer to an orientation of the aircraft and / or the seed launching device.

[0038] Depending on environmental conditions, the firing configuration may deviate significantly from the target insemination area, for example, because the trajectory is predicted to hit the target insemination area. The aiming device can issue a firing command to the insemination device.

[0039] The soil insemination system is further developed by providing a positioning module of the targeting device, which is designed to receive data from the sensor device and to determine positioning data for the aircraft. The positioning module can ultimately determine the location of the aircraft based on the sensor device. The soil insemination system is further developed by a virtual map of the ground. The target insemination area lies in particular on the virtual map and includes an area with a good probability of seed survival. The virtual map can be input to the targeting device. For example, the virtual map can be sent from the ground station to the targeting device. The virtual map can also be generated at least partially or completely by the targeting device and / or the sensor device.

[0040] The soil insemination system is further developed by a determination model of the target device, which is designed to receive the location data and / or the data from the sensor device, in particular to determine a probability density function relating to a probable insemination position. The determination model can be computer-implemented and / or comprise at least one algorithm. The determination model can, for example, determine or calculate the probability density function based on algorithms. The determination model can comprise artificial intelligence and / or be self-learning. The probability density function can refer to a / the map.

[0041] The ground insemination system is further developed by a comparator module of the targeting device, which is designed to receive the probability density function and to compare the probability density function with the target insemination area, in particular to determine the probability, in particular wherein the comparator module is designed to determine the firing configurations. The comparator module can be computer-implemented and / or have at least one algorithm.

[0042] The soil insemination system is further developed by a control module of the targeting device, which is designed to receive the probability and / or the firing configurations from the comparator module, in particular, wherein the control module can perform the comparison and / or issue the control command and / or the firing command. Individual modules can create modularity and / or redundancy, which increases the robustness of the system.

[0043] The soil insemination system is further developed by the sensor device comprising a GPS device, a camera device, a distance measuring device, an IMU device, an anemometer device, a visual sensor device, a LIDAR device, a hyperspectral sensor device, and / or a speed measuring device. Other devices or sensors are also conceivable. The data basis is improved, especially when different sensor principles are used.

[0044] The ground insemination system is further developed in that the ground station is designed to establish an RC connection or to provide an RC communication network to the aircraft. In particular, manual control of the aircraft and / or the seed launching device is provided from the ground station. A focus signal, the target insemination area, and / or the virtual map can be sent to the targeting device from the ground station, in particular only from the ground station.

[0045] Furthermore, a method for inseminating soil from the air, which includes the soil insemination system, is proposed. The method comprises the following steps: i. placing the aircraft in the first launch configuration, ii. comparing the probability with the marginal probability, and if the probability is less than the marginal probability, placing the aircraft, starting from the first launch configuration, in the launch configuration further than the first launch configuration, and then iii. comparing the probability with the marginal probability, and if the probability is less than the marginal probability, repeating step ii., iv. comparing the probability with the marginal probability, and if the probability is equal to or greater than the marginal probability, firing from a seed pod.

[0046] In particular, the aircraft is navigated to the approximate target from which the target insemination area is to be hit. The first launch configuration can be a position that essentially corresponds to the target insemination area and / or an orientation of the aircraft that essentially leads to the insemination of the target insemination area. The target insemination area can have coordinates and / or be defined by a coordinate range. This step can be easily performed using commercially available GPS point navigation software and / or other navigation software.

[0047] In particular, a target acquisition loop is performed. A probability can be determined. The target acquisition loop can include a prediction model or determination model of the targeting device to create a probability density function about where the seed pod can land. A comparator module of the targeting device can derive the probability from the probability density function by considering the desired insemination area. A firing configuration can be determined. If the probability that the pod lands in the target area is greater than a threshold value as the marginal probability (e.g., 90%), the seed pod can be fired. Otherwise, the configuration of the seed launcher or aircraft should be adjusted so that it points more towards or corresponds to the target area and preferably executed again.In particular, a further launch configuration can be determined as the launch configuration with a presumably higher probability. For this purpose, the aircraft can then be controlled or moved to the further launch configuration.

[0048] In particular, the probability is compared with the marginal probability, preferably continuously and / or regularly. If the probability is equal to or greater than the marginal probability, a seed pod can be fired. If the probability is otherwise smaller, the target acquisition loop can be rerun, for example, to better position the aircraft or seed launcher.

[0049] In particular, it can be provided that an arming signal must be present in order to fire the seed firing device. In particular, the seed firing device only triggers the firing command when the arming signal is present.

[0050] When the seed launching device is activated, particularly by the launch command and / or the arming signal, a seed pod containing a seed can be launched onto the ground, particularly for soil penetration. The seed pod is catapulted onto the ground and penetrates a first or uppermost soil layer. This can be described as planting the seed pod.

[0051] A particularly advantageous extension of the method consists in acquiring the data and the additional data, transforming the additional data into coordinates for the insemination position, and updating the targeting device's determination model based on the data, the additional data, the transformed additional data, and the coordinates. In other words, the semen landing site is determined, and the targeting device is optimized.

[0052] During seed pod launch, data is recorded, for example, by an IMU, a GPS, video cameras, and / or other sensors. In this step, this data is processed specifically to determine the final location of the seed pod relative to the aircraft, global GPS coordinates, and / or reference maps.

[0053] In particular, data or information provided by sensors is read into one or more localization / tracking methods for the semen pod. The results of the localization / tracking methods are combined in particular to obtain the image coordinates of the landing position and / or a reference image. To update or optimize the aiming device, in particular, the local position is calculated based on the image coordinates. To mark the final position or insemination position, in particular, the reference image and / or the point position are mapped onto a map, for example an orthomosaic map. Using the map, in particular, the global point and / or the point in the local coordinates are converted into global coordinates to confirm the results. Depending on the desired application, the calculation can be carried out in real time or partially in real time.

[0054] In the context of this disclosure, the abbreviation "bzw." (respectively) is used as a shortened form for "respectively" and is generally intended to indicate alternative, essentially equivalent, and / or synonymous features or terms in order to convey the idea or meaning of a feature or term. "Respectively" can always be replaced with "and / or."

[0055] The invention will be explained below by way of example with reference to the accompanying drawings using preferred embodiments, wherein the features presented below can represent an aspect of the invention both individually and in combination. They show:

[0056] Fig. 1 shows a soil insemination system for inseminating a soil from the air, comprising an aircraft and a ground station in a schematic view, and

[0057] Fig. 2 the ground insemination system in a further schematic view with a special focus on components of the aircraft.

[0058] Fig. 1 shows a general overview of a soil insemination system.

[0059] Insemination system 1, or "system" for short, is in use. A ground station 200 is provided, which in particular has a remote control or RC connection 202. In particular, the ground station 200 is a human interface of the system, at which a user can start and stop the insemination and monitor the process. Calculations are also performed here if necessary. An operator is located at the ground station 200, for example.

[0060] An aircraft 2 is provided. The aircraft 2 is an unmanned aerial vehicle (UAV) and / or a drone. The aircraft 2 carries a seeding mechanism as a seed launcher 10, a sensor or sensor device 30, and an onboard computer or control device 20.

[0061] The aircraft 2 can communicate with the ground station 200, for example via on-board telemetry systems, and / or receive the instructions and can report all relevant results and / or events.

[0062] The seed launching device 10 is a mechanical device that holds at least one seed pod 12, in particular a plurality of seed pods 12, and can drive it into the soil G. In particular, the seed launching device 10 is attached to the aircraft 2.

[0063] The seed pod 12 is a housing, a pod, or a capsule containing seeds. The seed pod 12 serves to protect the seed(s) during transport, flight, and sowing. In particular, the seed pod 12 is designed as a launchable missile that can follow a trajectory FP with as little tumbling as possible.

[0064] An insemination area SA on the soil G is the area on which the seed pod 12 is intended to land, specifically penetrating it. This area should have a minimum size. The area can be determined manually or by other software. The area is typically an optimal location for sowing. Shown is a seed pod 12 that has penetrated the soil G in the insemination area SA. The seed pod 12 is located at an insemination position SP in the insemination area SA. In this case, the seed pod 12 has hit the insemination position SP following a curved trajectory FP.

[0065] Fig. 2 shows in more detail individual components of the ground insemination system 1, in particular the aircraft 2. The aircraft 2 communicates with the ground station 200 via an RC connection 202.

[0066] In particular, the RC connection 202 is intended for bidirectional communication.

[0067] The aircraft 2 has a seed launching device 10 for launching a seed pod 12 (not shown here) containing a seed from the aircraft 2 for inseminating the soil G. The seed launching device 10 can, in particular, communicate with a targeting device 40, either only from the direction of the targeting device 40 and / or bidirectionally.

[0068] The aircraft 2 has a control device 20 for controlling the aircraft 2 and for communicating with the ground station 200. The control device 20 can, in particular, communicate with the target device 40, either only from the direction of the target device 40 and / or bidirectionally.

[0069] The aircraft 2 has a sensor device 30 for acquiring data on environmental conditions and further data on an insemination position SP and / or flight path FP defined by a launched semen pod 12. The sensor device 30 can communicate, in particular bidirectionally, with the aiming device 40.

[0070] The aircraft 2 has the aiming device 40, which is designed to determine a probability of hitting the target insemination area SA with the semen pod 12 and at least one firing configuration, each in at least indirect dependence on the data of the sensor device 30.

[0071] The aiming device 40 is designed to give a control command to the control device 20 depending on a comparison of the probability with a limit probability in order to control the aircraft 2 to a first launch configuration.

[0072] The aiming device 40 is designed to give a further control command to the control device 20 depending on a comparison of the probability with a limit probability in order to control the aircraft 2 to a further launch configuration in order to increase the probability.

[0073] The aiming device 40 is designed to give a firing command to fire a seed pod depending on a comparison of the probability with a limit probability of the seed firing device 10, in particular when a focus signal is present.

[0074] The target device 40 has a positioning module 50 configured to receive data from the sensor device 30 and to determine positioning data for the aircraft 2. The positioning module 50 can communicate with the sensor device 30, in particular bidirectionally.

[0075] The soil insemination system 1 has a virtual map of the soil G. The target insemination area SA is located on the virtual map and encompasses an area with a good probability of seed survival. The virtual map can, for example, be sent to the tracking module 50 or received by the tracking module 50.

[0076] The targeting device 40 has a determination model 60 configured to receive the positioning data and / or the data from the sensor device 30 in order to determine a probability density function relating to a probable insemination position SP. The determination model 60 can communicate with the sensor device 30, in particular bidirectionally. The determination model 60 can communicate with the positioning module 50, in particular only from the direction of the positioning module 50 or bidirectionally.

[0077] The aiming device 40 has a comparator module 70 configured to receive the probability density function and compare the probability density function with the target insemination area SA to determine the probability. The comparator module 70 is configured to determine the firing configurations. The comparator module 70 can communicate with the determination model 60, in particular only from the direction of the determination model 60 or bidirectionally.

[0078] The targeting device 40 has a control module 80 of the targeting device 40, which is configured to receive the probability and / or the firing configurations from the comparator module 70. The control module 80 can perform the comparison and issue the control command and the firing command. The control module 80 can communicate with the comparator module 70, in particular only from the direction of the comparator module 70 or bidirectionally. In particular, the control module 80 can communicate with the seed firing device 10 and the control device 20, typically only in their direction or bidirectionally.

[0079] The sensor device 30 generally has a GPS device with GPS sensors, a camera device with multiple cameras, a distance measuring device with distance measuring sensors, an IMU device with IMU sensors, an anemometer device with anemometer sensors, a visual sensor device with visual sensors, a LIDAR device with LIDAR sensors, a hyperspectral sensor device with hyperspectral sensors, an acceleration measuring device with acceleration measuring sensors (e.g. G-sensor, e.g.: one-, two- or three-axis), an optical flow sensor device (English: optical flow sensor) and / or a speed measuring device with speed measuring sensors (e.g. for a speed of the aircraft 2 relative to the ground G and / or relative to the air mass).In particular, the GPS device, the camera device, the distance measuring device and / or the acceleration measuring device are provided for direct communication with the locating module 50.

[0080] In particular, the acceleration measuring device, the anemometer device, the optical flow sensor device and / or the

[0081] Speed ​​measuring devices are designed for direct communication with the determination model 60.

[0082] The ground station 200 is configured to establish the RC connection 202 to the aircraft 2. From the ground station 200, manual control of the aircraft 2 and / or the seed launching device 10 is provided, and a focus signal, the target insemination area SA, and the virtual map can be sent to the targeting device 40.

[0083] With the soil insemination system 1, a process for inseminating the soil G from the air can be carried out.

[0084] The method typically comprises the following steps: i. controlling the aircraft 2 to the first launch configuration, ii. comparing the probability with the marginal probability, and if the probability is less than the marginal probability, controlling the aircraft 2 from the first launch configuration to the launch configuration further than the first launch configuration, and then iii. comparing the probability with the marginal probability, and if the probability is less than the marginal probability, repeating step ii., and preferably then iv. comparing the probability with the marginal probability, and if the probability is equal to or greater than the marginal probability, launching a seed pod 12.The method optionally provides for capturing the data and the further data, further transforming the further data into coordinates for the insemination position, and further updating the determination model 60 on the basis of the data, the further data, the transformed further data, and the coordinates.

[0085] The following should be said about the procedure for using the Soil Insemination System 1 during a mission to inseminate the soil.

[0086] In particular, the aircraft 2 is navigated to the approximate target location. In this step, the aircraft 2 can be navigated to the corresponding area (insemination area SA) using commercially available navigation software (e.g., UgCS or Ground Station Software UgCS PC Mission Planning, and / or ArduPolot Mission Planner). The GPS coordinates can be generated based on a specific flight altitude and / or a point directly above the target area.

[0087] In particular, a target acquisition loop is performed, e.g., in the targeting device 40. Specifically, as soon as the aircraft 2 has reached a certain distance from the GPS point or insemination area SA, the target acquisition loop is activated and can take over control of the aircraft 2. The targeting device 40 can control the aircraft 2 based on a model. This model can predict where the seed pod 12 will land based on incoming sensor data. Specifically, as soon as the model predicts that the seed pod 12 will land in the target area with a certain probability, the sowing mechanism or seed launcher 10 is activated. A confidence level or probability is a parameter that can be changed depending on mission requirements. For inexpensive seeds, for example, a confidence level of 70% can be set for faster sowing.This 70% means that the model predicts a 70% chance that the seed pod 12 will land in the insemination area SA. In particular, when the model is ready, a signal can be sent to the seed launcher 10, and a seed pod 12 is launched or planted. The sowing of the seed pod 12 takes place in particular with the aid of a mechanical mechanism of the seed launcher 10, which can be controlled by a controller. The mechanism and control firmware are generally designed such that the seed pod 12 is launched quickly (e.g., within 1000, 500, or 100 milliseconds) when a launch signal is received, in particular when the focus signal is also present. This means that, if the aircraft 2 is correctly positioned, the seed pod 12 can be planted immediately, without the aiming system or aiming device 40 having to specify any timing.without having to go through the target acquisition loop.

[0088] When the launch signal is sent, the target acquisition loop and / or the targeting device 40 can typically also be activated. The targeting device 40 specifically uses an IMU, GPS, altimeter, rangefinder, lights, and / or multiple cameras to capture the trajectory FP and the insemination position SP of the seed pod 12. This allows the performance of the system 1 to be tracked and determine where the seeds were planted, when they need to be checked, and whether the process was successful.

[0089] In particular, an update of the determination model 60 of the targeting device 40 can be provided. Based on a marked insemination position SP, the model 60 can be updated. This update allows minor adjustments to be made to the model 60 to improve the prediction of the insemination position SP for this and / or other missions.

[0090] The communication system used can be interchangeable, but ideally it would be something like MAVLink, a network communication system. Specifically, the communication system allows for routing and / or pass-through of connections, meaning that not every device or module / model needs to have a direct connection to send information. Information can be passed through interconnected devices.

[0091] In particular, for example using the MAVLink protocol, the seed launching device 10 can send a message to a controller, in particular via the control device 20 as an on-board PC and / or a drone controller.

[0092] The aforementioned controller may be associated with and / or be a component of the seed launching device 10, the sensor device 30, the targeting device 40, the location module 50, the determination model 60, the comparator module 70, and / or the control module 80.

[0093] A controller for the seed launcher 10 may be provided. This is, in particular, the low-level controller of the seed launcher 10, which can, for example, interact directly with sensors and / or actuators for the seed launcher 10. The firmware running on the controller can be executed in real time. It can receive commands from other controllers and / or on-board computers and / or send back its status. Regardless of whether the aircraft 2 is controlled manually from the ground station 200 or semi-autonomously from the on-board computer, a connection to the control unit should be maintained to indicate that the aircraft 2 is still under the control of the operator.

[0094] An onboard PC may be provided. This may be, for example, a portable single-board computer such as an NVIDIA Jetson or ODROID, which can perform low-latency or "online" tasks in the area of ​​target acquisition and / or location determination. The onboard PC can run most of the software used. The onboard PC can have a direct connection to the seed launcher 10. The onboard PC can have a direct connection to the drone controller and / or the sensor device 30 or to onboard sensors and / or the targeting device 40, or be part of it. The aircraft 2 can have the drone controller. For example, the drone controller is designed to stabilize the aircraft 2 in the air. The drone controller can be integrated into the controller 20 and / or the targeting device 40.The drone controller can be a controller such as the PixHawk Cube (CubePilot | Autopilot-on-Module | Blue Manufactured in USA | Blue Assembled in USA | Pixhawk Original Team) and / or be directly connected to the hardware of the aircraft 2. The drone controller can receive or collect sensor data (e.g., data or other data) and / or execute received commands such as speed and GPS point commands. The drone controller communicates in particular with the ground station 200 via an on-board (UAV) communication system and / or the RC connection 202.

[0095] The system 1 may include a remote control, particularly as a subsystem, e.g., of the aircraft 2 and / or the ground station 200. The remote control is typically used to control the aircraft 2 in manual mode. The remote control may serve as a hub for accessing a / the communication network. The remote control may also be used to send arming, triggering, and / or control signals or commands to the seed launcher 10.

[0096] The system 1 can have a mission planner or a mission planning program, in particular an offboard computer or offboard PC. The mission planner is used in particular to plan a flight route and / or parameters. Software of the mission planner or mission planning software is, for example, UgCS and / or Mission Planner, and is executed in particular on the onboard computer. The mission planner can be used to support image processing, e.g., if the onboard PC is not powerful enough and / or to relieve the load on the onboard PC. The mission planner can store things like high-resolution maps that are to be used in particular for each mission, which can enable dynamic loading of map areas. The targeting device 40 controls in particular when and / or where the seed launching device 10 is to be triggered. The targeting device 40 can be divided into several, in particular four, core functions.The targeting device 40 can therefore have one, several or all of the following core functions or implement them in accordance with the functions described.

[0097] Core function of the localization algorithm: The localization algorithm determines, in particular, the location of aircraft 2 relative to the supplied map. This is done, for example, via a network of sensor inputs. GPS can be used for a rough localization, and an internal IMU can be used for a rough orientation determination. The location and orientation are refined, in particular, by comparing the camera inputs with a map layer, for example, an orthomosaic map layer (image). The result is, in particular, a location and orientation in GPS / global coordinates.

[0098] Core function mechanism model or determination model 60: Using the location and / or orientation from the localization algorithm and / or other sensor inputs or data, the determination model 60 predicts, in particular, where the seed pod is likely to land. Sensors that may be involved in this process can provide information about the current state of the aircraft 2 and the environmental conditions that could affect the seed pod 12 during flight, e.g., the speed of the aircraft 2, the distance to the ground G, and / or a current wind speed. The insemination position SP as the landing position of the seed pod 12 is, in particular, predicted not as a point, but as a probability density function (PDF), such as a 2D Gaussian function. This format, in particular, allows the probabilistic nature of the accuracy of the seed launcher 10 to be taken into account in later functions.The location module 50 can be incorporated into the determination model 60, in particular through the aforementioned update. This update occurs, in particular, after a seed has been planted. Based on the landing location of the seed pod 12, the determination model 60 can be improved, whereby the model 60 can be dynamically adapted to unmodeled environmental conditions. This results in a more robust and accurate system 1. The output of the model 60 is, in particular, a probability density function that indicates where the seed pod 12 is likely to land, particularly with respect to the map.

[0099] Core function comparator or comparator module 70: This function is used in particular to handle the probabilistic nature of the model output or the determination model 60. The comparator module 70 can compare the predicted probability density function with the (target) insemination area SA or target area. The purpose of this comparison is in particular to determine the probability with which the semen pod 12 lands in the (target) insemination area SA. In particular, the probability density function and the (target) insemination area SA are analyzed to determine how the movement of the aircraft 2 can affect the probability. This can be represented as a multivariate function that describes the movement of the aircraft 2 in relation to the change in probability, and / or as a vector.The output of the comparator module 70 is preferably the probability of the semen pod 12 hitting the (target) insemination area SA and / or an optimal vector and / or an optimization function.

[0100] Core function of the control algorithm or control module 80: The control module 80, where provided, can make the final decisions based on the processed information or data. In particular, if the probability that the semen pod 12 lands in the insemination area SA reaches or exceeds the threshold probability, the control module 80 can trigger the seed launcher 10. If this is not the case, the control module 80 can decide which movement of the aircraft 2 can improve this probability. To avoid getting stuck in a loop here, it is preferable that the insemination area SA is large enough for the given flight conditions. This should be determined in advance when creating the flight mission and, in particular, checked during the flight to take dynamic environmental changes into account.

[0101] The following sensors feed into the aiming device 40 in particular:

[0102] GPS: The aircraft 2 may have a GPS device and, in particular, may have an additional RTK GPS system. This may enable a positioning accuracy of, for example, 3 cm or better. This is used for coarse localization since no orientation data is available.

[0103] Camera: The aircraft 2 can be equipped with a variety of cameras for different purposes, such as remote mission monitoring, obstacle avoidance, localization, and data acquisition. Some cameras are typically multi-purpose and can capture RGB, monochrome, and / or multi-Z hyperspectral data. The majority of the camera data is either processed onboard and / or stored for later analysis. If necessary, data can be transferred to computers external to the aircraft 2.

[0104] Rangefinder / LIDAR: This sensor is typically used to determine the distance of the aircraft 2 to the ground G, which can also be achieved with other sensors, but is usually not as accurate. Rangefinders and LIDAR devices have much better accuracy and resolution than other methods. LIDAR has the added advantage of being able to acquire multiple ground points, which further improves accuracy and information gain, but can be associated with a significant increase in cost.

[0105] Accelerometer / Inertial Measurement Unit (IMU): Aircraft 2 are typically equipped with internal accelerometers and / or IMUs. The seed launcher 10 may be mounted on a gimbal system and / or a damping platform, so its movement may not exactly match that of the drone. In particular, an accelerometer and / or an IMU may be attached to the seed launcher 10. The data received can be crucial for determining orientation and velocities, but may contain noise. To compensate for the noise, other sources such as LIDAR, optical flow, or camera data should be combined with this data.

[0106] Anemometer: Wind speed is an important factor to consider when modeling projectiles through air, as in the case of the seed pod 12. An anemometer is used, in particular, to measure wind speed and direction, which can significantly improve the prediction accuracy of the models 60 for the seed launcher 10.

[0107] Optical Flow: Optical flow sensors are visual sensors that output the movement of visual features moving through their field of view. They can be used in GPS-less aircraft 2, especially drone flight, and / or can be particularly useful to supplement the data when attached to the seed launcher 10. This is because it can move independently of the aircraft 2, to which all GPS modules are attached.

[0108] Speed ​​of Aircraft 2: By reading the telemetry data of Aircraft 2, the current speed and actuation commands, as well as other relevant information or data, can be received. By taking speed into account, the determination model 60 can make better predictions about where the seed pod 12 will or could land.

[0109] Control inputs are user inputs used for homing and / or controlling the aircraft 2 or the mission. These inputs are as follows:

[0110] Map: The map represents, in particular, the reference or reference data for seeding missions. A useful basis for this map is, for example, a reference orthomosaic or another reference. This can be imagined as an image taken from a great distance, with a high resolution, and / or with a known GPS coordinate for each pixel. The map is used, in particular, to determine the insemination areas and thus the reference frame in which the aircraft 2 is located. The map can also contain other data, e.g., a depth map, LIDAR point clouds, and / or at least one or more spectral layers.

[0111] Target: The targets or insemination areas are areas on the map that can be considered regions where each seed has a good chance of survival.

[0112] RC connection: The RC connection or RC link as an input to the targeting device enables, for example, manual takeover and / or the specification of appropriate monitoring. To ensure a reliable connection and correct monitoring, a focus signal can be sent, in particular from the ground station 200. This focus signal is used in particular by the seed launcher 10 and can be used alternatively or additionally by the control algorithm or control module 80 to avoid time losses.

[0113] The outputs indicate, for example, how the targeting device 40 interacts with the aircraft 2. Outputs may, in particular, be the following.

[0114] Seed launcher 10: The targeting device 40 sends, for example, trigger signals or commands to the seed launcher 10 and / or receives any error messages or feedback. The trigger signal indicates that a seed is to be launched, and the seed launcher 10 preferably sends back a message describing the success of the operation.

[0115] Aircraft or drone control system: The aircraft 2 usually has a built-in controller, in particular the control device 20, which can receive and execute high-level commands, e.g., speed commands.

[0116] The aiming device 40 interacts with the aircraft 2, in particular with the control device 20, in this way and relieves it of calculations.

[0117] The purpose of the targeting device 40 or the tagging system is, in particular, to determine the landing location of the semen pod 12 or the insemination position SP after the seed launching device 10 has been actuated. This allows feedback to be obtained that can be used for growth monitoring and / or feedback for the models 60 of the system 1, in particular the targeting device 40. There may be several types of functions (in particular, method(s), transformation(s), combination(s)), in particular three, that can be applied in the targeting device, as follows:

[0118] Method for determining the insemination position SP (e.g. Method 1): This method can form a basis for the aiming device 40. This method can receive sensor data from one or more sensors and in particular use this data to measure the insemination position SP. There can be one to more of these methods, each using different techniques and / or different sensors to measure the insemination position SP. An example of a method is high-speed object tracking, in which the semen pod 12 can be tracked using computer vision on high frame rate video data to the point where it impacts the ground G. This method can output the insemination positions SP in various formats and reference frames.

[0119] Insemination position transformation (e.g., Transformation 1): Since each of the aforementioned methods can have a different output, the outputs must be regularly transformed into a common format and / or coordinate frame. This is done, for example, using a transformation function. These transformations can use data from the sensors and / or the map, in particular to determine the global position as the insemination position SP. The result of these transformations is, for example, the insemination position SP in global coordinates.

[0120] Combination: The results of the insemination position transformation can be combined to obtain a more accurate and robust result. This combination can be simple, such as a 3D mean, or it can be more sophisticated and use a statistical model that can exploit the biases inherent in the different methods. This combination becomes more robust the more different methods are used and the more they differ from each other. For example, the output of this function is a point in GPS coordinates.

[0121] There are two issues with the system in particular:

[0122] Output of the aiming device 40 (model for the semen launching device 10): A global coordinate of the insemination position SP is sent, for example, to the aiming device 40, the determination model 60, the control device 20 and / or the semen launching device 10 to dynamically update.

[0123] Map output: The insemination position SP as the landing position of the semen pod 12 is marked on the map in particular for performance modeling and / or simple growth monitoring.

[0124] The seed launcher 10 may comprise or be operated with firmware. Firmware may be a computer program. The firmware may assume one or more of the following states. In particular, one or more of the states may be displayed on the ground station 200.

[0125] Idle state: In this state, the aircraft 2, in particular the control device 20, the seed launcher 10, the sensor device 30, and / or the targeting device 40, is connected to the ground station 200 but is not in use. If there is no seed pod 12 in the seed launcher 10 or in its chamber, a "loading" state can be entered to load a seed pod 12 ready for launch. Otherwise, for example, the control device 20 and / or the aircraft 2 does not read any sensors in this state and only communicates its status to the RC connection 202 or the RC network while waiting for an arming signal.

[0126] Loading state: As soon as an arming signal has been received, particularly via the RC connection 202, and a seed pod 12 is located in the chamber, the loading state is activated. In this state, pressure is directed into the pressure chamber behind a chamber for the seed pod 12. To this end, an inlet valve to the chamber is opened for a specific time and / or until a specific pressure is reached, and then the valve is closed. This can be considered a dangerous state in which the seed launcher 10 may have the energy to eject a seed pod 12.

[0127] If an arming signal is not received within a required time, for example, within 2 seconds, 10 seconds, 100 seconds, or 1000 seconds, System 1 may enter a "venting" state, which renders System 1 secure. After the charging state, System 1 waits until a trigger signal is received and then enters the start or trigger state.

[0128] Start or Trigger State: In this state, the seed launcher 10 plants a seed pod 12 by activating a lock that maintains pressure, releasing the compressed air behind the seed pod 12 and firing it, or shooting it into the ground. After the lock is activated, the system 1 waits a short time until the seed pod 12 has left the seed launcher 10 and then releases the remaining pressure from the pressure chamber. After venting, the system 1 waits for a closure sensor to indicate that it is now closed, thus maintaining pressure in the pressure chamber. If this sensor is not triggered within a certain time, the system 1 may enter the "lock error" state. If the lock sensor is triggered in time, the system 1 enters the "load" state.

[0129] Loading state: In this state, the seed pod 12 is moved into the chamber by a loading system. This occurs, for example, via a gear system driven by a motor, in particular a DC motor, in particular with an encoder at the output. In the Loading state, the motor receives a signal to move the seed pod 12 and / or the motor speed is monitored. If a change in position of the motor is greater than expected and / or the speed is outside an expected threshold, the system goes into a motor fault state, for example. This is done to prevent jamming, which could damage something. If these conditions are not met and a sensor on the chamber receives a signal with, for example, a falling edge, indicating that a seed pod 12 is in the chamber, the system 1 goes back to the Idle state.

[0130] Bleeding state: In this state, the bleed valve is activated for a specific period of time. Specifically, System 1 then returns to the idle state.

[0131] Lock Error State: This state sends a signal indicating an error and then waits indefinitely until the error is corrected and System 1 is reset.

[0132] Engine Fault State: This state sends a signal indicating a fault and then waits indefinitely until the fault is corrected and System 1 is reset.

[0133] Emergency State: This state can be reached from any state of System 1. As soon as an emergency signal is received from the RC link, the aircraft 2, seed launcher 10, control device 20, and / or targeting device 40 expect a crash, so the vent valve is kept open until System 1 is reset. Other states and / or the omission of one or more of the aforementioned states is / are conceivable.

[0134] The invention underlying this patent application was developed in the project called “Garrulus” funded by the MULNV.

[0135]

[0136] 1 ground insemination system aircraft

[0137] 10 Seed ejection device

[0138] 12 Seed pod 0 Control device

[0139] 30 Sensor device

[0140] 40 aiming device

[0141] 50 tracking module

[0142] 60 Determination model

[0143] 70 Comparator module

[0144] 80 control module

[0145] 200 ground station

[0146] 202 RC connection

[0147] FP trajectory

[0148] G Soil

[0149] SA insemination area

[0150] SP insemination position

Claims

Patent claims 1 . Soil insemination system (1 ) for inseminating a soil (G) from the air in a target insemination area (SA), comprising - an aircraft (2), - a ground station (200), - a seed launching device (10) for launching a seed pod (12) containing a seed from the aircraft (2) for inseminating the soil (G) with the seed pod (12), - a control device (20) for controlling the aircraft (2) and for communicating with the ground station (200), - a sensor device (30) for detecting data on environmental conditions and further data on an insemination position (SP) and / or trajectory (FP) defined by a discharged semen pod (12) and - a targeting device (40) which is designed to determine a probability of hitting the target insemination area (SA) with the semen pod (12) and at least one firing configuration, in each case at least indirectly dependent on the data of the sensor device (30), wherein the targeting device (40) is further designed, depending on a comparison of the probability with a limiting probability: - to give the control device (20) a control command to place the aircraft (2) into a first launch configuration, - to give the control device (20) a further control command to place the aircraft (2) into a further launch configuration to increase the probability, and - to give the seed firing device (10) a firing command to fire a seed pod.

2. Soil insemination system (1) according to the preceding claim, comprising a locating module (50) of the targeting device (40), which is designed to receive data from the sensor device (30) and to determine locating data for the aircraft (2).

3. Soil insemination system (1) according to the preceding claim, comprising a virtual map of the ground (G), and wherein the target insemination area (SA) lies on the virtual map and comprises an area of ​​good probability of survival of the seed.

4. Soil insemination system (1) according to one of the preceding claims, comprising a determination model (60) of the target device (40) which is designed to receive the location data and / or the data of the sensor device (30) in order to determine a probability density function relating to a probable insemination position (SP).

5. Soil insemination system (1) according to the preceding claim, comprising a comparator module (70) of the aiming device (40) which is designed to receive the probability density function and to compare the probability density function with the desired insemination area (SA) in order to determine the probability, in particular wherein the comparator module (70) is designed to determine the firing configuration(s).

6. Soil insemination system (1) according to the preceding claim, comprising a control module (80) of the aiming device (40) which is designed to receive the probability and / or the firing configuration(s) from the comparator module (70), wherein the control module (80) can carry out the comparison and issue the control command and the firing command.

7. Soil insemination system (1) according to one of the preceding claims, wherein the sensor device (30) comprises a GPS device, a camera device, a distance measuring device, an IMU device, an anemometer device, a visual sensor device, a LIDAR device, a hyperspectral sensor device and / or a speed measuring device.

8. Ground insemination system (1) according to one of the preceding claims, wherein the ground station (200) is designed to establish an RC connection (202) to the aircraft (2), and wherein manual control of the aircraft (2) and / or the seed launching device (10) is provided from the ground station (200) and / or a focus signal, the target insemination area (SA) and / or the virtual map can be sent to the targeting device (40).

9. A method for inseminating soil (G) from the air, in which the soil insemination system (1) according to one of the preceding claims is provided, comprising the steps of i. placing the aircraft (2) in the first launch configuration, ii. comparing the probability with the limiting probability, and if the probability is less than the limiting probability, placing the aircraft (2) from the first launch configuration into the further launch configuration than the first launch configuration, and then iii. comparing the probability with the limiting probability, and if the probability is less than the limiting probability, repeating step ii., iv. comparing the probability with the limiting probability, and if the probability is equal to or greater than the limiting probability, launching a seed pod (12).

10. Method according to the preceding claim, comprising acquiring the data and the further data, transforming the further data into coordinates for the insemination position, and updating the determination model (60) of the targeting device (40) on the basis of the data, the further data, the transformed further data, and the coordinates.

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