Methods of operating a ground‐based agricultural implement, agricultural implements, systems and cover

Abstract

A method of operating a ground‐based agricultural implement (5) for distributing an agricultural product to ground or crop over which the agricultural implement (5) travels is disclosed. The agricultural implement (5) comprises at least one implement product tank (53) and at least one distributing device (54), configured for receiving the product from the product tank (53) and dispensing it onto the ground or to crops. The method comprises providing an unmanned aerial vehicle, "UAV" (1), having a UAV product tank (170), loading the UAV product tank (170) with the product, operating the UAV (1) to fly to the agricultural implement (5), operating the UAV (1) to land on the agricultural implement (5), and operating the UAV (1) to transfer the product from the UAV product tank (170) to the implement product tank (53). There is also disclosed agricultural implements, a cover for an agricultural implement and systems for replenishing and / or refueling an agricultural implement or machine.

Description

[0001] METHODS OF OPERATING A GROUND-BASED AGRICULTURAL IMPLEMENT, AGRICULTURAL IMPLEMENTS, SYSTEMS AND COVER

[0002] Technical field

[0003] The present disclosure relates generally to the use of unmanned aerial vehicles ("UAVs") in agriculture, and in particular to the use of an UAV for transferring an agricultural product from a base to a ground-based agricultural implement configured for spreading the product to ground and / or to a crop over or through which it travels.

[0004] Background

[0005] In agriculture it is common to use added product or substance, such as fertilizer, herbicide, fungicide or pesticide to improve the yield from the crops or to prevent weeds or pests. Other products include minerals, chalk or seeds. The product may be in granulated, powdered, or liquid form.

[0006] Different distribution techniques exist for product of the different forms. The product is commonly distributed from agricultural implements which may be mounted on, or towed behind, a tractor or other type of self-propelled vehicle. One common problem for traditional distribution techniques is the inevitable tramlines needed. Tramlines decrease the arable field area and increase soil compaction locally. Also, tramlines tend to further erosion, in particular on sloping fields, where soil is led away by water flowing in the tramlines. Another problem with tramlines is that they provide a space for unwanted plants, such as weeds.

[0007] Another problem is the need for replenishing the agricultural implement with the product or products to be distributed. If replenishing while moving, the replenishing operation may require an additional vehicle to meet up with and / or drive near the agricultural implement while product is being tranferred to the agricultural implement. Such additional vehicle may thus provide additional compaction of the soil, which may be undesirable as it may further reduce the arable field area. This is a particular problem in the event a loading implement, such as a front loader is used, as such implements are prone to provide high axle loads, which increase the compaction of the soil.A particular challenge arises in the case of agricultural implements that operate based on an overpressure, in which the product tank is often pressurised.

[0008] Alternatively, the agricultural implement must be stopped for being replenished, thus leading to an interruption in the distribution, which may be particularly undesirable in case such stop does not coincide with a headland.

[0009] Yet another consideration is the desire to reduce road transport and handling in general, and road transport and handling of hazardous materials in particular.

[0010] It would be desirable to be able to replenish an agricultural implement with a minimum of interruption of its distribution operation and without causing additional compaction of the soil.

[0011] It is an objective of the present disclosure to provide solutions which eliminate or alleviate at least some of the disadvantages mentioned above. A particular objective is to reduce the formation of tramlines which reduce arable field area. Another objective is to reduce the need for interrupting a distribution operation in order to replenish the agricultural implement.

[0012] The invention is defined by the appended independent claims. Embodiments are set forth in the appended dependent claims, in the following description and in the attached drawings.

[0013] According to a first aspect, there is provided a method of operating a ground-based agricultural implement for distributing an agricultural product to ground or crop over which the agricultural implement travels. The agricultural implement comprises at least one implement product tank and at least one distributing device, configured for receiving the product from the product tank and dispensing it onto the ground or crop. The method comprises providing an unmanned aerial vehicle, "UAV", having a UAV product tank, loading the UAV product tank with the product, operating the UAV to fly to the agricultural implement, operating the UAV to land on the agricultural implement, and operating the UAV to transfer the product from the UAV product tank to the implement product tank.

[0014] A ground-based agricultural implement may be any type of agricultural implement that is supported, directly or indirectly, by the ground on which it travels. Such implement may be wholly or partially carried by a vehicle, such as a tractor organtry-type implement, or it may be towed. The vehicle, e.g. a tractor, may be a normal, operator-conducted vehicle, or an autonomous or remotely controlled vehicle. The agricultural implement may be self-propelled, in which case it may also be operator-conducted, autonomous or remotely controlled. Distributing an agricultural product to ground or crop over which the agricultural implement travels may comprise distributing one or more agricultural products, which may include a solid product (granular, powder or seeds) and / or a liquid product. The product may be seeds, fertilizer, pesticide, fungicide, herbicide or other products that may be added to improve growth conditions.

[0015] The agricultural implement may be formed as an integrated distribution implement, i.e. an implement wherein product tank and distribution arrangement and tools are carried by the same frame.

[0016] Alternatively, the agricultural implement may be formed as a split distribution implement, with the product tank and the distribution arrangement and tools being carried on separate frames, as would be the case with an aircart system.

[0017] The implement product tank may comprise one or more compartments for holding one or more products.

[0018] The distributing device may be designed in a variety of ways, depending on what is to be distributed. Hence, the distributing device may be a planter or a seed drill. Alternatively, the distributing device may be designed as an add-on for a soilworking implement.

[0019] In other embodiments, the distributing device may comprise a spreader or sprayer for distributing a granular or liquid product onto ground or crop traversed by the agricultual implement.

[0020] The UAV may be configured to operate autonomously or via remote control. While one line of development in the field of agricultural UAVs is to use a large number of small UAVs, another line of development is to use fewer but larger UAVs. For example, a larger UAV for distribution of agricultural product may have a distribution width of about 10-15 m and a load capacity of about 100-1000 kg.

[0021] According to the method, the agricultural implement may be replenished with product without having to meet up with another ground vehicle and without having to return to a replenishment station. Hence, the amount of tramlines formedon the field can be minimized, as can implement downtime and disturbances in the distribution caused by stops or speed changes.

[0022] Loading the UAV may comprise transferring the product to the UAV product tank at a location remote from the agricultural implement.

[0023] Remote from the agricultural implement may be in the same field, just outside the field, or at a central location relative to a plurality of fields, such as at a farm or a depot.

[0024] Said loading the UAV may be performed at a mobile airbase comprising a base product tank, and wherein said loading optionally comprises refueling the UAV.

[0025] Said operating the UAV to fly may comprise receiving a refill required indication from the agricultural implement.

[0026] Said operating the UAV to fly may comprise receiving a refill position, indicating a position at which the UAV is to land on the agricultural implement.

[0027] Said operating the UAV to land may comprise stopping the agricultural implement, such that it is stationary when the UAV lands on the agricultural implement.

[0028] Said operating the UAV to land may comprise causing the UAV to land on the agricultural implement while the agricultural implement is in motion, preferably maintaining a predetermined ground speed at which the product is to be distributed.

[0029] Said operating the UAV to land may comprise causing the UAV to identify a landing device on the agricultural implement, and optionally establishing a communication link with the agricultural implement.

[0030] Said operating the UAV to land may comprise issuing, to the UAV, a permission to land on the agricultural implement.

[0031] Said operating the UAV to land may comprise receiving at least a portion of a landing gear of the UAV in at least one cradle of the landing device.

[0032] Said operating the UAV to land may comprises releasably latching the UAV to the agricultural implement.

[0033] The UAV may be latched to the agricultural implement after the at least a portion of the landing gear has been received in at least one cradle of the landing device.Said operating the UAV to transfer the product may comprise establishing an airlock between the UAV product tank and the implement product tank.

[0034] The method may further comprise unlatching the UAV from the agricultural implement subsequent to transferring the product from the UAV product tank to the implement product tank.

[0035] The method may further comprise operating the UAV to return to the airbase.

[0036] The method may further comprise repeating said steps of loading the UAV product tank with the product, operating the UAV to fly to the agricultural implement, operating the UAV to land on the agricultural implement, and operating the UAV to transfer the product from the UAV product tank to the implement product tank.

[0037] The product may be a solid agricultural product, preferably a granulated solid agricultural product, such as seeds, fertilizer, presticide, herbicide or fungicide.

[0038] The agricultural implement may be configured to be towed by, or mounted on, a traction vehicle.

[0039] The agricultural implement may be a seeder or a fertilizer spreader. The traction vechile may be a tractor.

[0040] According to as second aspect, there is provided an agricultural implement for distributing an agricultural product to ground or crop over which the agricultural implement travels, comprising at least one implement product tank, at least one distributing device, configured for receiving the product from the product tank and dispensing it onto the ground or crop. A landing device is provided, configured for receiving an UAV at a position where a product held in a UAV product tank is transferrable to the implement product tank.

[0041] The agricultural implement may further comprise a product transfer device, configured for establishing a channel between an UAV product tank of an UAV received at the landing device and the implement product tank.

[0042] The product transfer device may comprise an airlock, for enabling the maintenance of a pressure difference between the channel and a surrounding environment.

[0043] Hence, the product may be transferred from the UAV product tank to the implement product tank through the channel while maintaining a higher or lowerpressure in the UAV product tank, the implement product tank and the channel, than in the surrounding environment.

[0044] The agricultural implement may further comprise a latching arrangement, configured for releasably latching the UAV to the agricultural implement while the UAV is received at the landing device.

[0045] The agricultural implement may further comprise an implement controller, configured to issue a landing permission to a UAV to allow the UAV to be received in the landing device.

[0046] The controller may comprise a processing unit and / or a control circuit.

[0047] The product tank may be configured as a primary product tank.

[0048] By "primary product tank" is hereby meant a product tank in which a main product distributed by the agricultural implement is stored. Main product is typically a product which is systematically distributed over a field to plant or treat crops. A main product is typically replenished multiple times during operation in a field.

[0049] For an agricultural implement configured to distribute both seeds and fertilizer, a primary product tank may store both seeds and / or fertilizer. Both a dedicated seed tank and a dedicated fertilizer tank may be a referred to as a primary product tank.

[0050] For an agricultural implement configured to spray liquid product, a primary tank may be both a diluent tank and an active substance tank.

[0051] An example of a product tank which is not a primary product tank may be a tank dedicated for rinsing liquid, cleaning liquid, or fresh water. A product in a nonprimary product tank is typically not replenished during operation in a field.

[0052] The agricultural implement may be configured to be towed by, or mounted on, a traction vehicle.

[0053] The agricultural implement may be non-tractive.

[0054] By "non-tractive" is hereby meant an agricultural implement without a propulsion system connected to any of its ground supports.

[0055] The product held in the UAV product tank may be a solid product, preferably granulated solid product, such as seeds or fertilizer granules.

[0056] According to a third aspect, there is provided a system comprising an agricultural implement as described above, an unmanned aerial vehicle, "UAV", having an UAV product tank, and a mobile airbase, comprising an airbase producttank, a first product transfer device, configured for transferring the product from the airbase product tank to the UAV product tank, and a second product transfer device, configured for transferring the product from the UAV product tank to the implement product tank.

[0057] The system may further comprise an airbase controller, a UAV controller and an implement controller, wherein the implement controller is configured to provide a refill indication to at least one of the UAV controller and the airbase controller, wherein the airbase controller is configured to control the first product transfer device to transfer product from the airbase product tank to the UAV product tank.

[0058] According to a fourth aspect, there is provided a cover for a product tank of an agricultural implement for distributing an agricultural product to ground or crop over which the agricultural implement travels, the cover comprising a closure member configured to cover a filling opening of an implement product tank, and a landing device, configured for receiving an UAV at a position where a product held in a UAV product tank is transferrable to the implement product tank.

[0059] The cover may further comprise a product transfer device, configured for transferring the agricultural product from a UAV product tank to the implement product tank.

[0060] The product transfer device may comprise an airlock, for enabling the maintenance of a pressure difference between the channel and a surrounding environment.

[0061] The cover may further comprise at least one cradle, configured to receive at least a portion of a landing gear of the UAV to align the UAV with the cover at the position where product is transferrable.

[0062] The cover may further comprise a latching arrangement, configured for releasably latching the UAV to the cover.

[0063] The transferrable product may be a solid product, preferably a granulated solid product, such as seeds or fertilizer granules.

[0064] According to a fifth aspect, there is provided a method of refueling a ground-based agricultural machine, wherein the agricultural machine comprises at least one machine fuel tank. The method comprises providing an unmanned aerial vehicle, "UAV", having a UAV refuel tank, configured for holding an amount of fuel for theagricultural machine, loading the UAV refuel tank with fuel, operating the UAV to fly to the agricultural machine, operating the UAV to land on the agricultural machine, and operating the UAV to transfer the fuel from the UAV refuel tank to the machine fuel tank.

[0065] Hence, it is possible to refuel an agricultural machine without stopping operation and without having to meet up with a refueling vehicle that may provide unwanted soil compaction, etc.

[0066] The agricultural machine may be an integrated machine and the UAV may be operated to land on the agricultural machine.

[0067] The agricultural machine may be a split agricultural machine comprising an agricultural implement and a traction vehicle, wherein the UAV may be operated to land on the agricultural implement, and wherein the fuel may be transferred from the UAV refuel tank to the traction vehicle.

[0068] The agricultural machine may be a split agricultural machine comprising an agricultural implement and a traction vehicle, wherein the UAV may be operated to land on the agricultural implement, and wherein the fuel may be transferred from the UAV refuel tank to a buffer tank provided on the agricultural implement and subsequently from the buffer tank to the traction vehicle.

[0069] The agricultural machine may be a split agricultural machine comprising an agricultural implement and a traction vehicle, wherein the UAV may be operated to land on the traction vehicle, and wherein the fuel may be transferred from the UAV refuel tank to the traction vehicle.

[0070] Said operating the UAV to land on the agricultural machine may comprise receiving the UAV in a landing device of the agricultural machine.

[0071] Said receiving the UAV in the landing device may comprise receiving at least a portion of a landing gear of the UAV in at least one cradle of the landing device.

[0072] The method may further comprise releasably latching the UAV to the landing device.

[0073] Said operating the UAV to transfer the fuel may comprise transferring 20 -1500 liters of fuel, preferably 50 - 1400 liters, 100 - 1400 liters, or 200 - 1200 liters.

[0074] Said operating the UAV to land may comprise issuing, to the UAV, a permission to land on the agricultural machine.According to a sixth aspect, there is provided an agricultural machine, comprising at least one machine fuel tank and a landing device, configured for receiving an UAV at a position where a product held in a UAV refuel tank is transferrable to the machine fuel tank.

[0075] The landing device may comprise at least one cradle configured to receive at least a portion of a landing gear of a UAV.

[0076] The landing device further comprises a latching arrangement for latching the UAV to the landing device.

[0077] According to a seventh aspect, there is provided a system comprising an agricultural machine as described above, an unmanned aerial vehicle, "UAV", having an UAV refuel tank, and a mobile airbase, comprising an airbase refuel tank. The system further comprises a first fuel transfer device, configured for transferring the fuel from the airbase refuel tank to the UAV refuel tank, and a second fuel transfer device, configured for transferring the fuel from the UAV refuel tank to the machine fuel tank.

[0078] Figs la-lb schematically illustrate an UAV and a mobile airbase.

[0079] Fig 2 schematically illustrate an agricultural implement.

[0080] Figs 3a-3c schematically illustrate the interaction between the agricultural implement a and the UAV.

[0081] Fig. 4 schematically illustrates the communication between the agricultural implement, the airbase and the UAV.

[0082] Fig. 5 schematically illustrates the landing gear and the landing device.

[0083] Figs. 6a-6b schematically illustrate a cover with a landing device on an agricultural implement.

[0084] Figs 7a-7b schematically illustrate an agricultural implement comprising an aircart.

[0085] Figs 8a-8b schematically illustrate an agricultural machine comprising a traction vehicle and an agricultural implement.

[0086] Detailed descriptionThroughout this specification, unless the context requires otherwise, the word "comprise", or variations such as "comprises" or "comprising", will be understood to imply the inclusion of a stated element, integer or step, or group of elements, integers or steps, but not the exclusion of any other element, integer or step, or group of elements, integers or steps.

[0087] The terms "a" and "an" are used herein to refer to one or to more than one (i.e. to at least one) of the grammatical object of the article. By way of example, "an element" means one element or more than one element.

[0088] In the context of this specification, modifying terms, such as "about", "approximately" and "substantially" are understood to refer to a range of numbers that a person of skill in the art would consider equivalent to the recited value in the context of achieving the same function or result. Any value, range or term thus modified is to be understood as being disclosed also without the modifying term.

[0089] Referring to fig. la, an unmanned aerial vehicle ("UAV") 1, commonly known as a "drone", is an aircraft that operates without a human pilot on board. UAVs can be controlled remotely by a human operator and / or autonomously by onboard computers.

[0090] While UAVs may come in many different designs and configurations, in the present disclosure, the UAV will, as a non-limiting example, be assumed to comprise the following systems.

[0091] An UAV 1 would typically comprise an airframe 11, i.e. the structure of the UAV, which includes the body, wings (if any), and landing gear 113. It provides the necessary support and shape for the drone. In the illustrated example, the airframe comprises a central and generally horizontally extending web 111 and a pair of generally horizontally extending flanges 112, end portions of which provide corners of a rectangle at which rotors 122 are positioned.

[0092] An UAV 1 would typically also comprise a propulsion system 121, 122, which would include the motor(s)121, rotor(s) 122, and sometimes jet engines, which generate the thrust needed for the UAV 1 to fly.

[0093] The propulsion system may also comprise a transmission system (not shown), for transferring mechanical power from one or more motors 121 to one or more rotors 122.An UAV 1 would typically also comprise a power source 13, such as a battery or fuel system that provides the energy required to power the UAV's systems and propulsion.

[0094] An UAV 1 would typically also comprise a flight control system 14, which would include the onboard computer and sensors (such as gyroscopes and accelerometers) that help stabilize and control the UAV during flight.

[0095] An UAV 1 would typically also comprise a communication system 15, which allows the UAV to communicate with the ground control station (airbase controller 40) or operator, enabling remote control and / or data transmission.

[0096] An UAV 1 would typically also comprise a navigation system 16, including Global Navigation Satellite System (GNSS) and / or other sensors that help the UAV 1 determine its position and navigate to its destination.

[0097] The navigation system may also include gyro(s) and accelerometer(s) for inertial navigation, which may be used in case of limited availability of GNSS.

[0098] An UAV 1 would typically also comprise a payload 17, which, depending on the UAV's purpose, can include cameras, sensors, delivery packages, or other equipment that the UAV is designed to carry. In the present disclosure, the payload may comprise at least one UAV product tank 170.

[0099] An UAV 1 may comprise a local beacon detector 18, which may be used for connecting to and navigating by a local beacon 181.

[0100] An UAV 1 may also comprise one or more cameras 19 for capturing images that can be used for manual flight, for navigation and / or for inspection. In particular, it may be desirable to provide one or more cameras having night vision capability, e.g. by having capability to pick up light in the infra-red spectrum.

[0101] In particular, one or more cameras 19 may be positioned to provide a view of a spreader unit, if any, such that the distribution operation can be monitored, either in real-time or later.

[0102] The UAV 1 may also have one or more sensors for collision avoidance, such as radar sensors, lidar sensors, ultrasound sensors, laser sensors or cameras.

[0103] The various systems controlling the flight, navigation, communication and operation of the UAV 1 may be provided as separate systems, or as a wholly or partially integrated system, collectively referred to as a "UAV controller" 14, 15, 16.A special case may be that the payload 17 has its own control system, although such control system would need to communicate with the UAV controller 14, 15, 16 or with the airbase controller 40, e.g. when a need to replenish product is detected.

[0104] An UAV 1 would typically also require a airbase controller 40, which comprises the interface used by the operator to control the UAV, which can be a handheld controller, a computer, or a more complex setup for larger UAVs.

[0105] Typically, all actuators and / or sensors onboard the UAV 1 may be connected to the UAV controller 14, 15, 16, to enable the UAV controller 14, 15, 16 to make autonomous decisions and / or for communication to / from the airbase controller 40.

[0106] In some embodiments, communication may be only between the UAV 1 and the airbase 3, with all control functions being provided at the airbase 3, e.g. through the airbase controller 40. In such embodiments, on-site operator control and / or supervision would be necessary.

[0107] In some embodiments, additional communication may be to a central control and / or monitoring site, such as via a direct communication link or via a cloud-based system. In such embodiments, the airbase 3 may operate as a gateway, such that the UAV 1 communicates with the airbase 3 and the airbase 3 forwards communication to / from the UAV 1 from / to a remote control site. In such embodiments, an operator could control and / or monitor several airbase / UAV systems remotely and / or ambulatory.

[0108] In some embodiments, the airbase 3 and the UAV 1 may both communicate with a central control site, such as via a direct communication link or via a cloudbased system. This would also allow an operator to control and / or monitor several airbase / UAV systems remotely and / or ambulatory.

[0109] The communication may utilize cellular and / or satellite-based communication technology. Optionally wlan functionality may be used by the airbase 3, if available where the airbase 3 is stationed.

[0110] Data processing and / or storage may be provided at the airbase 3, in a remote server and / or control site and or by cloud-based computing / storage.

[0111] In the present context, it is contemplated that the UAV 1 would be sized and adapted for payloads 17 in excess of 100 kg, preferably in excess of 200 kg or in excess of 400 kg. Such UAV platforms are commercially available, e.g. in aquadcopter configuration with a generally H-shaped airframe and a petrol- or jet fuel-powered turbo shaft engine.

[0112] The product tank 170 may be provided with a product level sensor. For example a weight sensor, a pressure sensor, an optical sensor, a radar sensor, a lidar sensor, a magnetic sensor or an ultrasonic sensor may be used to detect the level of solid product in the product tank 170.

[0113] Referring to fig. lb, there is illustrated a mobile airbase 3 with a UAV 1 received at a landing platform 31 of the mobile airbase 3.

[0114] The mobile airbase 3 comprises a landing platform 31, which is supported by a frame 32. The frame 32 may provide one or more floors, such as a lower floor 321 and an upper floor 322. In the illustrated example, the landing platform 31 is provided nearer the upper floor 322 than the lower floor 321.

[0115] The frame 32 may comprise one or more support legs (not shown), which may be deployed for stabilizing the airbase 3. Optionally, such support legs may be used to provide a predetermined orientation of the airbase 3, e.g. such that the landing platform 31 is oriented horizontally.

[0116] One or more grounding rods (not shown) may be provided on the frame 32, configured for providing grounding of the airbase 3. Such grounding rod may be electrically coupled with the frame 32 and configured to penetrate ground on which the airbase 3 is positioned.

[0117] A grounding rod may be integrated with one or more of the support legs, e.g. such that the grounding rod is made to penetrate ground when the support leg is lowered into contact with the ground.

[0118] In the illustrated example, the landing platform 31 is provided at a vertical level between the lower floor 321 and the upper floor 322. In particular, the landing platform may be situated at a vertical distance from the lower floor 321 which is about 20-80 % of a vertical distance between the lower floor 321 and the upper floor 322, preferably about 30-70 % or about 40-60 %.

[0119] Such a positioning of the landing platform 31, or landing platforms if several, provides for decreased transport height of the airbase when the UAV(s) 1 are on the airbase 3. The positioning also provides for decreased build height in the event a solid replenishment system, such as the one in figs 5a-5b is to be provided.Alternatively, the landing platform 31 may be provided on the upper floor 322, and flush with the upper floor 322.

[0120] The landing platform 31 may be provided with one or more weight sensors (not shown), configured for detecting a weight of the UAV 1.

[0121] The weight sensor(s) may be used to determine the level of fuel and / or product in the tank of the UAV 1, instead of, or in addition to, any fuel level meter and / or product level meter provided in the UAV 1.

[0122] Further, in the illustrated example, a tow bar 33 is provided, such that the airbase can be towed by a vehicle, such as a traction vehicle.

[0123] In the illustrated example, the airbase 3 is configured for operation with a farm tractor. However, the airbase may alternatively be configured for operation with a semi-trailer or a swap body type lorry or trailer.

[0124] It is conceivable that the airbase 3 may be provided on vehicle platform, either integrated with a heavy vehicle chassis or as a heavy vehicle trailer. It is also conceivable that the airbase may be provided as an autonomously drivable platform.

[0125] A ladder 34 may be provided to enable operator access to the upper floor 322. A handrail 37 may be provided at any floor where it may be required or desired. The handrail 37 may be foldable, so as to reduce height of the airbase 3 for transport.

[0126] A gate 371 may be provided at the upper floor 322 to prevent an operator from falling down the ladder, and / or to prevent an operator from entering the second floor 322 when an UAV 1 is on or near the landing platform 31. A position of the gate 371 may be detectable by the airbase controller 40, such that the airbase controller 40 may allow or deny a UAV 1 to land when the gate is in an open or unlocked position.

[0127] A locking state and / or position of the gate 371 may also be controllable by the airbase controller 40, so as to selectively prevent access to the upper floor 322 when an UAV 1 is near or at the landing platform 31.

[0128] Optionally, the handrail 37 and the gate 371, if any, may be configured also to prevent unauthorized access to all or parts of the airbase 3 and in particular to any upper floor 322.

[0129] At such protected parts of the airbase 3, there may be provided one or more cameras and / or biosensor(s) (motion detectors, etc.), configured to detectunauthorized access. Upon such detection, the airbase controller 40 may be configured to indicate unauthorized access, to alert an operator and / or to prevent one or more UAVs 1 from landing at the airbase 3.

[0130] One or more antennas 41, e.g. for GNSS and / or communication may be integrated with the handrail 37, so as to be foldable with the handrail 37. The mobile airbase 3 may be supported by ground supports 36, in particular wheels or tracks.

[0131] In the illustrated example, the lower floor 321 is configured to house one or more base product tanks, which, depending on application may comprise diluent (such as water) in diluent containers 351, product in product containers 352 and fuel in fuel containers 353.

[0132] Alternatively, the product may be a solid product. In such case, a base product tank may be designed to be refilled with a solid product and to output a solid product. To this end, the base product tank may be provided with a refill opening that may be adapted for receiving product through an auger type conveyor, through a product bag or from a dumper. In order to output a solid product, it may be desira bel to proivde one or more auger conveyors that may be adapted to connect to the UAV product tank 170 to transfer a solid product to the UAV product tank 170.

[0133] The containers, and in particular the product containers, may be positioned on one or more slidable shelves 3211. Such shelves may be slidable in a horizontal direction, in particular laterally or rearwardly relative to the direction of travel for the airbase 3, such that they can be more easily accessed by an operator.

[0134] Side panels 3231, 3232, 3233, 3234 may be provided to enclose the lower floor 321 in order to restrict access and to protect items stored on the lower floor from theft, dust, debris, rain or sun.

[0135] At least some of the side panels may be openable to provide access to the interior of the airbase 3.

[0136] Alternatively, or additionally, the airbase may comprise a device for swapping and / or recharging batteries for powering the UAV 1.

[0137] The airbase controller 40 may be provided on the mobile airbase 3. The airbase controller may comprise one or more control units, which control all or some of the functions of the airbase and / or the UAV 1. In some embodiments, the airbase controller 40 may be embodied as a single processing device, while in otherembodiments, the controller may consist of two or more controllers which control different functions, optionally with coordination therebetween.

[0138] A navigation beacon 181 for providing a local navigation signal to the UAV 1 may also be provided on the mobile airbase 3.

[0139] The airbase 3 may also comprise a power generation system (not shown), which may operate with a fuel-driven generator, a generator that is connectable to a power outlet of the traction vehicle and / or solar panels. Alternatively, or additionally, the power generation system may comprise batteries for storing electric energy. The power generation system may be used to power the functions of the airbase and optionally to charge batteries of the UAV 1. Yet optionally, exchangeable batteries may be provided for powering the UAV 1, with such batteries being charged by the power generation system of the airbase 3.

[0140] Fig. 2 schematically illustrates a ground-based agricultural implement 5 in the form of a seeder, which is being towed by a traction vehicle 2, such as a tractor.

[0141] In the present disclosure, the agricultural implement 5 is illustrated as a seeder. However, the disclosure is equally valid to other agricultural implements, which have one or more central product tanks, such as planters or other types of agricultural implements for distributing one or more agricultural products in solid or liquid form.

[0142] The agricultural implement 5 may comprise an implement frame 51, a tow bar 52 (which is only needed on towed implements), at least one product tank 53, at least one product distribution arrangement 54 and one or more sets of soil working tools 55, 56.

[0143] An implement controller 50 may be provided on the implement 5 and / or on the traction vehicle 2.

[0144] Each product tank 53 may comprise one or more compartments for receiving one or more products. The compartments may be accessible through one or more product tank openings 530.

[0145] The distribution arrangement 54 may be any type of distribution arrangement, whether operable by gravity, vacuum and / or by overpressure.

[0146] For example, the distribution arrangement may be provided as a so-called nursing system, wherein product (often seeds) are supplied pneumatically from a central product tank to individual buffer spaces of row units. The row units may beconfigured to singulate seeds in order to provide a predetermed distance along the working direction between seeds. This type of system is sometimes used in planters.

[0147] As another example, the distribution arrangement may be a volumetrically fed distribution system, with a pneumatic distribution head, from which seeds are led directly to ground. Such systems are often used in seed drills.

[0148] As another example, the distribution system may be a gravity operated system, wherein seeds are metered across the width of the agricultural implement, directly from the product tank to ground.

[0149] In some embodiments, the distribution arrangement 54 may be operable by means of an overpressure in the sense that the product (typically seeds) is conveyed from the product tank 53 to the distribution arrangement 54 by means of an airflow. Optionally, the distribution arrangement may propel the product by gravity or by overpressure.

[0150] The soil working tools 55, 56 may be any type of soilworking tool, such as levelling tools, row cleaning tools, tillage tools, reconsolidation tools (rollers), weeding tools, etc. Soil working tools 55 may be positioned in front of the distribution arrangement 54. Additionally, or alternatively, soil working tools 56 may be positioned behind the distrubiton arrangement 54, as seen in the working direction Dw.

[0151] The product tank 53 may be provided with a cover 57. In particular, the closure may be configured to provide an effectively hermetic seal of the product tank 53, such that a pressure difference can be maintained between the product tank 53 and the surrounding atmosphere. In particular, it may be desirable to maintain an overpressure in the product tank 53. To this end, the cover 57 may be designed with a cover body 570 in the form of a rigid lid of metallic and / or polymeric material, optionally having sealing devices and / or clamping devices for sealing and securing it to the product tank 53.

[0152] A landing device 60 is provided at an upper portion of the agricultural implement 5.

[0153] The landing device 60 may be provided at an upper surface of the product tank 53 or at an upper surface of the cover 57.

[0154] The landing device 60 may be provided with one or more local guidance devices for facilitating the landing of the UAV 1 in the landing device 60.For example, it is possible to provide a local beacon function (radio, ultrasound, optical) on the landing device, which can be detected by one or more sensors provided on the UAV 1, and used for guidance once the UAV 1 approaches the landing device 60.

[0155] As another example, it is possible to provide optical markers on or at the landing device 60, which a camera of the UAV 1 may detect and use to assist in the relative positioning between the UAV 1 and the landing device 60.

[0156] It is also possible to provide a pattern or other structure at or on the landing device 60, that can be recognised by the UAV 1, e.g. using LIDAR or RADAR.

[0157] The landing device 60 may comprise a cradle 61, optionally with a latching arrangement 62 for latching the UAV 1 to the landing device 60 and a product transfer device 63 for transferring a UAV product tank to the implement product tank 53.

[0158] The cradle 61 may be designed to safely receive the UAV 1 and to guide it to the desired position relative to the product tank 53 and / or the cover 57. For example, the cradle 61 may comprise one or more ramp surfaces designed to allow the landing gear of the UAV 1 to slide to the desired position. Alternatively, the cradle 61 may comprise an electro-magnetic guide device, which would require magnetic or magnetizable material on the landing gear of the UAV 1.

[0159] The landing device 60 may comprise a latching arrangement 62 for latching the UAV 1 to the landing device 60, such that it will maintain its position on the landing device 60 during product transfer.

[0160] The latching arrangement 62 may be mechanical, such as using a locking member to mechanically lock the UAV 1 to the landing device 60.

[0161] Alternatively, the latching arrangement 62 may operate by means of an electromagnet 623, provided a corresponding magnetic or magnetizable device is provided on the UAV l.The landing device 60 may comprise an actuator, which may be controlled by the implement controller 50 and a latching member, which may be rotatably or slidably connected to the cradle, such that it is movable between an open position where the landing gear may engage or disengage the cradle, and a closed position, where the landing gear, and thus the UAV 1, is locked to the landing device 60.The product transfer device 63 may be provided as an opening which is positioned to align with a product outlet from the UAV product tank 170, such that a product present in the UAV product tank 170 can fall down into the implement product tank 53 by gravity.

[0162] Optionally, the product transfer device 63 may be provided with a closure member 638, which can be configured to open automatically when a UAV 1 is received in the landing device 60. Such closure member 638 may protect the product transfer device 63 from rain, dust and debris.

[0163] Alternatively, the closure member 638 may be configured to be opened by an actuator controlled by the implement controller 50 in response to the UAV 1 being received in the landing device 60.

[0164] Optionally, the product transfer device 63 to seal against the product outlet from the UAV product tank 170, to prevent contamination of the product and / or to prevent product from contaminating the surrounding.

[0165] Optionally, the product transfer device 63 may be configured to provice an airlock, such that a pressurized state of the implement product tank 53 can be maintained during a product transfer operation.

[0166] In some embodiments, the product transfer device 63 may be configured to open a hermetically sealed channel directly from the UAV product tank 170 to the implement product tank 53.

[0167] In other embodiments, the product transfer device 63 may be configured with a pair of closure members which operate to open and close intermittently, so as to allow product from the non-pressurized UAV product tank 170 to be transferred to the pressurized implement product tank 53.

[0168] To this end, it may be desirable to provide at least one closure member 634 as part of the product transfer device 63 and at least one closure member 172 which may form part of the UAV product tank 170.

[0169] Fig. 3a schematically illustrates the agricultural implement 5, towed by a traction vehicle 2 and with a UAV 1 received at the landing device 60 with its landing gear 113 received in the cradle 61.

[0170] In this position, the UAV product tank 170 is positioned with its outlet 171 aligned with the product transfer device 63.Fig. 3b is a detail view of an example of a design of the product transfer device 63.

[0171] In the illustrated example, the product transfer device 63 is mounted to the cover 57 of the product tank 53, so as to enclose the channel body 635 from the product outlet 171 of the UAV product tank 170 to the interior 530 of the implement product tank 53.

[0172] A flange 631 is provided for attaching the transfer device 63 to the cover 57. The flange 631 may extend over all or part of a circumference of the transfer device 63. The flange 631 may thus form a lower portion of the transfer device 63.

[0173] The flange 631 may be provided with a first valve body 633, configured for opening and closing the product channel

[0174] A connector member 632, which may be funnel-shaped may be provided to form an upper portion of the transfer device 63. This connector member 632 may be shaped specifically to receive the product outlet 171 of the UAV product tank 170.

[0175] The connector member 632 may be provided with a second valve body 634, configured for opening and closing the product channel.

[0176] The valve bodies 633, 634 may be controllable by the implement controller 50. Alternatively, they may be mechanically operable, e.g. by the product outlet 171 being received in the connector member 632.

[0177] A channel body 635 may extend between the flange 631 and the connector member 632, so as to form the product channel. This channel body 635 may also be extended through the cover 57, so as to extend slightly downwardly into the product tank of the agricultural implement 5.

[0178] This channel body 635 may be provided as a fixed member, such as a rigid pipe section.

[0179] However, it may be advantageous to form the channel body 635 as a flexible body, such that its length is adjustable.

[0180] For example, the channel body 635 may be formed as a rigid pipe section, which may be fixed to the connector member 632 and which can extend more or less into the implement product tank by being movable relative to the flange 631.

[0181] As another example, the channel body 635 may be formed as a flexible pipe or hose section. In particular, the channel body 635 may be formed as a bellows or as as an elastic pipe or hose section.Optionally, the channel body 635 may be enclsoed outwardly by an enveloping member 637. This enveloping member 637 may extend between the flange 631 and the connector member 632, so as to enclose the channel body 635.

[0182] For example, enveloping member 637 may be formed as a flexible pipe or hose section. In particular, the enveloping member 637 may be formed as a bellows or as as an elastic pipe or hose section.

[0183] The distance between the flange 631 and the connector member 632 may be adjustable or controllable by means of one or more channel actuators 636.

[0184] The channel actuators 636 may be electrically, hydraulically or pneumatically operated and may be controlled by the implement controller 50.

[0185] Alternatively, the channel actuators 636 may be provided as springs, configured to bias the connector member 632 towards the product outlet 171.

[0186] Fig. 3b also illustrates how the cradle 61 can be formed of cradle members 610, 611 which operate towards different directions, such that the UAV 1 can be guided to an exact 2D position in the horizontal plane.

[0187] The cradle members 610, 611 may be formed with a relatively large opening upwardly, which may taper in the direction downwardly towards a bottom, which may be more or less wide.

[0188] In order to provide for a precise placement of the UAV 1 in the landing device 60, the latching arrangement 62 may comprise one or more members, which may be designed to push or pull the UAV 1 laterally towards a desired position, e.g. in order to provide sufficient alignment with the product transfer device 63.

[0189] It is understood that the product transfer device 63 may also be mounted on a fixed upper surface of a product tank, instead of on the cover 57.

[0190] The product transfer device 63 may be provided with a protective cover (not shown), which may be a closure configured to prevent dirt and / or water from entering into the product transfer device 63. To this end, the protective cover may be provided with a servo or other type of actuator, such that it can be controlled between an open position and a closed position. Opening of the protective cover may be part of a landing sequence when an UAV 1 is approaching to land on the landing device 60. Similarly, closing of the protective cover may be part of a takeoff sequence when a UAV 1 has taken off from the landing device 60.The system, comprising the UAV 1, the airbase 3 and the agricultural implement 5 may be operated as follows, with reference to fig. 4.

[0191] The airbase 3 may be positioned in the vicinity of the field at which the product is to be distributed.

[0192] The product may be provided to the vicinity of the field by means of a product transporter, such as in a bulk tank, a dumper truck or in large (e.g. 1 tonne) bags.

[0193] The agricultural implement 5 may be initialized in the conventional way by being filled prior to, or in connection with, arrival at the field.

[0194] The distribution operation may commence by the agricultural implement 5 being operated to distribute product in the conventional way.

[0195] At a later point in time, an indication may be provided SI that the agricultural implement needs to be replenished with product. Such indication may be based on a sensor related to the implement product tank 53 or on the time passed since the tank was full.

[0196] At this point, the implement controller 50 may provide SI an indication of the need for replenishment to the airbase 3 and / or to the UAV 1. An indication of an implement postion may also be provided.

[0197] The UAV 1 may signal S2 to the airbase 3 that it needs to be refilled.

[0198] The UAV 1 is thus filled with product at the airbase 3.

[0199] Once refilled, the UAV 1 may proceed through a takeoff sequence and signal 53 to the airbase that it is ready to take off.

[0200] At this point, an operator, or the airbase 3 autonomously, may take a decision to allow or deny takeoff. Eventually, a permission to take off may be issued 54 by the airbase 3.

[0201] The UAV may then be caused to fly by remote control and / or autonomously towards the implement position.

[0202] One or more updated implement position(s) may be provided during the flight.

[0203] When the UAV 1 approaches the current implement position, a request to land may be issued S5 by the UAV controller 14, 15, 16 to the implement controller 50.The implement controller 50 may prompt a user, such as a driver or remote operator, for an input permitting landing. If such a permission is received, a landing permission may then be issued S6 by the implement controller 50. If no permission is received, the UAV 1 may be caused to hold near the implement position, for example during a certain time period. If no permission is received within such time period, the UAV 1 may be caused to return to the airbase 3.

[0204] Alternatively, the implement controller 50 may issue S6 the permission to land to the UAV 1 based on one or more criteriae, such as potential obstacles, position or operation status.

[0205] For example, it may not be desirable to allow the UAV 1 to land if there are obstacles nearby, if the agricultural implement 5 is about to make a sharp turn or if the agricultural implement 5 is about to change speed.

[0206] Once a permission to land is received by the UAV 1, the UAV will navigate towards the landing device 60. At this point, additional guide means may be deployed, such as light emitted by the landing device 60 and / or visual markers being provided at the landing device 60, which may be used by the UAV 1 to precisely navigate to the landing device 60.

[0207] Preferably, this landing sequence is performed while the agricultural implement is moving, preferably at a constant speed, preferably at the normal distribution speed.

[0208] During the landing sequence, the landing gear 113 of the UAV 1 is caused to engage the cradle 61, 610, 611, such that the UAV 1 is precisely positioned and the product outlet 171 is aligned with the product transfer device 63.

[0209] Once the UAV 1 has docked with the landing device 60, with the landing gear 113 received in the cradle 61, 610, 611 and the latching arrangement 62 has been deployed, a connection may be established with the product transfer device 63.

[0210] In some embodiments, the product transfer device 63 may start from a retracted state, i.e. where the connector member 632 is retracted towards the flange 631, e.g. through the operation of the channel actuator(s) 636.

[0211] Hence, once the UAV 1 is properly received in the landing device 60, the connector member 632 may be moved towards the UAV 1 so as to engage the product outlet 171, e.g. by enclosing the product outlet 171 and preferably providing a hermetic seal against the UAV product tank 170.In some embodiments, the connector member 632 may start from a fully extended state, e.g. where the channel actuator(s) 636 are replaced by biasing members, such as springs, such that the weight of the UAV 1 will cause some compression of the channel actuator(s) 636, whereby the biasing force of the channel actuator(s) 636 towards the UAV product tank 170 provide a hermetic seal between the connector member 632 and the UAV product tank 170.

[0212] Once the seal between the connector member 632 and the UAV product tank 170 has been established, one or more valve members 633, 634 may be opened, as may a product outlet closure member 172 (fig. 3c) provided on at the product outlet 171, such that a pressure equalization may be provided between the implement product tank 53 and the UAV product tank 170.

[0213] Referring to fig. 3c, it is possible to provide a priming function that allows for the pressure equalication to be achieved prior to opening up the connection between the implement product tank 53 and the UAV product tank 170. For example a smaller primer valve 173 may be provided in the product outlet closure member 172, which may be opened before the product outlet closure member 172 is opened.

[0214] Once the product outlet closure member 172 has been opened, product is allowed to flow from the UAV product tank 170 to the implement product tank 53, until the UAV product tank 170 is empty.

[0215] A product level sensor 174 in the UAV product tank 170 may be used to indicate the level of product in the UAV product tank 170. Alternatively, load cells on the landing gear 113 and / or on the landing device 60 may indicate that the weight of the UAV 1 has changed enough to correspond to an empty UAV product tank 170.

[0216] As yet another alternative, the product outlet closure member 172 may be held open for a time sufficient to ensure that the UAV product tank 170 has been emptied.

[0217] Once it has been determined that the UAV product tank 170 is empty, a takeoff request may be sent S7 to the implement controller 50.

[0218] The implement controller 50 may, based on the same manual imput or autonomous critera as for deciding on the landing request, determine wither to issue a takeoff permission.Once the takeoff permission is issued S8 by the implement controller, the latching arrangement 62 may be controlled to release the UAV 1.

[0219] The UAV 1 may implement a takeoff procedure.

[0220] It may be advantageous to hold with releasing the latching arrangement 62 until the UAV 1 has reached a predetermined stage in its takeoff procedure. For example, it may be advantageous to keep the UAV 1 latched to the agricultural implement 5 until the load from the UAV 1 on the landing device 60 has dropped by a certain amount, on account of the load instead being carried by the rotors 122 of the UAV 1.

[0221] It is possible to provide a control scheme, which may assign slots during which landing and takeoff are allowed at the discretion of the UAV controller 14, 15, 16. Such slots may be assigned at times when the agricultural implement 5 is moving at a constant speed and direction, such as during straight passes over a field. By contrast, landing and takeoff may be prohibited in connection with expected turns, such as at headlands, or changes in driving speed. Slots during which landing and takeoff are allowed may be open to / from within 1-2 minutes from expected turns or speed changes.

[0222] Fig. 5 schematically illustrates a landing gear 113 of an UAV 1 slightly elevated from a landing device 60.

[0223] The landing device 60 comprises a pair of latching cradles 610a, 610b, which are configured for receiving respective cross members 1131a, 1131b of the landing gear 113. One or both of the latching cradles 610a, 610b may be provided with a latching device 62, which may comprise a latching hook 621 and a latching actuator 622, configured to control a position of the latching hook 621 between an open position (as illustrated) and a closed position, wherein the latching hook 621 is caused to grip the cross member 1131a, 1131b so as to lock the UAV 1 to the landing device 60.

[0224] Figs 6a-6b schematically illustrate the upper portion of the agricultural implement 5, with the cover 57 in closed (fig. 6a) and open (fig. 6b) positions.

[0225] Fig. 6a schematically illustrates the landing device 60 comprising four skid cradle members 611a, 611b, 611c, 611d, which are configured for receiving the skids 1132 of the landing gear 113 and two latching cradles 610a, 610b, as described above.It is understood that the number of skid cradle members 611a, 611b, 611c, 611d and latching cradles 610a, 610b may vary.

[0226] Also illustrated in fig. 6a are two transfer devices 63, although there may be fewer or more transfer devices 63.

[0227] Fig. 6b schematically illustrates the agricultural implement 5 with the cover 57 in an open position, such that its underside is exposed, with the channel body 635 being visible.

[0228] Figs 7a-7b schematically illustrate an agricultural implement 5 in which the distribution arrangement 54 (in particular the output units) are carried by a first implement section 501 and the product tank 53 is carried by a second implement section 501, with the implement sections being interconnected by a towing arrangement 502.

[0229] In such an agricultural implement 5, it is possible to provide the product tank with one or more landing devices 60. Hence, there may be multiple landing devices 60 associated with each product tank 53, and / or there may be multiple product tanks 53, each with one or more landing devices 60.

[0230] Figs 8a-8b schematically illustrate an agricultural machine comprising a traction vehicle 2 and an agricultural implement 5. In the arrangement of figs 8a-8b, a landing device 60 is provided on the traction vehicle 2, in particular on a cabin roof. This landing device 60 may be configured for refueling the traction vehicle 2. To this end, a fuel line 21 may connect the landing device 60 to a machine fuel tank 23 of the traction vehicle 2.

[0231] With such an arrangement, the UAV 1 may be equipped with a UAV refuel tank 175, i.e. a tank configured for holding an amount of fuel, such as diesel, for the traction vehicle 2 and for transferring such fuel to the traction vehicle 2 once received in the landing device 60.

[0232] In an alternative arrangement, the UAV 1 having the refuel tank 175 may instead land on a landing device 60 provided on the agricultural implement 5, whereby a fuel line 22 may be provided from the landing device 60 on the agricultural implement 5 to the traction vehicle 2. Alternatively, the agricultural implement 5 may be provided with a buffer fuel tank 58, which may receive the fuel from the UAV 1 and subsequently supply it to the traction vehicle 2.Hence, the traction vehicle 2 and / or the agricultural implement 5 may be configured for receiving the UAV 1 to provide refueling for the traction vehicle 2.

[0233] Alternatively, where the agricultural machine is provided as an integrated machine, e.g. with implement and traction unit on the same chassis, the agricultural machine may have one or more landing devices 60 for receiving the UAV 1 for refueling and / or replenishing of product.

[0234] The airbase 3 may be provided with an airbase refuel tank and with a fuel transfer device for transferring fuel from the airbase refuel tank to the UAV refuel tank 175.

[0235] Likewise, the UAV 1 and / or the agricultural machine may be provided with a fuel transfer device for transferring the fuel from the UAV refuel tank 175 to the machine fuel tank.

[0236] Examples of integrated machines comprise gantry-type machines and harvesting machines, such as combine harvesters.

[0237] While the concepts provided through the present disclosure are being illustrated with reference to agricultural implements and agricultural machines, it is understood that the concepts, and in particular the concepts relating to refueling, may be expanded to any type of machinery, including, but not limited to, construction machinery, mining machinery and road machinery, such as trucks or lorries. The machinery may be land-based, water-based or rail-based.

[0238] Hence, the present disclosure provides a method of refueling a ground-based vehicle or machine, wherein the vehicle or machine comprises at least one machine fuel tank, the method comprising: providing an unmanned aerial vehicle, "UAV", having a UAV refuel tank, configured for holding an amount of fuel for the vehicle or machine, loading the UAV refuel tank with fuel, operating the UAV to fly to the vehicle or machine, operating the UAV to land on the vehicle or machine, and operating the UAV to transfer the fuel from the UAV refuel tank to the machine fuel tank.

Claims

28CLAIMS1. A method of operating a ground-based agricultural implement (5) for distributing an agricultural product to ground over which the agricultural implement (5) travels,wherein the agricultural implement (5) comprises at least one implement product tank (53) and at least one distributing device (54), configured for receiving the product from the product tank (53) and dispensing it onto the ground or to crops, the method comprising:providing an unmanned aerial vehicle, "UAV" (1), having a UAV product tank (170),loading the UAV product tank (170) with the product,operating the UAV (1) to fly to the agricultural implement (5), operating the UAV (1) to land on the agricultural implement (5), and operating the UAV (1) to transfer the product from the UAV product tank (170) to the implement product tank (53).

2. The method as claimed in claim 1, wherein loading the UAV (1) comprises transferring the product to the UAV product tank (170) at a location remote from the agricultural implement.

3. The method as claimed in claim 1 or 2, wherein said loading the UAV (1) is performed at a mobile airbase (3) comprising a base product tank (351, 352), and wherein said loading optionally comprises refueling the UAV (1).

4. The method as claimed in any one of the preceding claims, wherein said operating the UAV (1) to fly comprises receiving a refill required indication from the agricultural implement (5).

5. The method as claimed in any one of the preceding claims, wherein said operating the UAV (1) to fly comprises receiving a refill position, indicating a position at which the UAV (1) is to land on the agricultural implement (5).

6. The method as claimed in any one of the preceding claims, wherein said operating the UAV (1) to land comprises stopping the agricultural implement (5), such that it is stationary when the UAV (1) lands on the agricultural implement (5).

7. The method as claimed in any one of the preceding claims, wherein said operating the UAV (1) to land comprises causing the UAV (1) to land on the agricultural implement (5) while the agricultural implement (5) is in motion, preferably maintaining a predetermined ground speed at which the product is to be distributed.

8. The method as claimed in any one of the preceding claims, wherein said operating the UAV (1) to land comprises causing the UAV (1) to identify a landing device (60) on the agricultural implement (5), and optionally establishing a communication link with the agricultural implement (5).

9. The method as claimed in any one of the preceding claims, wherein said operating the UAV (1) to land comprises issuing, to the UAV (1), a permission to land on the agricultural implement (5).

10. The method as claimed in any one of the preceding claims, wherein said operating the UAV (1) to land comprises receiving at least a portion of a landing ger (113) of the UAV (1) in at least one cradle (61) of the landing device (60).

11. The method as claimed in any one of the preceding claims, wherein said operating the UAV (1) to land comprises releasably latching the UAV (1) to the agricultural implement (5).

12. The method as claimed in any one of the preceding claims, wherein said operating the UAV (1) to transfer the product comprises establishing an airlock between the UAV product tank (170) and the implement product tank (53).

13. The method as claimed in any one of the preceding claims, further comprising unlatching the UAV (1) from the agricultural implement (5) subsequent to transferring the product from the UAV product tank (170) to the implement product tank (53).

14. The method as claimed in any one of the preceding claims, further comprising operating the UAV (1) to return to the airbase (3).

15. The method as claimed in any one of the preceding claims, further comprising repeating said steps of loading the UAV product tank (170) with the product, operating the UAV (1) to fly to the agricultural implement (5), operating the UAV (1) to land on the agricultural implement (5), and operating the UAV (1) to transfer the product from the UAV product tank (170) to the implement product tank (53).

16. The method as claimed in any one of the preceding claims, wherein the product is a solid agricultural product, preferably a granulated solid agricultural product, such as seeds, fertilizer, pesticide, herbicide or fungicide.

17. The method as claimed in any one of the preceding claims, wherein the agricultural implement (5) is configured to be towed by, or mounted on, a traction vehicle (2).

18. An agricultural implement (5) for distributing an agricultural product to ground or crops over which the agricultural implement (5) travels, comprising: at least one implement product tank (53),at least one distributing device (54), configured for receiving the product from the product tank (53) and dispensing it onto the ground or crops, characterized bya landing device (60), configured for receiving an UAV (1) at a position where a product held in a UAV product tank (170) is transferrable to the implement product tank (53).

19. The agricultural implement (5) as claimed in claim 18, further comprising a product transfer device (63), configured for establishing a channel between an UAV product tank (170) of an UAV (1) received at the landing device and the implement product tank (53).

20. The agricultural implement (5) as claimed in claim 19, wherein the product transfer device (63) comprises an airlock, for enabling the maintenance of a pressure difference between the channel and a surrounding environment.

21. The agricultural implement (5) as claimed in claim 19 or 20, further comprising a latching arrangement (62), configured for releasably latching the UAV (1) to the agricultural implement (5) while the UAV (1) is received at the landing device (60).

22. The agricultural implement (5) as claimed in any one of claims 18-21, further comprising an implement controller (50), configured to issue a landing permission to a UAV (1) to allow the UAV (1) to be received in the landing device (60).

23. The agricultural implement (5) as claimed in any one of claims 18-22, wherein the product tank (53) is configured as a primary product tank.

24. The agricultural implement (5) as claimed in any one of claims 18-23, wherein the agricultural implement (5) is configured to be towed by, or mounted on, a traction vehicle (2).

25. The agricultural implement (5) as claimed in any one of claims 18-24, wherein the agricultural implement (5) is non-tractive.

26. The agricultural implement (5) as claimed in any one of claims 18-25, wherein the product held in the UAV product tank (170) is a solid agricultural product, preferably a granulated solid agricultural product, such as seeds, fertilizer, pesticide, herbicide or fungicide.3227. A system comprising:an agricultural implement (5) as claimed in any one of claims 18-26, an unmanned aerial vehicle, "UAV" (1), having an UAV product tank (170), anda mobile airbase (3), comprising an airbase product tank,a first product transfer device, configured for transferring the product from the airbase product tank (351, 352) to the UAV product tank (170), anda second product transfer device (63), configured for transferring the product from the UAV product tank (170) to the implement product tank (53).

28. The system as claimed in claim 27, further comprising an airbase controller (40), a UAV controller (14, 15, 16) and an implement controller (50), wherein the implement controller (50) is configured to provide a refill indication to at least one of the UAV controller (14, 15, 16) and the airbase controller (40),wherein the airbase controller (40) is configured to control the first product transfer device to transfer product from the airbase product tank (351, 352) to the UAV product tank (170).

29. A cover (57) for a product tank (53) of an agricultural implement (5) for distributing an agricultural product to ground or crops over which the agricultural implement (5) travels, the cover (57) comprising:a closure member (570) configured to cover a filling opening (530) of an implement product tank (53), anda landing device (60), configured for receiving an UAV (1) at a position where a product held in a UAV product tank (170) is transferrable to the implement product tank (53).

30. The cover as claimed in claim 29, further comprising a product transfer device (63), configured for transferring the agricultural product from a UAV product tank (170) to the implement product tank (53).3331. The cover as claimed in claim 30, wherein the product transfer device (63) comprises an airlock, for enabling the maintenance of a pressure difference between the channel and a surrounding environment.

32. The cover as claimed in any one of claims 29-31, further comprising at least one cradle (61), configured to receive at least a portion of a landing gear (113) of the UAV (1) to align the UAV (1) with the cover (57) at the position where product is transferrable.

33. The cover as claimed in any one of claims 29-32, further comprising a latching arrangement (62), configured for releasably latching the UAV (1) to the cover (57).

34. The cover as claimed in any one of claims 29-33, wherein the transferrable product is a solid agricultural product, preferably a granulated solid agricultural product, such as seeds, fertilizer, pesticide, herbicide or fungicide.

35. A method of refueling a ground-based agricultural machine (2, 5), wherein the agricultural machine comprises at least one machine fuel tank (23), the method comprising:providing an unmanned aerial vehicle, "UAV", having a UAV refuel tank, configured for holding an amount of fuel for the agricultural machine (2, 5), loading the UAV refuel tank (175) with fuel,operating the UAV (1) to fly to the agricultural machine (2, 5), operating the UAV (1) to land on the agricultural machine (2, 5), and operating the UAV (1) to transfer the fuel from the UAV refuel tank (175) to the machine fuel tank (23).

36. The method as claimed in claim 35, wherein the agricultural machine (2, 5) is an integrated machine and whereby the UAV (1) is operated to land on the agricultural machine (2, 5).3437. The method as claimed in claim 35, wherein the agricultural machine (2, 5) is a split agricultural machine comprising an agricultural implement (5) and a traction vehicle, wherein the UAV (1) is operated to land on the agricultural implement, and wherein the fuel is transferred from the UAV refuel tank to the machine fuel tank (23).

38. The method as claimed in claim 35, wherein the agricultural machine (2, 5) is a split agricultural machine comprising an agricultural implement (5) and a traction vehicle (2), wherein the UAV (1) is operated to land on the agricultural implement, and wherein the fuel is transferred from the UAV refuel tank (175) to a buffer tank (58) provided on the agricultural implement (5) and subsequently from the buffer tank (58) to the machine fuel tank (23).

39. The method as claimed in claim 35, wherein the agricultural machine (2, 5) is a split agricultural machine comprising an agricultural implement (5) and a traction vehicle (2), wherein the UAV (1) is operated to land on the traction vehicle (2), and wherein the fuel is transferred from the UAV refuel tank (175) to the machine fuel tank (23).

40. The method as claimed in any one of claims 34-38, wherein operating the UAV (1) to land on the agricultural machine (2, 5) comprises receiving the UAV (1) in a landing device (60) of the agricultural machine (2, 5).

41. The method as claimed in claim 39, wherein receiving the UAV (1) in the landing device (60) comprises receiving at least a portion of a landing gear (113) of the UAV (1) in at least one cradle (61) of the landing device (60).

42. The method as claimed in claim 40, wherein receiving the UAV (1) further comprises releasably latching the UAV (1) to the landing device (60).

43. The method as claimed in any one of claims 34-41, wherein operating the UAV (1) to transfer the fuel comprises transferring 20 - 1500 liters of fuel,35preferably 50 - 1400 liters, 100 - 1400 liters, or 200 - 1200 liters.

44. The method as claimed in any one of claims 34-42, wherein operating the UAV (1) to land comprises issuing, to the UAV (1), a permission to land on the agricultural implement (5).

45. An agricultural machine (2, 5), comprising:at least one machine fuel tank (23),characterized bya landing device (60), configured for receiving an UAV (1) at a position where a product held in a UAV refuel tank (175) is transferrable to the machine fuel tank (23).

46. The agricultural machine (2, 5) as claimed in claim 44, wherein the landing device (60) comprises at least one cradle (61) configured to receive at least a portion of a landing gear (113) of a UAV (1).

47. The agricultural machine (2, 5) as claimed in claim 45, wherein the landing device (60) further comprises a latching arrangement (62) for latching the UAV (1) to the landing device (60).

48. A system comprising:an agricultural machine (2, 5) as claimed in claim 44,an unmanned aerial vehicle, "UAV" (1), having an UAV refuel tank (175), and a mobile airbase (3), comprising an airbase refuel tank (353),a first fuel transfer device, configured for transferring the fuel from the airbase refuel tank (353) to the UAV refuel tank (175), anda second fuel transfer device, configured for transferring the fuel from the UAV refuel tank (175) to the machine fuel tank (23).

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