Systems and methods for planting trees through unmanned aerial vehicle delivery and ground soil preparation

Abstract

The present disclosure relates to a method and system for reforestation or afforestation, said system comprising a remotely and / or autonomously controlled unmanned aerial vehicle, UAV, a planting device (7), and a base station, said planting device (7) removably attached to the underside of said UAV (1), the planting device (7) comprising: a planting tube (4) configured for planting at least one seed, seedling and / or sapling into or onto ground soil (10); and a ground soil preparation means configured for modifying the ground soil (10) in preparation for planting, wherein said base station is configured to communicate with said UAV (1) and / or said planting device (7).

Description

SYSTEMS AND METHODS FOR PLANTING TREES THROUGH UNMANNEDAERIAL VEHICLE DELIVERY AND GROUND SOIL PREPARATIONTechnical field

[0001] The present invention relates to methods and systems for tree planting, more particularly to a method and system for aerial ground soil preparation and tree planting.Background art

[0002] Afforestation and reforestation are methods used to increase forest cover. Afforestation involves establishing forests on land that has not been forested for a long time or has never been forested. Reforestation refers to the restoration of forests on land that has been deforested or degraded due to human activities or due to natural causes. Reforestation involves replanting trees in areas where forests have been cleared or damaged, with the goal of restoring the forest ecosystem to its original or near-original state.

[0003] Both afforestation and reforestation can be performed using various techniques, including planting trees manually or by allowing natural regeneration by protecting existing vegetation.

[0004] Afforestation and reforestation projects are generally expensive, labor intensive and time consuming, but they are important as means to enhance ecological conditions. Current methodologies for planting trees primarily involve manual labor but can also involve aerial sowing methods. Manual planting necessitates substantial human effort and proves highly impractical in regions with challenging terrain that complicates transportation. Aerial sowing, employing manned aircraft to disperse seeds over designated areas at specific altitudes along predefined flight paths, presents an alternative. However, this approach often yields uneven distribution, inadequate planting density, excessive seed consumption, and inability to effectively cover small, irregular terrain features. Consequently, complex topographies and fragmented land parcels remain underserved by existing aerial sowing technologies.

[0005] In recent years, Unmanned Aerial Vehicles, UAVs, commonly known as drones, have emerged as versatile tools in agriculture, offering diverse applications such as dispersing seeds and sometimes even seedlings.

[0006] The disadvantages of using UAVs for agriculture is uneven seed or seedling drop, poor planting density, excessive seed usage, as well as low rates of plant survival or plant growth after planting. Thus, the current invention aims to provide improved methods for successful reforestation and afforestation.

[0007] EP4169365 discloses a method with a UAV to which a planting robot is attachable. The method comprises creating a data model based on at least data describing the terrain to be planted, wherein the data model makes it possible to identify suitable planting locations within the terrain. The planting robot comprises a drilling device designed to drill a planting hole and a planting device designed to plant a plant.

[0008] KR1 02564062 discloses a seedling planting system using a drone equipped with a plurality of rotors in its body and controlled remotely. A seedling housing in the shape of a bullet with a sharp point is formed at the bottom to be embedded in the soil of a planting site.Summary of invention

[0009] According to the invention, at least the primary object is attained by means of a system, a planting device, and a method for reforestation or afforestation defined in the independent claims.

[0010] Preferred embodiments of the present invention are further defined in the dependent claims.

[0011] According to a first aspect of the present invention, it is provided a system for reforestation or afforestation, said system comprising an Unmanned Aerial Vehicle, UAV, a planting device is removably attached to the underside of said UAV, wherein the planting device comprises a planting tube configured for planting at least one seed, seedling and / or sapling into or onto ground soil, acartridge of containers configured for accommodating at least one seed, seedling, and / or sapling, wherein the planting tube is configured for the transferring the at least one seed, seedling, and / or sapling from said containers into or onto the ground soil, and a ground soil preparation means configured for modifying the ground soil in preparation for planting.

[0012] The advantage of the present invention is that a planting device attached to a UAV can autonomously or remotely access reforestation and / or afforestation sites by air, where it can plant seeds, seedlings, and / or saplings that will grow into new trees. Another advantage of the present invention is that it also prepares the ground soil by clearing it of existing vegetation such as plants, but also from rocks, and / or debris. The present invention thus improves both survival and growth of the planted seeds, seedlings and / or saplings.

[0013] In one embodiment of the system according to the invention, each container comprises a bottom that is autonomously or remotely removable or openable.

[0014] In another embodiment of the system according to the invention, the planting tube comprises a first end in communication with the bottom of one container, and a second end, opposite to said first end, is configured for contacting and / or for penetrating the ground soil.

[0015] In a further embodiment of the system according to the present invention a first end in contact or communication with the plant holding portion, and a second end, which is opposite to the first end, which is configured for contacting and / or penetrating the ground soil.

[0016] In a further embodiment of the system according to the invention, the planting tube and / or said container are configured to be autonomously or remotely controlled to move for alignment of the first end of said planting tube with the bottom of said container.

[0017] In another embodiment of the system according to the invention, the second end of said planting tube is configured to be expandable. The second endof said planting tube may also be configured for creating a ground soil indentation, a ground soil furrow or a ground soil depression when contacting or penetrating the ground soil.

[0018] The advantage of these embodiments of the system according to the present invention is that the cartridge comprising multiple containers may contain at least one, but preferably multiple, seeds, seedlings, and / or saplings of at least one species of trees to be planted at the reforestation or afforestation site. Thus, there is no need with the present invention to fly back and forth to a pickup site to pick up new seeds, seedlings, and or saplings. A further advantage of these embodiments is that the content of each of the multiple containers, the seed, seedling, and / or sapling, including its immature or mature root system in soil, can be remotely or autonomously moved to align with the planting tube and then transferred from the holding portion through the removed or opened bottom of any of the multiple containers and into the planting tube to be further transferred onto or into the ground soil.

[0019] In a further embodiment of the system according to the present invention, the second end of the planting tube is configured to be expandable. In its not expanded state, the planting tube will not transfer a seed, seedling, and / or sapling onto or into the ground soil. Once expanded, or opened, the seed, seedling, and / or sapling will be transferred to the ground soil. In yet another embodiment, the non-expanded second end of the planting tube is configured for creating an indentation in the ground soil upon contacting or penetrating the ground soil.

[0020] One advantage of these embodiments of the system of the present invention is that the planting tube, by force of the weight of the present invention, creates an indentation to fit the appropriate parts of a seed, seedling, and or sapling, more precisely a seed, or the root system of a seedling or a sapling, thus improving the planting and increasing the survival and growth of the planted seed, seedling and / or sapling. Another advantage of these embodiments is that the planting tube, when it is not expanded, will not transfer the seed, seedling, and / or sapling onto or into the ground soil. This remotely and / or autonomously controlledconfiguration provides a means for careful and planned positional planting of said seeds, seedlings, and / or saplings.

[0021] In one embodiment of the system according to the present invention, the seeds, seedlings, and / or saplings are tree seeds, tree seedlings, and / or tree saplings.

[0022] The advantage of this embodiment is that the planting of new trees in a reforestation or afforestation site is beneficial for ecosystem restoration and environmental conservation, which fosters biodiversity and mitigates climate change.

[0023] In further embodiments of the system according to the present invention, the ground soil preparation means is configured for modifying the ground soil in preparation for planting, preferably for tilling, clearing, weeding, aerating, watering, digging, and / or for fertilizing the ground soil. In one embodiment of the present invention, the ground soil preparation means comprises an additional container for additional goods such as soil, fertilizer and / or water.

[0024] The advantage of ground soil preparation according to the present invention, such as clearing the ground soil from debris, rocks, and existing vegetation, is that such ground soil preparation improves the planting by removing rocks, debris, and pre-existing vegetation that can obstruct placement of seeds, seedlings, and / or saplings. Furthermore, both pre-existing vegetation and rocks can inhibit root formation of the new plants and may also compete with the new plants for nutrients and / or sunlight. Ground soil preparation thus reduce physical barriers to planting, it improves access to nutrients and to sunlight, and it thereby improves the potential for successful establishment of the newly planted plants.

[0025] According to another aspect of the present invention, it is provided a method for reforestation of for afforestation with an Unmanned Aerial Vehicle, UAV, comprising a ground soil preparation means, a planting tube and a cartridge of containers , said method comprising maneuvering the UAV to a reforestation orafforestation site, preparing a ground soil with the ground soil preparation means at said reforestation or afforestation site, transferring at least one seed, seedling, and / or sapling provided in the containers from said containers to the planting tube, and planting said seed, seedling, and / or sapling at said reforestation or afforestation site.

[0026] The advantage of this aspect of the invention is that the method allows for autonomous or remote access to reforestation and / or afforestation sites, and the planting of seeds, seedlings, and / or saplings that will grow into new trees at these sites. Another advantage of this aspect of the invention is that the method includes clearing the ground soil from existing vegetation such as plants, as well as from rocks, and / or debris. The method also comprises steps for additional ground soil modifications. The present invention thereby improves both survival and growth of the planted seeds, seedlings and / or saplings.

[0027] In various example embodiments of the method according to present invention, the UAV of the present invention is maneuvered by means of at least one optical device. In one example embodiment, the reforestation or the afforestation site is identified with at least one optical device. In a further example embodiment, the coordinates for the reforestation or afforestation site are provided by another UAV.

[0028] The advantage of the method according to the present invention is that the UAV can cover vast distances quickly, saving time and effort in rugged terrain. UAVs also provide a bird’s-eye view, enabling inspections of large areas efficiently. UAVs equipped with optical devices can provide coordinates for reforestation or afforestation sites as well as detailed insights into the vegetation health, terrain topography and potential hazards of the reforestation or afforestation site without disturbing the environment.

[0029] In another embodiment of the method according to the present invention, ground soil preparation comprises clearing the ground soil from existing vegetation, rocks, and / or debris. In a further embodiment, the ground soilpreparation comprises preparing the ground soil by aerating, watering and / or fertilizing.

[0030] The advantage of these embodiments of the method according to the invention, is that clearing the ground soil from debris, rocks, and existing vegetation improves the planting. Rocks can be a physical obstacle for the planting, preexisting vegetation and rocks can inhibit root formation of new plants and preexisting vegetation may also compete with the new plants for nutrients and / or sunlight. Ground soil preparation thus reduces physical barriers to planting, it improves access to nutrients and to sunlight, and it thereby improves the potential for successful establishment of the newly planted plants.

[0031] In a further embodiment of the method according to the present invention, the planting means is preparing a ground soil indentation, a ground soil furrow, or a ground soil depression.

[0032] The advantage of this embodiment of the method according to the invention is that the planting tube, by force of the weight of the present invention, is capable of creating an indentation in the ground soil to fit the appropriate parts of a seed, seedling, and or sapling, and more specifically a seed, or the container- grown root system of a seedling or the container-grown root system of a sapling, thus reducing the exposure of said seed, or said container-grown parts of said seedling, and / or sapling to conditions out of the ground soil, thus improving the planting and increasing the survival and growth of the planted seed, seedling and / or sapling.

[0033] In various example embodiments of the method according to the present invention, wherein each container comprises a bottom that is at least partly removable or openable and the planting tube comprises a first end in communication with the bottom and a second end, opposite to the first end, configured for contacting and / or for penetrating the ground soil, the method further comprising autonomously or remotely positioning at least one container in alignment with the first end, removing or opening at least parts of the bottom of said at least one container, transferring the contents of at least one container intothe first end of the planting tube, transferring the contents of the at least one container from the first end of said planting tube, through said planting tube to the second end of said planting tube, and into or onto the ground soil.

[0034] The advantage of these example embodiments of the method according to the present invention is that the planting of the seeds, seedlings, and / or saplings can be carried out in a highly organized manner, from moving the appropriate seed, seedling, and / or sapling to align with the planting tube, to opening or removing at least parts of the bottom of the container in which the seed, seedling, and / or sapling is located, and to transfer the contents of the container into the first end of the planting tube and then through the planting tube towards its second end where the seed, seedling, and / or sapling can be planted into or onto the ground soil.

[0035] In another embodiment of the method according to the present invention, the soil preparation means is transferring additional goods from an additional container onto or into the ground soil, wherein said additional goods is soil, fertilizer, and / or water.

[0036] The advantage of this embodiment of the method according to the present invention is that the soil is modified in a way that improves the survival and growth of the planted seed, seedling, and / or sapling.

[0037] In another embodiment of the method according to the present invention, each seed, seedling, and / or sapling is transferred from any one of multiple containers in a the cartridge through the planting tube into a ground soil indentation, a ground soil depression, or a ground soil furrow, and wherein said ground soil indentation, ground soil depression and / or ground soil furrow is configured to fit the seed, seedling and / or sapling.

[0038] The advantage of this embodiment is that the ground soil indentation, the ground soil depression or the ground soil furrow is created by the planting means according to the present invention to fit the appropriate parts of a seed, seedling, and or sapling, more precisely a seed, or the root system of a seedling ora sapling, thus improving the planting and increasing the survival and growth of the planted seed, seedling and / or sapling.

[0039] In a further embodiment of the method according to the present invention, the content of each of the multiple containers is transferred into the first end of the planting tube and through the planting tube to the opposite second end of the planting tube by gravity.

[0040] The advantage of this embodiment of the method according to the present invention is that it eliminates the need for a mechanical force to push the sensitive plant into the planting tube and through the planting tube to reach the opposite second end of the planting tube. This embodiment thus reduces energy consumption, potential mechanical failures and also reduces the shear force on the fragile seed, seedling, and / or sapling.

[0041] In one embodiment of the method according to the present invention, the expandable opening of the second end of the planting tube is remotely or autonomously controlled to open followed by maneuvering the UAV to leave the seed, seedling or sapling in or on the ground soil.

[0042] The advantage of this embodiment of the method according to the present invention is that it offers a precise means of positioning the seed, the seedling, and / or the sapling exactly where it should be planted.Brief description of drawings

[0043] The invention is now described, by way of example, with reference to the accompanying drawings, in which:Figure 1 depicts a perspective view of an UAV with a planting device according to the present invention.Figures 2a-b depict a perspective view of the UAV in various steps of planting seeds, seedlings, and / or saplings in the ground soil according to the present invention.Figures 3a-b illustrate a first and second cartridge of containers having a first and second type of containers respectively.Figure 4 depicts the cartridge configured to move in all directions horizontally to align the bottom of any of the containers with the planting tube.Figures 5-6 illustrate different types of containers.Figures 7a-b depict how the bottom of any one of the containers is partly or fully removable according to the invention.Figures 8a-b illustrate how the first end of the planting tube, displaces the partly or fully removable bottom of any one of the containers.Figure 9 illustrates how the second end of the planting tube is configured for contacting (a) and / or penetrating (b) the ground soil followed by expanding (c) to allow for planting of a seed, a seedling, and / or a sapling according to the invention.Figure 10 illustrates how the planting device further comprises an additional, autonomously and / or remotely controlled container comprising additional goods such as soil, fertilizer, and / or water according to the invention.Figure 11 illustrates the ground soil before (a) and after (b) soil preparation by any means of clearing, weeding, aerating, watering, digging, and / or fertilizing the ground soil according to the invention.Figure 12 illustrates a perspective view of an example embodiment of a cartridge of containers and a planting tube.Figure 13 illustrates a view from below of an example embodiment of a cartridge of containers and possible routes of a planting tube.Description of embodiments

[0044] Figure 1 depicts a perspective view of an Unmanned Aerial Vehicle, UAV 1 , with a planting device 7 according to a first example embodiment of thepresent invention. The planting device 7 may be removably attached to the underside of the UAV 1 , which is configured for autonomous or remote reforestation or afforestation. The planting device 7, for dispensing seeds, seedlings and / or saplings 6 into or onto the ground, comprises a ground preparation means 3, a planting tube 4 and a cartridge 5 of containers. The ground soil preparation means 3 is configured for modifying ground soil 10 in preparation for planting. The planting tube 4 and the cartridge 5 of containers are configured for planting the seed, seedlings and / or saplings.

[0045] In context of the present invention, it should be understood that the UAV 1 , the planting device 7 including its different parts such as the ground preparation means 3, the planting tube 4 and the cartridge 5 are remotely and / or autonomously controlled. To this end the system according to the present invention uses a base station for controlling the UAV 1 and the planting device 7, which is known in the art.

[0046] The cartridge 5 if the planting device 7 may comprise one or a plurality of containers housing one or more seeds, seedlings, plants, and / or saplings 6. Here it is illustrated a cartridge 5 of containers. The planting tube 4 is provided for transferring the plants, seeds, seedlings, and or saplings 6 from said cartridge 5 of containers onto or into the ground soil 10.

[0047] The planting device 7 is removably attached to an underside of said UAV 1 by means of one or a plurality of wires 2 or rods. In various example embodiments the wires 2 may be attached to a winch mechanism provided on said planting device 7 and / or said UAV 1 allowing the winch mechanism to regulate the distance between said planting device 7 and said UAV 1 .

[0048] The ground preparation means 3 may be in the form of a milling tool for removing stones and / or debris from the ground soil at or near a planting location. The ground preparation means 3 may prepare the ground soil 10 before planting the plant, seeds, seedlings, and / or saplings 6. The ground preparation means 3 does not only prepare the ground soil 10 for planting but also removes competing vegetation at or near the planting location. Removal of competingvegetation improves the condition for the plant to survive and / or grow. Instead of a milling tool there may be one or a plurality of rakes, spades attached to actuating means for allowing raking or spading activity for preparing the ground soil 10. Rakes, spades, milling or similar tools may as mentioned above be remotely and / or autonomously controlled. The energy source for said tools may be provided in said planting device 7. The ground preparation means 3 may be at a fixed location in said planting device. The UAV 1 may move from one position to another for preparing larger areas of the ground soil 10. The weight of the planting device 7 ensures that the planting device 7 stands still during operation of the ground preparation means 3.

[0049] In various example embodiments the planting device 7 may be provided with one or a plurality of wheels allowing said planting device 7 to be movable on ground from one position to another.

[0050] In various example embodiments said planting device 7 may be provided with securing means configured to penetrate the ground soil 10 while operating the ground preparation means 3. The securing means may be provided on the underside of the planting device 7. The securing means may be movable between an extended position and a retracted position. In the extended position the securing means are configured to penetrate the ground soil 10. In the retracted position the said securing means are hidden in the planting device 7. In various example embodiments the securing means is the planting tube 4. When the securing means is in retracted position the planting device 7 is configured to be movable on ground, either with wheels provided on the planting device 7 or movable with force from the UAV 1 . The wheels on the planting device may be provided with an electric motor allowing the planting device 7 to be movable on its own. In various example embodiments the planting device 7 may be remotely movable on ground and / or autonomously movable on ground.

[0051] The planting tube 4 and / or the ground preparation means 3 may be arranged movable in a vertical direction. When the ground preparation means 3 is preparing the ground soil 10, the ground preparation means 3 may contact the ground soil with or without disturbance from the planting tube 4, i.e., the plantingtube may or may not contact the ground soil while the ground preparation means 3 is preparing the ground soil 10. In various example embodiments the planting tube4 is arranged movable in a vertical direction between a retracted position and an extended position. When the planting tube 4 is in a retracted position the ground preparation means 3 is configured to be movable on ground. When the planting tube 4 is in an extended position, the planting tube 4 is extending out of the bottom of the planting device 7 for penetrating the ground soil 10. The planting tube 4 may be set in a retracted and extended position autonomously and / or remotely.

[0052] Figure 2a depicts a perspective view of the UAV 1 before planting a plant, seed, seedling, and / or sapling 6 in the ground soil 10 according to an example embodiment of the present invention. The UAV 1 may be equipped with one or a plurality of optical devices 8 for locating an area to plant a plant, seed, seedling and / or sapling 6 in the ground soil 10. A cartridge 5 of containers is configured for housing a plant, seed, a seedling, and / or a sapling 6. The cartridge5 of containers is in this example embodiment provided in the center of the UAV 1 . The planting tube 4, for transferring plants 6 from the cartridge 5 of containers is provided below said cartridge 5 of containers. The planting tube 4 and / or the cartridge 5 of containers may be movable with respect to each other in order to align a first end of said planting tube 4 with each and every container in said cartridge 5 of containers. The planting tube 4 may, at its second end, be provided with an expandable opening 9. The expandable opening 9 may control when the plant, seed, seedling and / or sapling 6 is to be released from the planting tube 4. The expandable opening 9 also provides room for the plant, seed, seedling and / or sapling 6 in the ground soil 10 when said expandable opening is inserted in said ground soil 10. The expandable opening 9 may be closed when the planting tube 4 is above the ground soil 10, if the ground soil 10 has no premade planting hole. If there is a premade planting hole, the seed, seedling and / or sapling 6 may be released at a height above the ground into said premade planting hole, i.e. , the expandable opening may in this case be opened above the ground soil 10.

[0053] Seeds, seedlings, plants and / or saplings 6 may be transferred from the cartridge 5 of containers to the first end of the planting tube 4 and through theplanting tube 4 to the second end of the planting tube 4 towards the ground soil 10.

[0054] Figure 2b depicts a perspective view of the UAV 1 during planting a plant, seed, seedling, and / or sapling 6 in the ground soil 10 according to an example embodiment of the present invention. Here the second end of the planting tube 4 with the expandable opening 9 is inserted into the ground soil 10 and the expandable opening is opened. The expandable opening 9 may be opened after the planting tube 4 is inserted into the ground soil 10, i.e. , the expandable opening 9 at the second end of the planting tube 4 may be in a closed position when penetrating the ground soil 10. When the expandable opening 9 is inserted into the ground soil 10 the expandable opening is opened and thereby provides a hole for the seed, seedling and / or sapling 6. The planting tube 4 may after the seed, seedling and / or sapling 6 is inserted into the ground soil 10 be removed from the ground soil by setting the UAV 1 to a higher elevation. The expandable opening 9 is here illustrated to have a first part 9a, and a second part 9b which are pivotably provided at the second end of the planting tube 4. The first and second end may be remotely and / or autonomously controlled. The actuation of the first and second end 9a, 9b from a closed to an open position may be made by one or a plurality of electrical actuators.

[0055] A GPS / GNS position may be assigned for each plant when having been planted. The GPS / GNS position may be stored locally and / or in a base station for future use, for instance for watering purpose and / or thinning purpose.

[0056] Figure 3a depicts a cartridge 5 of a first type of containers 16 housing a seed, seedling and / or a sapling 6. The planting tube 4 is provided below the cartridge 5. When a first end 32 of the planting tube 4 is aligned with one of the containers 16 in the cartridge 5 of containers a seed, seedling and / or a sapling 6 may be released from the container 16 and transferred from the container 16 into the tube 4. In figure 3a a plant 6 being deployed in the planting tube 4 is denoted by 14. In figure 3a the containers 16 are illustrated to have a bottom area facing the planting tube 4 which is essentially the same as the top area, i.e., the containermay have a form of a square cylinder. Such a form of the container may need external forces in order to release a plant 6 from the container.

[0057] Figure 3b depicts a cartridge 5 of a second type of containers 17 housing a seed, seedling and / or a sapling 6. The planting tube 4 is provided below the cartridge 5. When a first end 32 of the planting tube 4 is aligned with one of the containers 12 in the cartridge 5 of containers a seed, seedling and / or a sapling 6 may be released from the container and transferred from the container 12 into the tube 4. In figure 3b a plant 6 being deployed in the planting tube 4 is denoted by 14. In figure 3b the containers are illustrated to have a bottom area facing the planting tube 4 which is larger than the top area, i.e. , the container 17 may have a form of a truncated pyramid. Such a form of the container 17 may release a plant inside the container without any assistance of external forces. The plant 6 in containers, as depicted in figure 3b, may be fed by gravity into the first end of the planting tube 4 once the bottom is partly or fully removed.

[0058] Figure 4 illustrates the cartridge 5 of containers comprising a set of pots of seeds, seedlings, and / or saplings 6. Each container may have a partly or fully removable opening at the bottom. In figure 4 the cartridge 5 is moved in a first direction denoted 15a and a second direction denoted 15b. The first and second directions may essentially be perpendicular to each other. In figure 4 the planting tube 4 may be fixed or movable. The movement of the cartridge and / or the planting tube 4 is for alignment of the first end 32 of the planting tube 4 with individual containers in said cartridge 5 of containers.

[0059] Figure 5 illustrates a first type of container 16 having parallel walls. The container having a bottom end 18 being at least partially openable or removable for allowing transfer of the plant and its root system in a downward direction to the first end of the planting tube once aligned with the bottom of the container. Containers having essentially parallel walls as depicted in figure 5 may need an external force for allowing the plant 6 inside the container to be released from the same. The external force may be in the form of a vibration device attached to the outside of said container. The vibration may be started for allowing the plant to be released from the container. Alternatively, or in addition, to saidvibration an external force may be applied beside the sapling in a downward direction.

[0060] Figure 6 illustrates a second type of container 17 having essentially non-parallel walls. The container having a bottom end 18 being at least partially openable or removable for allowing transfer of the plant and its root system in a downward direction to the first end of the planting tube once aligned with the bottom of the container. Containers having essentially non-parallel walls as depicted in figure 5 may not need an external force for allowing the plant 6 inside the container to be released from the same. The weight of the plant may be sufficient for the plant to be released from the container. The steeper the walls are inclined from a vertical position the easier the plant is released by gravity from the container without any external force assistance.

[0061] Figures 7a-b illustrate how the bottom 18 of one container 17 is partly or fully removable to allow for transfer of the whole plant 6 in a downward direction into the first end of the planting tube 4. The bottom may be moved by an electrical actuator (not shown) only affecting the bottom. Alternatively, said bottom 18 may be pushed mechanically by the first end 32 of the planting tube 4 as illustrated in figure 8b. The mechanical movement of the bottom may be possible if there is a lip on the downside of said bottom which said first end of said planting tube 4 may be contacting when said planting tube 4 is moved horizontally. The lip may be provided on one or a plurality of positions on said bottom 18. The lips on said bottoms in said cartridge are distributed in such a way that movement of the bottom is possible if said planting tube is moved in a first direction and avoided if moved in a second direction, i.e. , there is a passage for said first end of said planting tube 4 under said cartridge of containers for avoiding opening them and there is a way to individually select and open any container by guiding said planting tube 4 in at least a first predetermined route under said cartridge. The lip is extending in a downward direction from an underside of said bottom. The first end of said planting tube is moved at a predetermined distance from said bottom 18 allowing contact with said lip if moved in a certain direction and thereby enabling opening of the container.

[0062] In various example embodiments the bottom 18 is a thin film made of cellulose or any other biodegradable material. The bottom in the form of said thin film may be a disposable product. The first end 32 of the planting tube 4 may comprise one or a plurality of knifes or razorblades for opening said thin film in order to let the plant out of the container. Alternatively, the container itself comprises one or a plurality of knives or razor blades which cut the thin film when said planting tube 4 is arranged below the container. The knives or razor blades arranged in said container may be remotely and / or autonomously controlled.

[0063] Figure 12 is a perspective view of an example embodiment of a cartridge 5 of containers 17 and a planting tube 4. Here the bottom 18 is common for all containers 17 in one row. The first end 32 of the planting tube 4 is arranged to push the bottom 18 by contacting a lip 19 of said bottom 18. When the plant in a container 17 has been released and planted, the planting tube 4 continues to push the bottom 18 and until it aligns with the next container 17. This may continue until all containers in a row have been emptied from their plant and the plants have been planted. This procedure may continue with a next row of containers 17.

[0064] Figure 13 illustrates a view from below of an example embodiment of a cartridge 5 of containers 17 and possible routes 25 of a planting tube 4. Figure 13 illustrates yet another example embodiment of how to open the bottom 18 of the container 17. Here each container 17 has its own bottom 18. Each bottom 18 has a lip 19. The first end of the planting tube 4 is sliding under the container 17 and contacting said lip 19 for opening the container 17 and allowing said plant inside said container 17 to fall into the planting tube 4. Due to the arrangement of a lip 19 on only a portion of the bottom, the planting tube 4 may select which container 17 to open. It is possible for the planting tube 4 to open any one of the containers 17 in any order, meaning that the movement pattern of the planting tube 4 relative to said containers 17 may take numerous alternative ways from one point to another to open a predetermined container 17. In figure 13 the dashed line 25 indicate possible routes for the planting tube 4 relative to the containers 17.

[0065] Figures 8a-b illustrate an enlarged view of the first end 32 of the planting tube 4, when aligning the planting tube 4 with the container 17 and at thesame time opening the bottom 18 of the container 17. The first end 32 of the planting tube 4, displaces the bottom 18 of the container 17 to a partially or fully open position, thereby allowing the plant 6 inside the container 17 to drop into the planting tube 4.

[0066] Figures 9a-9c illustrate the sequence of how the plant 6 is planted into the ground soil 10. Figure 9a shows how the expandable opening 9 of the planting tube 4 is above the ground soil 10. A plant 6 is provided in the planting tube 4 and the expandable opening 9 is in a closed position for prohibiting said plant 6 inside said planting tube 4 to fall out.

[0067] In figure 9b the expandable opening 9 is partially inserted into the ground soil 10. Due to the tip shaped form of the expandable opening 9 a penetration of the ground soil is relatively easy. The penetration of the expandable opening may also be assisted by the weight of the planting device 7. As further assistance for allowing said expandable opening 9 to penetrate the ground soil 10, said planting device 7 may with a predetermined speed hit the ground soil 10.

[0068] Figure 9c illustrates an expansion of the expandable opening 9 in the ground soil 10 for allowing the transfer of plant 6 through and from the planting tube 4 and further onto or into the ground soil 10. The expandable opening 9 of the planting tube 4 is further configured for creating an indentation in the ground soil 10 for further assisting the planting of the plant 6.

[0069] When the plant 6 has been planted in the ground soil 10 the UAV 1 , or another lifting mechanism, lifts the planting tube 4 from the ground soil 10.

[0070] Figure 10 illustrates an additional container 21 , which is autonomously and / or remotely controlled, for additional goods 23 such as soil, fertilizer, and / or water. The additional container 21 is also movable in order to align an opening 24 at the bottom of said additional container 21 with the planting tube 4 to transfer additional goods 23 to the ground soil 10. The additional container 21 may be provided with moving means 22a, 22b for allowing said additionalcontainer 21 to move in a first and second direction. The additional container 21 may be removably attached to the planting device 7.

[0071] Figure 11a illustrates an unprepared ground soil 26. The unprepared ground soil 26 may comprise stones 29, debris, branches 28 and / or ground vegetation 27.

[0072] Figure 11b illustrates a prepared ground soil 30 ready for reforestation and / or afforestation. The planting device 7 with its ground preparation means 3 may have cleared the ground soil from vegetation / weed and / or other obstacles for planting. Further, the planting device 7 may have aerated, watered, dug, and / or fertilized the ground soil in preparation for the planting. The efficacy of UAV-mediated tree planting operations is also significantly impeded by the presence of for instance debris, rocks, and existing vegetation on the ground, which affects the planting itself negatively, but which also affects growth and survival of newly planted vegetation. Debris and preexisting vegetation can obstruct placement of seeds and / or seedlings, inhibit root development, and may also compete with the new plants for nutrients and sunlight. Rocks present a physical barrier to planting, but also to root expansion, thus limiting access for the newly planted plant to essential ground soil resources. Furthermore, natural ground soil may lack necessary nutrient content and ground soil structure conducive to plant growth, diminishing the potential for successful establishment. Thus, even with the use of UAVs 1 for planting, there is still a need for improved afforestation or reforestation methods that account for the properties of the terrain where trees are to be planted.

[0073] The ground preparation means may be configured for creating a microclimate suitable for a plant to survive a first critical period after having been planted. It gives the plant increased surviving probability. A removal of debris will increase the survival probability for the pant since there will be none or very little competing vegetation.

[0074] In various example embodiments before removal of the planting tube 4 from the ground soil 10 another mechanical means may press in the vicinity ofthe planting tube 4 for prohibiting any withdrawal of unnecessary soil from the ground soil.

[0075] In various example embodiments a sensor may be used for sensing at least one ground soil parameter such as moisture, PH value, temperature etc. The sensor may be arranged in the planting tube or in another penetrating or nonpenetrating ground soil device.

[0076] The weight of the planting device 7 may be used as stabilizer or counterweight when performing the ground soil preparation work. The planting tube 4 may assist the fixation of the planting device 7 during ground preparation if said planting tube 4 is at least partially penetrating the ground soil 10 together with the weight of the planting device 7.

[0077] The prepared ground soil 10 may also have an indentation in the ground soil for the plant. The indentation may be made by the planting device 7.

[0078] In the example embodiments described above, the UAV 1 is provided in the air while the preparation of the ground soil and / or the planting takes place.

[0079] The ground soil preparation means 3 may comprise at least one ground soil preparation tool. The ground soil preparation tool may be selected from the group of tiller, rake, hoe, spade, and pickaxe, or any combination thereof.

Claims

CLAIMS1 . A system for reforestation or afforestation, said system comprising an Unmanned Aerial Vehicle, UAV (1 ), a planting device (7) is removably attached to the underside of said UAV (1 ), wherein the planting device (7) comprises: a planting tube (4) configured for planting at least one seed, seedling and / or sapling (6) into or onto ground soil (10); a cartridge (5) of containers (16; 17) configured for accommodating at least one seed, seedling, and / or sapling (6), wherein the planting tube (4) is configured for the transferring the at least one seed, seedling, and / or sapling (6) from said containers (16; 17) into or onto the ground soil (10), and a ground soil preparation means (3) configured for modifying the ground soil (3) in preparation for planting.

2. The system of claim 1 , wherein each container (16; 17) comprises a bottom (18) that is autonomously or remotely removable or openable.

3. The system according to any one of claims 1 to 2, wherein said planting tube (4) comprises a first end (32) in communication with the bottom (18) of one container (16; 17), and a second end, opposite to said first end (32), configured for contacting and / or for penetrating the ground soil (10).

4. The system according to claim 3, wherein said planting tube (4) and / or said container (16; 17) are configured to be autonomously or remotely controlled to move for alignment of the first end (32) of said planting tube (4) with the bottom (18) of said container (16; 17).

5. The system according to any of claims 3 to 4, wherein the second end (9a, 9b) of said planting tube (4) is configured to be expandable.

6. The system according to any of claims 4 to 5, wherein the second end (9a, 9b) of said planting tube (4) is configured for creating a ground soilindentation, a ground soil furrow or a ground soil depression when contacting or penetrating the ground soil (10).

7. The system of any of the preceding claims, wherein the ground soil preparation means (3) is configured for autonomous or remote tilling, clearing, weeding, aerating, watering, digging, and / or for fertilizing the ground soil (10).

8. The system of any of the preceding claims, wherein the ground soil preparation means (3) comprises an additional container (21) configured for additional goods, such as soil, fertilizer and / or water.

9. The system of claim 8, wherein the ground soil preparation means (3) is further configured to transfer said additional goods through a removable or openable aperture in the bottom (18) of said additional container (21 ).

10. The system according to any one of the preceding claims, wherein said planting tube (4) is configured to be movable in essentially a vertical direction between a retracted position and an extended position.

11. A method for reforestation or afforestation with an Unmanned Aerial Vehicle, UAV (1 ), comprising a ground soil preparation means (3), a planting tube (4) and a cartridge (5) of containers (16; 17), said method comprising: maneuvering the UAV (1) to a reforestation or afforestation site, preparing a ground soil (10) with the ground soil preparation means (3) at said reforestation or afforestation site, transferring at least one seed, seedling, and / or sapling (6) provided in the containers (16; 17) from said containers to the planting tube (4), and planting said seed, seedling, and / or sapling (6) at said reforestation or afforestation site.

12. The method of claim 11 , wherein the maneuvering of the UAV (1 ) and / or the planting tube (4) is performed by means of at least one optical device (8).

13. The method according to any one of claim 11 to 12, wherein said ground soil preparation means (3) is preparing the ground soil (10) by clearing it of existing vegetation, rocks, and / or debris.

14. The method of any one of claims 11 to 13, wherein said ground soil preparation means (3) is preparing the ground soil (10) by aerating, watering and / or fertilizing.

15. The method of any of claims 11 to 14, wherein each container (16; 17) comprises a bottom (18) that is at least partly removable or openable and the planting tube (4) comprises a first end (32) in communication with the bottom (18) and a second end, opposite to the first end (32), configured for contacting and / or for penetrating the ground soil (10), the method further comprising autonomously or remotely positioning at least one container (16; 17) in alignment with the first end (32), removing or opening at least parts of the bottom (18) of said at least one container (16; 17), transferring the contents of at least one container (16; 17) into the first end (32) of the planting tube (4), transferring the contents of the at least one container (16; 17) from the first end (32) of said planting tube (4), through said planting tube (4) to the second end of said planting tube (4), and into or onto the ground soil (10).

16. The method according to any of claims 11 to 15, wherein said planting tube (4) is transferring additional goods from an additional container (21 ) onto or into the ground soil (10), wherein said additional goods is soil, fertilizer, and / or water.

17. A remotely and / or autonomously controlled planting device (7), said planting device (7) comprising:a planting tube (4) configured for planting at least one seed, seedling and / or sapling (6) into or onto ground soil (10); a cartridge (5) of containers (16; 17) configured for accommodating at least one seed, seedling, and / or sapling (6), wherein the planting tube (4) is configured for the transferring the at least one seed, seedling, and / or sapling (6) from said containers (16; 17) into or onto the ground soil (10), and a ground soil preparation means (3) configured for modifying the ground soil(3) in preparation for planting, wherein said planting device (7) is configured to be removably attached to an underside of an Unmanned Aerial Vehicle, UAV (1 ).

18. The planting device (7) according to claim 17, wherein said container (16; 17) comprise a bottom (18) that is at least partly removable or openable.

19. The planting device (7) according to any of claims 17 to 18, wherein said planting tube (4) comprises a first end (32) in communication with said container (16; 17), and a second end, opposite to said first end (32), configured for contacting and / or for penetrating the ground soil (10).

20. The planting device (7) according to claim 19, wherein the second end of said planting tube (4) comprises expanding means (9a, 9b) configured for creating an indentation in the ground soil (10) when having contacted or penetrated said ground soil (10).21 . The planting device (7) according to any of claims 17 to 20, wherein said container (16; 17) and / or the planting tube (4) can be remotely and or autonomously positioned to align the bottom (18) of said container (16; 17) with the first end (32) of the planting tube (4), and wherein said container (16; 17) is configured to transfer the contents of said container (16; 17) into the planting tube(4) once it aligns with the first end (32) of the planting tube (4).

22. The planting device (7) according to any of claims 17 to 21 , wherein the ground soil preparation means (3) is configured to autonomously or remotely till, clear, weed, aerate, water, dig, and / or fertilize the ground soil (10).

23. The planting device (7) according to any of claims 17 to 22, wherein the ground soil preparation means (3) comprises an additional container (16; 17) for additional goods, such as soil, fertilizer and / or water.

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