Machinery sensor set-up

Abstract

Computer-implemented method and system for controlling a device on an agricultural field where it is determined whether an actual sensor setup covers a sensor setup requirement relating to the operation in the zone of the agricultural field and: in case the actual sensor setup is not capable of covering a sensor setup requirement providing a first operation schedule where a task is carried out based on parameters for which data of sensors being covered by the actual sensor setup are available and predetermined pre-settings for parameters for which no data of sensors is available; and in case the actual sensor setup is capable of covering the sensor setup requirement providing a second operation schedule where a task is carried out based on parameters for which data of sensors are available; and controlling the device based thereon.

Description

[0001] MACHINERY SENSOR SET-UP

[0002] TECHNICAL FIELD

[0003] The present disclosure relates to a computer-implemented method for controlling a device on an agricultural field, a system for controlling a device on an agricultural field, a computer program element, a use of control data for controlling a device on an agricultural field, and a device.

[0004] TECHNICAL BACKGROUND

[0005] The general background of this disclosure is the controlling a device on an agricultural field.

[0006] In common agricultural practice, devices, in particular agricultural devices for treating an agricultural field or for applying products onto an agricultural field, e.g., Smart Sprayer, include a plurality of different sensors when operating on an agricultural field. Usually, for specific operations, specific sensors are used and / or needed, wherein for specific operations usually not all sensors being arranged on / at the device are used. The device uses received data from the sensors and provides based thereon by using models detailed instructions / operations, in particular treatment or application instructions. Therefore, in common agricultural practice, it is often not fully known for which operations the device can be used. Therefore, the use of most features fall short of their potential, i.e., the potential of the devices are not fully exhausted.

[0007] It has been found that a need exists for an alternative, efficient, reliable, and smarter way of controlling a device on an agricultural field, which fully exhausts the potential of the device.

[0008] SUMMARY OF THE INVENTION

[0009] The present invention provides a computer-implemented method for controlling a device on an agricultural field, a system for controlling a device on an agricultural field, a computer program element, a use of control data for controlling a device, and a device on an agricultural field according to the independent claims, whereas further embodiments are incorporated in the dependent claims.

[0010] In one aspect of the present disclosure, a computer-implemented method for controlling a device on an agricultural field is presented. The method comprises the following steps:

[0011] - providing machinery sensor setup data which are data indicative of the sensor setup usable by a machinery of the device,

[0012] - providing sensor setup requirement data indicative of a sensor setup requirement relating to an operation in a zone of the agricultural field,

[0013] - determining an actual sensor setup of the device relating to the operation in the zone of the agricultural field based on the provided machinery sensor setup data,

[0014] - determining whether the actual sensor setup for the zone of the agricultural field is capable of covering the sensor setup requirement relating to the operation in the zone of the agricultural field, in case the actual sensor setup is not capable of covering the sensor setup requirement:

[0015] - providing to the device first operation schedule data indicative of a first operation schedule comprising at least one task which is carried out based on parameters for which data of sensors being covered by the actual sensor setup are available and predetermined pre-settings for parameters for which no data of sensors are available, and in case the actual sensor setup is capable of covering the sensor setup requirement:

[0016] - providing to the device second operation schedule data indicative of a second operation schedule comprising at least one task which is carried out based on parameters for all of which data of sensors being covered by the sensor setup requirement are available,

[0017] - providing control data for the at least one task for controlling the device based on the respective one of first operation schedule data and second operation schedule data.

[0018] Thus, it can be decided that control data may be based on first operation schedule data, which accesses to pre-settings for parameters for controlling, for which parameters no sensor data are available. In case it is determined that for all parameters for controlling respective sensor data are available second operation schedule data may be used, which provide processing instructions which consider the respectively available sensor data. The first operation schedule data may have a lower complexity, as they access pre-stored or delivered pre-settings for the parameters for which no sensor data are available. For those pre-settings, no evaluation and processing of sensor data is required which reduces the complexity of the processing. However, the pre-settings may be less actual than the sensor data for a particular parameter, as the pre-settings may not reflect the real on site situation which may be detected by a sensor. The second operation schedule data for providing processing instructions in case sensor data are available for all required parameters, compared to first operation schedule data may require a higher complexity in processing as the sensor data have to be evaluated and processed before providing the same for controlling a device.

[0019] In a further aspect of the present disclosure, a system for controlling an agricultural device is presented. The system comprises one or more computing nodes and one or more computer-readable media having thereon computer-executable instructions that are structured such that, when executed by the one or more computing nodes, cause the system to perform the following steps:

[0020] - providing machinery sensor setup data which are data indicative of the sensor setup usable by a machinery of the device,

[0021] - providing sensor setup requirement data indicative of a sensor setup requirement relating to an operation in a zone of the agricultural field,

[0022] - determining an actual sensor setup of the device relating to the operation in the zone of the agricultural field based on the provided machinery sensor setup data,

[0023] - determining whether the actual sensor setup for the zone of the agricultural field is capable of covering the sensor setup requirement relating to the operation in the zone of the agricultural field, in case the actual sensor setup is not capable of covering the sensor setup requirement:

[0024] - providing to the device first operation schedule data indicative of a first operation schedule comprising at least one task which is carried out based on parameters for which data of sensors being covered by the actual sensor setup are available and predetermined pre-settings for parameters for which no data of sensors are available, and in case the actual sensor setup is capable of covering the sensor setup requirement:

[0025] - providing to the device second operation schedule data indicative of a second operation schedule comprising at least one task which is carried out based on parameters for all of which data of sensors being covered by the sensor setup requirement are available, - providing control data for the at least one task for controlling the device based on the respective one of first operation schedule data and second operation schedule data.

[0026] Optionally, a system for controlling a device on an agricultural field is provided. The system comprises:

[0027] - a machinery sensor setup providing unit for providing machinery data which are data indicative of the sensor setup usable by machinery of the device;

[0028] - a sensor setup requirement providing unit for providing sensor setup requirement data indicative of a sensor setup requirement relating to an operation in a zone of the agricultural field;

[0029] - an actual sensor setup determining unit for determining an actual sensor setup of the device relating to the operation in the zone of the agricultural field based on the provided machinery sensor setup data,

[0030] - a determining coverage unit for determining whether the actual sensor setup for the zone of the agricultural field is capable of covering the sensor setup requirement relating to the operation in the zone of the agricultural field;

[0031] - a first operation schedule and second operation schedule providing unit which, in case the actual sensor setup is not capable of covering the sensor setup requirement, provides to the device first operation schedule data indicative of a first operation schedule comprising at least one task which is carried out based on parameters for which data of sensors being covered by the actual sensor setup are available and predetermined presettings for parameters for which no data of sensors are available, and in case the actual sensor setup is capable of covering the sensor setup requirement, provides to the device second operation schedule data indicative of a second operation schedule comprising at least one task which is carried out based on parameters for all of which data of sensors being covered by the sensor setup requirement are available, and

[0032] - a control data providing unit for providing control data for the at least one task for controlling the device based on the respective one of first operation schedule data and second operation schedule data.

[0033] In a further aspect, a computer element, in particular a computer program product or a computer readable medium, with instructions, which when executed on one or more computing node(s) is configured to carry out the steps of any of the method disclosed herein in a system disclosed herein is presented. Optionally, a use of machinery data for controlling a device on an agricultural field in a method disclosed herein is presented.

[0034] In a further aspect, a use of control data discloses herein for controlling a unit of a device is presented.

[0035] In a further aspect, a device for treating an agricultural field controlled by control data being provided by the method disclosed herein is presented.

[0036] Any disclosure and embodiments described herein relate to the method, the system, the application device, the computer program element lined out above and vice versa. Advantageously, the benefits provided by any of the embodiments and examples equally apply to all other embodiments and examples and vice versa.

[0037] As used herein ..determining" also includes ..initiating or causing to determine, estimating, calculating, modelling", and “providing” also includes “initiating or causing to determine, generate, select, measure, send or receive”.

[0038] The method, system, application device and computer element disclosed herein provide an efficient, alternative, reliable and smarter way of controlling a device which fully exhaust its potential. Based on this method, a device can operate both in a state when the actual sensor setup is not capable of covering the sensor setup requirement and in a state when the actual sensor setup is capable of covering the sensor setup requirement. Therefore, the potential of the sensors of the device can be exhausted in a maximum manner, and because of available pre-settings, the device may also operate on a possibly reduced performance level if no sensor data or only a limited number or amount of sensor data is available.

[0039] It is an object of the present invention to provide an efficient, alternative, reliable and smarter way of controlling a device, which fully exhaust its potential, in particular sensor potential, on an agricultural field. These and other objects, which become apparent upon reading the following description, are solved by the subject matters of the independent claims. The dependent claims refer to preferred embodiments of the invention. The term agricultural field as used herein refers to an agricultural field to be treated. The agricultural field may be any plant or crop cultivation area, such as a farming field, a greenhouse, or the like. A plant may be a crop, a weed, a volunteer plant, a crop from a previous growing season, a beneficial plant or any other plant present on the agricultural field. The agricultural field may be identified through its geographical location or georeferenced location data. A reference coordinate, a size and / or a shape may be used to further specify the agricultural field. The agricultural field may be separated in areas respectively zones, which have to be treated, so called target areas, and areas which have not to be treated, so called non-target areas. Crop plants being planted in the agricultural field are only arranged within the target areas of the agricultural field. The agricultural field may be separated in at least two zones, such that the zone represents a sub-area of the whole agricultural field.

[0040] The device is to be understood broadly in the present case and comprises any device, in particular any agricultural device being configured to apply an agricultural application product onto the soil of an agricultural field and / or onto the plants on the agricultural field, to treat the soil of an agricultural field and / or the plants on the agricultural field, and / or to monitor the soil of an agricultural field and / or the plants on the agricultural field. The device may be configured to traverse the agricultural field. The application device may be a ground or an air vehicle, e.g., a tractor-mounted vehicle, a self-propelled sprayer, a rail vehicle, a robot, an aircraft, an unmanned aerial vehicle (UAV), a drone, or the like. The application device may be equipped with one or more unit(s). The unit may be a tool for treating the soil, an elastic arm, a robotic arm, in particular a single- or multi-articulated robot arm, or a stiff arm at which at least one outlet, respectively nozzle, of the crop protection product is arranged, but is not limited thereto. A monitoring device may be scouting drone.

[0041] The term machinery sensor setup data is to be understood broadly in the present case and represents any data indicating a sensor setup of the machinery, i.e., generally the number, the location, the spatially distribution, the type and / or the specification, of one sensor or a plurality of same or different sensors being arranged at the machinery of the device and which are generally usable by the device. In other words, the machinery sensor setup data include information respectively indicate which sensor(s) are already mounted on the machinery of the device, i.e., which sensors can generally be used for sensing parameters and the properties of the respective sensor. The machinery may be a boom or a combination of device and the boom but is not limited thereto. The machinery may be mounted or arranged on or in the device but is not limited thereto.

[0042] The term cellular network as used herein is to be understood broadly and represents a long-range mobile communications network having the type 2G, 3G, 4G, 5G or 6G, but is not limited thereto. The long-range mobile communications network may have a range of at least 1 km. The strength of a cellular network is presented in the unit dBm but is not limited thereto. In this context, the term usable represents that the cellular network signal(s), having a specific type and / or a specific strength, can be received and processed by the device.

[0043] The term operation as used herein is to be understood broadly and represents any treatment or application of a zone of an agricultural field. For instance, the operation may be the application of a crop protection product or a treatment of the soil of the agricultural field in at least one zone of the agricultural field but is not limited thereto.

[0044] The term sensor setup requirement data is to be understood broadly and represents any data indicating or providing information with respect to a sensor setup requirement relating to an operation. The term sensor setup requirement is to be understood broadly in the present case and represents a sensor setup needed for executing or providing an operation, i.e., deriving sensor measurement parameters for the operation, in the zone of the agricultural field. In other words, the sensor setup requirement represents the minimum sensor setup, i.e., number, type and / or location of different or identical sensors and the properties of such sensors, being required to execute or provide an operation in the zone of the agricultural field. In particular, the sensor setup requirement include data respectively information indicating which sensor setup has to be used for executing a specific operation, e.g., application of a crop protection product or a treatment of the soil of the agricultural field, in at least one zone of the agricultural field. The sensor setup requirement may be identical or different for different specific operations. The sensor setup requirement can use respectively include all sensors being mounted on the device or solely a fractional amount of all sensors being mounted on the device. The sensor setup requirement can be stored on a memory of the device but is not limited thereto. The sensor setup requirement may be preset, pre-provided or pre-determined, but is not limited thereto. The sensor setup requirement may also be adapted dynamically, e.g. in case the property of the agricultural zone changes or the plantation changes and it is found that other sensory is required.

[0045] The term actual sensor setup is to be understood broadly in the present case and represents data indicating or information with respect to a sensor setup, which is available respectively exists at the current time, relating to the operation in the zone of the agricultural field. In other words, the actual sensor setup includes data indicating the number, type and / or specification of one sensor or a plurality of different sensors which are actually respectively currently arranged / mounted on / at the device and which are actually usable for executing or providing an operation on or to the agricultural field. The determination of the actual sensor setup is based on the machinery sensor setup data. For instance, the determination may be a sensor scan or a sensor query but is not limited thereto.

[0046] The term capable of covering as used herein is to be understood broadly and defines that the actual sensor setup exceeds or fulfills the same features and properties as the sensor setup requirement, i.e., the actual sensor setup has features and / or properties which are equal or higher than the sensor setup requirement. For instance, the determination of the capability of covering may be a result of a comparison of the actual sensor setup and the sensor setup requirement. If it is determined that the actual sensor setup covers the sensor setup requirement a sensor setup in a treatment device, e.g., for treatment of a zone of the agricultural field is capable of providing all sensor data which are required by the sensor setup requirement. This does not mandatorily require that the available sensor setup has at least the same sensors as a required sensor setup, but only that the available sensor setup provides those data which would be provided by a required sensor setup. As an example: a required sensor setup may require an image of a particular resolution. If the available sensor setup provides an image of a higher resolution, image data for the lower required resolution may be derived from an image of a higher resolution. Vice versa: a required sensor setup may require an image of a particular resolution. If the available sensor setup provides a video stream of a lower resolution, image data for the higher required resolution may be derived from a video stream of a lower resolution, e.g., by means of an image processor being capable of upscaling. Thus, a video stream with an upscaling facility may fulfill the same purpose than a higher resolution camera, although it is not the same sensor.

[0047] The term first operation schedule data is to be understood broadly in the present case and represents any data indicating or providing information with respect to a first operation schedule, which considers sensor data where sensor data are available and considers pre-settings where no sensor data are available. The first operation schedule may be a program or plan including at least one task, in particular a plurality of different tasks. For instance, the at least one task may be an operation, e.g., the treating of a specific weed or crop or the application of a specific herbicide on a specific weed or crop, which is carried out based on parameters for which data of sensors are available , i.e., where sensor properties and / or features being covered by the actual sensor setup, and predetermined pre-settings for parameters for which no data of sensors are available, i.e. where sensor properties and / or features being not covered by the actual sensor setup. In the first operation schedule, the required parameters for the execution or the provision of the task or operation being available are provided by sensors, the features and properties thereof being covered by the actual sensor setup and predetermined pre-settings for parameters for which no data of sensors are available.

[0048] In other words, in the first operation schedule not all required parameters for the execution or the provision of the task are derivable from the sensors mounted on the device, such that the missing required parameters, i.e., required parameters for which no sensor data are available, have to be replaced or filled by predetermined pre-settings for those parameters which cannot be provided by sensor data. The predetermined pre-setting for parameters may be stored in a memory in the device but is not limited thereto. For instance, the predetermined pre-setting for parameters may be stored in a look-up table, but is not limited thereto. The predetermined pre-setting for parameters for which no sensor data are available may be provided for all required parameters for the operation, such that, even in the case of a failure or defect of one type of the sensors being arranged at the device occurs or exists, a predetermined pre-setting for this parameter is available. Those can be used in case no sensor data are available for this parameter. The first operation schedule is a program or plan, which is solely executed or only executable when the actual sensor setup is not capable of covering the sensor setup requirement, i.e., the arranged sensors on the device are not sufficient for executing or providing the task respectively operation. Since, the first operation schedule requires stored predetermined pre-settings for this parameter, more computing storage capacities in the device are required for controlling the device on an agricultural field. If no sensor information is available at all, a first task is executed based on stored pre-settings. If no sensor information and no pre-settings are available, a first task may be executed based on manual user inputs and assumptions, which again can then be stored as pre-settings for a following application. It should be noted that controlling data for controlling a device may also be based on models which require a parameter input for modelling. Those parameters may be taken from or derived from available sensor data or from pre-settings or from manual input of a user, in case the higher ranking is not available or considered to be erroneous by a user or intelligence, which may, e.g., check consistency and limits.

[0049] The term second operation schedule data is to be understood broadly in the present case and represents any data indicating or providing information with respect to a second operation schedule, which is applied if sensor data are available for all required parameters. The second, operation schedule may be a program or plan including at least one task, in particular a plurality of different tasks. For instance, the at least one task may be an operation, e.g., the treating of a specific weed or crop or the application of a specific herbicide on a specific weed or crop, which is carried out only based on parameters for which data of sensors are available, i.e., where sensor properties and / or features being covered by the actual sensor setup. In the second operation schedule, the required parameters for the execution or provision of the task or operation are filled or provided by data of sensors which are available, i.e., which properties and features being covered by the actual sensor setup. Thus, substantially no assumptions for missing sensor data to a model may have to be made.

[0050] In other words, in the second operation schedule all required parameters for the execution or providing of the task are derivable from the sensors mounted respectively arranged on / at the device, such that no parameter needs to be filled or replaced by predetermined pre-settings for that parameter. Therefore, the second operation schedule is a program or plan, which is solely executed or only executable when the actual sensor setup is capable of covering the sensor setup requirement, i.e., the arranged sensors on the device are sufficient for executing or providing the task respectively operation, and no pre-settings or assumptions for parameter input is required. Since, the second operation schedule requires no stored predetermined pre-setting for parameters, less storage space in the device is required for controlling the device on an agricultural field. Nevertheless, it may be reasonable to have stored pre-settings for all possible parameters as default in case the sensor setup changes or sensors do not deliver data any longer.

[0051] The term decision logic data as used herein is to be understood broadly and represents any data indicating or giving information with respect to a decision logic. For instance, the decision logic may be a detailed decision and may include one or more “if” -“then” related instructions, which may depend on a linear one-to-one relation or a combined relation. A decision logic may be a model fed by parameters or may also be provided by a trained neuronal network.

[0052] The term local data as used herein is to be understood broadly and represents any data being provided by a user respectively farmer via an input device substantially directly connected to the machinery of the device, e.g., a display / keyboard, and may relate to a locally related parameter input for which the user may enter a value or data, so that based thereon controlling may take place but is not limited thereto. The user may enter such local data via a user device, in case these local data are not detected by a device implemented sensor but are taken by the user from elsewhere. For instance, local data may be data being provided by the user during the execution of the computer- implemented method for controlling the device.

[0053] The term data as used herein is to be understood broadly in the present case and represents any kind of data. Data may be single numbers / numerical values, a plurality of a numbers / numerical values, a plurality of a numbers / numerical values being arranged within a list, two dimensional maps or three-dimensional maps, but are not limited thereto.

[0054] The term parameter as used herein is to be understood broadly in the present case and represents any kind of parameter. A parameter can be understood as an argument measurand or indicator for a particular measured value. A parameter may be a color, a size or the like. Parameter data are to be understood as data representing the parameter, in the aforementioned example data representing a color value (e.g., red, green, light green, etc.) or a size value (2 cm, 5 mm, etc.). The term setting as used herein is to be understood broadly in the present case and represents a value, which is used for e.g., a parameter. A pre-setting may be understood as a default setting of a value, which e.g. is pre-set in case a measured value is not available.

[0055] The term iteratively repeated as used herein is to be understood broadly in the present case and represents that particular steps are repeated or carried out again on a regular basis or depending on a condition upon which repetition takes place, e.g., the steps of determining an actual sensor setup, determining whether the actual sensor setup for the zone of the agricultural field is capable of covering the sensor setup requirement etc. The repeating may be executed continuously, at pre-defined points in time (e.g. at the begin of a crop row on the agricultural field), or in continuous time intervals (e.g. each 5 seconds), but is not limited thereto.

[0056] The term control data is to be understood broadly in the present case and relates to any data configured to operate and control the device and / or the unit. The control data are provided by a control data providing unit and may be configured to control one or more technical means of the device, e.g., the drive control of the application device, and to control the application, the monitoring and / or the treatment of an agricultural field but is not limited thereto. The control data may be one-dimensional, two-dimensional or three- dimensional data. The control data are based on the first operation schedule data or the second operation schedule data.

[0057] The term providing as used herein is to be understood broadly in the present case and represents any method for measuring, determining, generating, selecting, sending, or receiving of parameter or data. Additionally, parameter / data can be provided or changed / adapted by a manual input by the user via a user interface.

[0058] The system as used herein refers to a device being arranged on, directly at or in the device or the unit.

[0059] In an embodiment of the method for controlling a device on an agricultural field, determining an actual sensor setup and determining whether the actual sensor setup for the zone of the agricultural field is capable of covering the sensor setup requirement relating to the operation in the zone of the agricultural field is iteratively repeated, wherein in case the actual sensor setup is no longer capable of covering the sensor setup requirement, the method comprises providing to the device first operation schedule data.

[0060] Thus, it can be monitored whether the actual sensor setup still covers the sensor setup requirement. If so, second operation schedule data may be provided. If not, i.e., if data for parameters are no longer available from sensors, the first operation schedule data may be provided, so that for missing data for parameters pre-settings may be used. This monitoring can be carried out by repeated determination of the coverage.

[0061] In an embodiment the method for controlling a device on an agricultural field, determining an actual sensor setup and determining whether the actual sensor setup for the zone of the agricultural field is capable of covering the sensor setup requirement relating to the operation in the zone of the agricultural field is iteratively repeated, wherein in case the actual sensor setup changes over the previously determined actual sensor setup, the method comprises adoption of the first operation schedule data.

[0062] Thus the at least one task is carried out based on parameters for which then data of sensors are available of sensors and sensor properties being covered by the newly determined actual sensor setup and predetermined pre-settings for parameters for which then no data of sensors is available any longer. The adoption of the first operation schedule data may be an adoption considering a lower sensor coverage requiring a larger number of pre-settings, or a higher sensor coverage requiring a lower number of presettings, or a modified / shifted sensor coverage, requiring some additional pre-settings and some obsolete pre-settings. In case it is determined that for a newly determined actual sensor setup all required parameters sensor data are available, second operation schedule data may be provided, resulting in a provision of data from sensors for all parameters.

[0063] In an embodiment the method for controlling a device on an agricultural field, providing to the device first operation schedule data includes providing via a cellular network predetermined pre-settings for parameters for which no data of sensors are available. Thus, it is not required to store the pre-settings locally on the device, but to provide the pre-settings from remote, e.g., from a server. This also allows update of pre-settings or providing of pre-settings, which consider other data for determining pre-settings and which are available for a server.

[0064] In an embodiment the method for controlling a device on an agricultural field, providing to the device first operation schedule data includes providing locally stored predetermined pre-settings for parameters for which no pre-settings are available via a cellular network.

[0065] Thus, the provision of pre-settings may take place dynamically via a cellular network, whereas either upon lack of availability of the cellular network or upon lack of availability of particular parameters, the lacking parameters may be provided from a local storage at the device. For example, as a first priority data for parameters can be taken from sensors. If not available, as a second priority pre-settings for parameters can be taken via cellular network. If not available, as a third priority pre-settings for parameters can be taken from a local storage.

[0066] In an embodiment the method for controlling a device on an agricultural field, the method comprises iteratively repeating checking availability of sensor data and providing predetermined pre-settings for parameters for which no data of sensors are available and providing sensor data for parameters for which data of sensors are available.

[0067] In an embodiment the method for controlling a device on an agricultural field, providing to the device second operation schedule data includes providing decision logic data via a cellular network, based on which decision logic data the at least one task is executed in the zone of the agricultural field. The decision logic may use data of sensors provided at the device and may represent a model mased on which control data for the device may be generated.

[0068] In an embodiment the method for controlling a device on an agricultural field, the second operation schedule data comprises data indicative for at least one task, which is carried out based on parameters for which data of sensors are available at the time when the device is prepared to execute the task in the zone of the agricultural field. In an embodiment the method for controlling a device on an agricultural field, the sensor may be a weather sensor, a temperature sensor, a rain sensor, a humidity sensor, a moisture sensor, a wind sensor, a sunshine sensor, a soil sensor, a pH sensor, and / or a camera.

[0069] In an embodiment the method for controlling a device on an agricultural field, the at least one task of the first operation schedule and second operation schedule, respectively, is carried out based on local data. By using local data for the at least one task of the first operation schedule and second operation schedule, respectively, e.g., local conditions may be considered by, e.g., an input by a user for which no sensor data are foreseen.

[0070] In an embodiment the method for controlling a device on an agricultural field, the local data may be weather data, environment data, field data, and / or data associated with the existence of at least one of harmful and beneficial organisms.

[0071] Optionally, for the method for controlling a device on an agricultural field, the time between providing a first operation schedule or a second operation schedule and the execution of the operation schedule is between 3 days and 1 minute, preferably between 5 hours and 20 minutes.

[0072] Optionally for the method for controlling or operating a device on an agricultural field, the time between providing a first operation schedule or a second operation schedule and the execution of this operation schedule is between 5 hours and 1 minute.

[0073] BRIEF DESCRIPTION OF THE DRAWINGS

[0074] In the following, the present disclosure is further described with reference to the enclosed figures:

[0075] Figure 1 illustrates a flow chart of a computer-implemented method for controlling a device on an agricultural field according to an exemplary embodiment of the invention; Figure 2 illustrates an example of an agricultural device for providing data for an agricultural field according to an exemplary embodiment of the invention;

[0076] Figure 3 illustrates a diagram indicating the data flow according to an exemplary embodiment of the invention;

[0077] Figure 4 illustrates another diagram indicating the data flow according to an exemplary embodiment of the invention;

[0078] Figure 5 illustrates a box diagram of a system for operating an agricultural device according to an exemplary embodiment of the invention; and

[0079] Figure 6 illustrates exemplarily the different possibilities to receive and process field data.

[0080] DETAILED DESCRIPTION OF EMBODIMENT

[0081] The following embodiments are mere examples for implementing the method, the system, the use or application device disclosed herein and shall not be considered limiting.

[0082] The present invention provides a computer-implemented method and system for controlling a device on an agricultural field where it is determined whether an actual sensor setup covers a sensor setup requirement relating to the operation in the zone of the agricultural field and: in case the actual sensor setup is not capable of covering a sensor setup requirement providing a first operation schedule where a task is carried out based on parameters for which data of sensors being covered by the actual sensor setup are available and predetermined pre-settings for parameters for which no data of sensors is available; and in case the actual sensor setup is capable of covering the sensor setup requirement providing a second operation schedule where a task is carried out based on parameters for which data of sensors are available; and controlling the device based thereon.

[0083] Figure 1 illustrates a flow chart of a computer-implemented method for controlling a device on an agricultural field. In the following, an exemplary order of the steps according to the present disclosure is explained. However, the provided order is not mandatory, i.e. , all or several steps may be performed in a different order or simultaneously.

[0084] The method steps shown in Figure 1 may be executed by a system. In a first step, machinery sensor setup data are provided which are data indicative of the sensor setup usable by a machinery of the device 107. In a second step, sensor setup requirement data are provided being indicative of a sensor setup requirement relating to an operation in a zone of the agricultural field 112. In a third step, an actual sensor setup 300 of the device 107 relating to the operation in the zone of the agricultural field 112 is determined based on the provided machinery sensor setup data. In a fourth step, it is determined whether the actual sensor setup 300 for the zone of the agricultural field 112 is capable of covering the sensor setup requirement relating to the operation in the zone of the agricultural field 112. In case the actual sensor setup 300 is not capable of covering the sensor setup requirement, first operation schedule data indicative of a first operation schedule are provided to the device 107. The operation schedule comprises at least one task which is carried out based on parameters for which data of sensors are available, wherein these sensors being covered by the actual sensor setup 300 , and predetermined pre-settings for parameters for which no data of sensors is available. In case the actual sensor setup 300 is capable of covering the sensor setup requirement, second operation schedule data 321 indicative of a second operation schedule 310 are provided to the device 107. The second operation schedule comprises at least one task, which is carried out based on parameters for all of which data of sensors are available, wherein these sensors being covered by the sensor setup requirement. In a fifth step, control data are provided for the at least one task for controlling the device 107 based on the respective one of first operation schedule data and second operation schedule data 321 .

[0085] Figure 2 illustrates an example of an agricultural device 107 for which the described method and system applies. The sensor data are provided respectively derived from a plurality of sensors 107i being arranged at a boom of a treatment device 107 and treatment unit, respectively. The device 107 and treatment unit(s), respectively, may be arranged at an agricultural carrier device, e.g., tractor or drone, and may comprise within a housing or frame 107f one or a plurality of tanks 107c, 107d, 107e. Each tank may comprise a different agent for treating an agricultural field and may be connected via fluid connection 107g with a respective tool 107a or nozzle for applying a crop protection product onto the agricultural field. The nozzle 107a may be controlled via a control unit by controlling a time, duration and / or opening grade of a valve 107b. For instance, a crop protection product may be provided via nozzles 107a onto the plants107j, i.e., weed or crop plants, onto an agricultural field 112. The sensors 107i may detect a property of the agricultural filed 112 or plantation and provide the sensor data to a data processing unit 107k via data lines 1071. If the actual sensor setup is not capable of covering a sensor setup of device 107 including all available sensors 107i and its features and sensing properties does not cover a sensor setup requirement relating to the operation or treatment in the zone of the agricultural field, the processing unit 107k takes a first operating schedule for controlling the valves 107b of the nozzles 107a which takes sensor data for those parameters for which sensor data is available and predetermined presettings for those parameters for which no data of sensors is available. However, if it is determined that an actual sensor setup of device 107 including all available sensors 107h and its features and sensing properties covers a sensor setup requirement relating to the operation or treatment in the zone of the agricultural field, the processing unit 107k takes a second operating schedule for controlling the valves 107b of the nozzles 107a which takes the sensor data alone as a basis. Sensors 107i and correspondingly allocated treatment units 107b may form a processing group 107h, wherein the actual sensor setup and the senor setup requirement can be determined on a processing group level.

[0086] Figure 3 illustrates a diagram indicating a data flow.

[0087] In case the actual sensor setup 300 is capable of covering the sensor setup requirement, second operation schedule data 321 indicative of a second operation schedule 310 are provided to the device 107. The second operation schedule 310 comprises at least one task 320 which is carried out based on parameters for which data of sensors A to D are available, which sensors being covered by the sensor setup requirement. The sensors A to D are machinery sensors, i.e., sensors being arranged on the device 107. The task 320 is capable of taking data for all required parameter from the sensors A to D.

[0088] In case the actual sensor setup 300 is not capable of covering the sensor setup requirement, first operation schedule data 351 indicative of a first operation schedule 340 are provided to the device 107. The first operation schedule 340 comprises at least one task 350, which is carried out based on some parameters for which data of sensors are available, here sensors A and B, which sensors being covered by the actual sensor setup 300. However, data of not all sensors may be available. Here data of sensors C and D are not available, as the actual sensor setup here for the left branch does not cover sensors C and D. It should be noted that the actual sensor setup for the right branch and the left branch are different, e.g., the machinery sensors A, B, C, D may be suitable for the task 320, whereas only the sensors A and B may be suitable for task 350, or the sensors A, B, C, D may work at a particular point in time but only sensors A and B work at a different point in time. For the sensors, for which no sensor data is available, here sensors C and D, the first operation schedule 340 and task 350 takes pre-settings instead, and thus predetermined pre-settings for parameters for which no data of sensors are available. The pre-settings may be stored in / on the device 107.

[0089] Figure 4 illustrates another diagram indicating a data flow. The description of features with respect to Figure 3 is incorporated by reference herein for Figure 4. Beside the features as depicted in Figure 3, Figure 4 illustrates that the tasks 320 of the second operation schedule 310 and / or the tasks 350 of the first operation schedule 340 can be also carried out based on local data 395. Local data may be data relating to a local condition which is not detected by a sensor, like, e.g., weather data, environment data, field data, and / or data associated with the existence of at least one of harmful and beneficial organism. Although not illustrated in Figure 4, local data may be manually input by a user via a keyboard or may be provided via a cellular network.

[0090] The second operation schedule may carry out generating control data based on a model stored in the device, which is provided with sensor data as input, so that the model can generate control data. In other words, the second operation schedule may have implemented a detailed model with a decision logic including respective algorithms and the like. However, the task 320 may also be capable of accessing to decision logic data 410 from the cellular network 390. In this case the decision logic is not implemented within the second operation schedule, but provided remotely. In case the decision logic is simple and does not need frequent updates, the decision logic may be stored in the device. In case the decision logic is more complex or requires frequent updates, the decision logic may be provided on demand via a cellular network 390. Further, Figure 4 illustrates that the tasks 350 of the first operation schedule 340 can be carried out based on locally stored pre-settings, which here may provide pre-settings for data which cannot be provided by sensors C and D, and being stored or implemented within the first operation schedule 340. As an alternative or in addition, the first operation schedule 340 or task 350 may request for access to pre-settings provided via a cellular network 390, and / or on externally stored pre-settings. In the illustrated example, the presettings corresponding to data of sensors C and D are stored locally. If the pre-settings corresponding to data of sensors A and B received via the cellular network 390 are, e.g., expected to be better than the locally stored pre-settings corresponding to data of sensors A and B, the pre-settings may be take from those provided via the cellular network. In case data of sensors A and B are available from the sensors, the pre-settings are not required, in the illustrated example, thus access to the cellular network is not required.

[0091] Figure 5 illustrates a box diagram of a system for controlling an agricultural device. The system 40 for controlling an agricultural device 107, in particular device 107 on an agricultural field 112 comprises a machinery sensor setup providing unit 41. The machinery sensor setup providing unit 41 is configured for providing machinery sensor setup data which are data indicative of the sensor setup usable by a machinery of the device 107. The machinery sensor setup providing unit 41 is connectively coupled to a sensor setup requirement providing unit 42. The sensor setup requirement providing unit 42, being also included in the system 40, is configured for providing sensor setup requirement data indicative of a sensor setup requirement relating to an operation in a zone of the agricultural field 112. The system 40 further comprises an actual sensor setup determining unit 44, which is configured for determining an actual sensor setup of the device 107 relating to the operation in the zone of the agricultural field 112 based on the provided machinery sensor setup data. The actual sensor setup 300 is based on the machinery sensor setup data, as describe above. The actual sensor setup determining unit 44 is communicatively coupled to the machinery sensor setup providing unit 41 . The system 40 further comprises a determining coverage unit 45 being configured for determining whether the actual sensor setup 300 for the zone of the agricultural field 112 is capable of covering the sensor setup requirement relating to the operation in the zone of the agricultural field 1 12. The determining coverage unit 45 is communicatively coupled to the actual sensor setup determining unit 44 and to the sensor setup requirement providing unit 42. The system 40 further comprises a first operation schedule and second operation schedule providing unit 43 which, in case the actual sensor setup 300 is not capable of covering the sensor setup requirement, provides to the device 107 first operation schedule data indicative of a first operation schedule comprising at least one task which is carried out based on parameters for which data of sensors are available, which sensors being covered by the actual sensor setup 300 , and predetermined presettings for parameters for which no data of sensors is available. The first operation schedule and second operation schedule providing unit 43, in case the actual sensor setup 300 is capable of covering the sensor setup requirement, provides to the device 107 second operation schedule data indicative of a second operation schedule comprising at least one task which is carried out based on parameters for all of which data of sensors are available, which sensors being covered by the sensor setup requirement. The first operation schedule and second operation schedule providing unit 43 is communicatively coupled to the determining coverage unit 45. Further, the system 40 comprises a control data providing unit 46 being configured for providing control data for the at least one task for controlling the device 107 based on the respective one of first operation schedule data and second operation schedule data. The control data providing unit 46 is communicatively coupled to the first operation schedule and second operation schedule providing unit 43. The system is arranged at a device 107, e.g., mounted at and communicatively coupled to the control system 107k of a device 107. The second operation schedule 310 provides second operation schedule data 321 . The first operation schedule 340 provides first operation schedule data 351. The first operation schedule data 351 and the second operation schedule data 321 are used for providing control data 380 for controlling a device 107 on an agricultural field 112. As the above describe units may be communicatively coupled in different ways, e.g., also by a bus system, the communicative connections are omitted in Fig. 5

[0092] Figure 6 illustrates exemplarily the different possibilities to receive and process field data. For example, field data can be obtained by all kinds of agricultural equipment 400, e.g., a tractor 400, as so-called as-applied maps by recording the application rate at the time of application. It is also possible that such agricultural equipment comprises sensors 107i, e.g., optical sensors, cameras, infrared sensors, soil sensors, etc., to provide, for example, a weed distribution map. It is also possible that during harvesting the yield, e.g., the biomass is recorded by a harvesting vehicle 410. Furthermore, corresponding maps / data can be provided by land-based and / or airborne drones 420 by taking images of the field or a part of it. Finally, it is also possible that a geo-referenced visual assessment 430 is performed and that resulting field data is also processed. Field data collected in this way can then be merged in a computing device 440, where the data can be transmitted and computed, for example, via any wireless link, cloud applications 450 and / or working platforms 460, wherein the field data may also be processed in whole or in part in the cloud application 450 and / or in the working platform 460, e.g., by cloud computing.

[0093] Aspects of the present disclosure relates to computer program elements configured to carry out steps of the methods described above. The computer program element might therefore be stored on a computing unit of a computing device, which might also be part of an embodiment. This computing unit may be configured to perform or induce performing of the steps of the method described above. Moreover, it may be configured to operate the components of the above-described system. The computing unit can be configured to operate automatically and / or to execute the orders of a user. The computing unit may include a data processor. A computer program may be loaded into a working memory of a data processor. The data processor may thus be equipped to carry out the method according to one of the preceding embodiments. This exemplary embodiment of the present disclosure covers both, a computer program that right from the beginning uses the present disclosure and computer program that by means of an update turns an existing program into a program that uses the present disclosure. Moreover, the computer program element might be able to provide all necessary steps to fulfill the procedure of an exemplary embodiment of the method as described above. According to a further exemplary embodiment of the present disclosure, a computer readable medium, such as a CD-ROM, USB stick, a downloadable executable or the like, is presented wherein the computer readable medium has a computer program element stored on it which computer program element is described by the preceding section. A computer program may be stored and / or distributed on a suitable medium, such as an optical storage medium or a solid-state medium supplied together with or as part of other hardware, but may also be distributed in other forms, such as via the internet or other wired or wireless telecommunication systems. However, the computer program may also be presented over a network like the World Wide Web and can be downloaded into the working memory of a data processor from such a network. According to a further exemplary embodiment of the present disclosure, a medium for making a computer program element available for downloading is provided, which computer program element is arranged to perform a method according to one of the previously described embodiments of the present disclosure.

[0094] The present disclosure has been described in conjunction with a preferred embodiment as examples as well. However, other variations can be understood and effected by those persons skilled in the art and practicing the claimed invention, from the studies of the drawings, this disclosure and the claims. Notably, in particular, the any steps presented can be performed in any order, i.e. the present invention is not limited to a specific order of these steps. Moreover, it is also not required that the different steps are performed at a certain place or at one node of a distributed system, i.e. each of the steps may be performed at a different nodes using different equipment / data processing units.

[0095] In the claims as well as in the description the word “comprising” does not exclude other elements or steps and the indefinite article “a” or “a” does not exclude a plurality. A single element or other unit may fulfill the functions of several entities or items recited in the claims. The mere fact that certain measures are recited in the mutual different dependent claims does not indicate that a combination of these measures cannot be used in an advantageous implementation.

Claims

Claims1 . Computer-implemented method for controlling a device (107) on an agricultural field (112), comprising: providing machinery sensor setup data which are data indicative of the sensor setup usable by a machinery of the device (107), providing sensor setup requirement data indicative of a sensor setup requirement relating to an operation in a zone of the agricultural field (112), determining an actual sensor setup (300) of the device (107) relating to the operation in the zone of the agricultural field (112) based on the provided machinery sensor setup data, determining whether the actual sensor setup (300) for the zone of the agricultural field (112) is capable of covering the sensor setup requirement relating to the operation in the zone of the agricultural field (112), in case the actual sensor setup (300) is not capable of covering the sensor setup requirement: providing to the device (107) first operation schedule data (351 ) indicative of a first operation schedule comprising at least one task which is carried out based on parameters for which data of sensors being covered by the actual sensor setup (300) are available and predetermined pre-settings for parameters for which no data of sensors are available, and in case the actual sensor setup (300) is capable of covering the sensor setup requirement: providing to the device (107) second operation schedule data (321 ) indicative of a second operation schedule (310) comprising at least one task (320) which is carried out based on parameters for all of which data of sensors being covered by the sensor setup requirement are available, providing control data for the at least one task (320, 350) for controlling the device (107) based on the respective one of first operation schedule data (351 ) and second operation schedule data (321 ).

2. Method of claim 1 , wherein determining an actual sensor setup (300) and determining whether the actual sensor setup (300) for the zone of the agricultural field (112) is capable ofcovering the sensor setup requirement relating to the operation in the zone of the agricultural field (112) is iteratively repeated, wherein in case the actual sensor setup (300) is no longer capable of covering the sensor setup requirement, the method comprises providing to the device (107) first operation schedule data (351 ).

3. Method of claim 1 , wherein determining an actual sensor setup (300) and determining whether the actual sensor setup (300) for the zone of the agricultural field (112) is capable of covering the sensor setup requirement relating to the operation in the zone of the agricultural field (112) is iteratively repeated, wherein in case the actual sensor setup (300) changes over the previously determined actual sensor setup (300), the method comprises adoption of the first operation schedule data (351 ) so that the at least one task (350) is carried out based on parameters for which then data of sensors are available of sensors being covered by the newly determined actual sensor setup (300) and predetermined pre-settings for parameters for which then no data of sensors are available any longer.

4. Method according to any of the preceding claims, wherein providing to the device (107) first operation schedule data (351 ) includes providing via a cellular network (390) predetermined pre-settings for parameters for which no data of sensors are available.

5. Method according to claim 4, wherein providing to the device (107) first operation schedule data (351 ) includes providing locally stored predetermined pre-settings for parameters for which no presettings are available via a cellular network (390).

6. Method according to any of the preceding claims, wherein the method comprises iteratively repeating checking availability of sensor data and providing predetermined pre-settings for parameters for which no data of sensors is available and providing sensor data for parameters for which data of sensors is available.

7. Method according to any of the preceding claims,wherein providing to the device (107) second operation schedule data (321 ) includes providing decision logic data (410) via a cellular network, based on which decision logic data (410) the at least one task is executed in the zone of the agricultural field (112).

8. Method according to anyone of the preceding claims, wherein the second operation schedule data (321 ) comprises data indicative for at least one task which is carried out based on parameters for which data of sensors is available at the time when the device (107) is prepared to execute the task in the zone of the agricultural field (112).

9. Method according to anyone of the preceding claims, wherein a sensor of the actual sensor setup is at least one sensor out of a group, the group consisting of a weather sensor, a temperature sensor, a rain sensor, a humidity sensor, a moisture sensor, a wind sensor, a sunshine sensor, a soil sensor, a pH sensor, and a camera.

10. Method according to anyone of the preceding claims, wherein the at least one task of the first operation schedule (340) and second operation schedule (310), respectively, is carried out based on local data (400).11 . Method according to claim 10, wherein the local data (400) are data out of a group, the group consisting of weather data, environment data, field data, and data associated with the existence of at least one of harmful and beneficial organisms.

12. A system for controlling a device (107) on an agricultural field (112), the system comprising: one or more computing nodes and one or more computer-readable media having thereon computer-executable instructions that are structured such that, when executed by the one or more computing nodes, cause the system to perform the following: providing machinery sensor setup data which are data indicative of the sensor setup usable by a machinery of the device (107), providing sensor setup requirement data indicative of a sensor setup requirement relating to an operation in a zone of the agricultural field (112),determining an actual sensor setup (300) of the device (107) relating to the operation in the zone of the agricultural field (112) based on the provided machinery sensor setup data, determining whether the actual sensor setup for the zone of the agricultural field (112) is capable of covering the sensor setup requirement relating to the operation in the zone of the agricultural field (112), in case the actual sensor setup (300) is not capable of covering the sensor setup requirement: providing to the device (107) a first operation schedule data (351 ) indicative of a first operation schedule (340) comprising at least one task (350) which is carried out based on parameters for which data of sensors being covered by the actual sensor setup (300) are available and predetermined pre-settings for parameters for which no data of sensors are available, and in case the actual sensor setup is capable of covering the sensor setup requirement: providing to the device (107) second operation schedule data (321 ) indicative of a second operation schedule (310) comprising at least one task (320) which is carried out based on parameters for which data of sensors being covered by the sensor setup requirement is available, providing control data for the at least one task (320, 350) for controlling the device (107) based on the respective one of first operation schedule data (351 ) and second operation schedule data (321 ).

13. A computer program element with instructions, which when executed on one or more computing node(s) is configured to carry out the steps of the method of any one of the claims 1 to 11 or by the system of claim 12.

14. Use of control data provided according to any one of claims 1 to 11 for controlling a unit of a device (107).

15. A device (107) controlled by control data provided by a method according to any one claims 1 to 11 .

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