CA3119377A1

CA3119377A1 - Method for scanning the ground with the aid of a (rotary-wing) drone

Info

Publication number: CA3119377A1
Application number: CA3119377A
Authority: CA
Inventors: Matthias Rimkus
Original assignee: Rimkus Julia
Current assignee: Rimkus Julia
Priority date: 2018-11-08
Filing date: 2019-11-06
Publication date: 2020-05-14
Also published as: AU2019374445A1; EP3876693A1; EA202191234A1; KR20210090215A; DE102018128002A1; WO2020094683A1

Abstract

The invention relates to a method and device for scanning the ground with the aid of at least one flying device, particularly a (rotary-wing) drone (1). The flying device/(rotary-wing) drone (1) comprises at least one sensor (6, 7). The surface and/or a depth region of the ground (2) is scanned with the aid of the sensor (6, 7). According to the invention, the (rotary-wing) drone (1) comprises, in addition to the sensor (6, 7), at least one manipulator unit (8) which influences the ground quality as a function of data determined with the aid of the sensor (6, 7).

Description

METHOD FOR SCANNING THE GROUND WITH THE AID OF A (ROTARY-WING) DRONE
Description The invention relates to a method for scanning the ground with the aid of at least one flying device, in particular a (rotary-wing) drone, which has at least one sensor, in accordance with which the surface and/or a range of ground depths is scanned by means of the sensor.
In principle, the flying device can take the form of a manned, or an unmanned, flying device. As a rule, in the context of the present application the concern is with unmanned flying devices, and here, preferably, (rotary-wing) drones.
(Rotary-wing) drones are used in the generic prior art in accordance with EP 2 612 110 B1 in order to be able to treat agricultural surface areas in a precise manner, and, in particular, to ensure the optimal use of fertiliser. For this purpose, the ground surface area in question is flown over by such a (rotary-wing) drone along a planned route. At predetermined points, the flight altitude is reduced in order to be able to take detailed pictures. For the mapping of the ground, a nitrogen, moisture, or temperature, sensor is integrated into the small flying device. In this manner, the nitrogen content, among other properties, can be determined.
From this, statements can be derived with regard to plant density, ground moisture, plant moisture, etc.
In overall terms, the aim is to collect a large amount of information in a reasonable amount of time, given the limited energy capacity of such a (rotary-wing) drone, by virtue of what is generally a battery-powered operation. The information, that is to say, the appropriate data from the sensor, is used directly to control harvesting machinery.
LEGAL 1-67757937.1 Date recue/Date Received 2021-05-10

-2-This can be used for targeted fertilisation, and/or further ground treatment. In principle this has proved to be successful.
DE 10 2015 224 175 B3 concerns a system for the determination of grain losses during harvesting executed with a combine harvester. For this purpose, a camera for capturing images of arable land is put into effect; this is arranged on an unmanned flying device in the form of, for example, a (rotary-wing) drone. The flying device can be controlled such that an air flow created by the latter with the aid of a rotor is directed in the direction of the surface of the arable land, with the intention of the acquisition of at least one image. In this manner, lost grains and broken grains lying on a surface area of the arable land are exposed. Their number can be determined.
Finally, further prior art in accordance with DE 10 2013 004 881 Al deals with a method for scanning the ground with the aid of a drone. A landing and charging station is provided for this purpose. The surface area to be recorded can thereby be flown over, mapped, or also photographed. With the aid of a thermal imaging camera, searched for, and missing, persons can be located.
Finally, WO 2017/083128 Al concerns a drone for agricultural applications that is used to scan the ground. In principle, a sensor is also used here for this purpose.
The prior art has basically proved itself when it comes to scanning the ground, and describing the condition of the surface in terms of various parameters, and delivering the appropriate sensor data. However, any conclusions drawn from this sensor data, or measures to modify the ground quality in a targeted manner, require the use of additional machines, for example to spread seed material. This presupposes, on the one hand, an accurate mapping of the surface under LEGAL 1 67757937.1 Date recue/Date Received 2021-05-10

-3-investigation, and, on the other hand, is expensive because an additional machine park must be kept available, that is to say, is indispensable, in order to be able to bring about a targeted modification of the ground quality. In overall terms, this is where the invention seeks to remedy the situation.
The invention is based on the technical problem of developing further such a method such that the expenditure on technical equipment is reduced, and the ground quality can be modified in a simple targeted manner. Moreover, an appropriately designed device is to be provided.
In order to solve this technical problem, a generic method for scanning the ground with the aid of at least one (rotary-wing) drone is characterised within the scope of the invention, in that the drone in question has, in addition to the sensor, at least one manipulator unit, which modifies the ground quality as a function of data determined with the aid of the sensor. The drone used in accordance with the invention preferably takes the form of a (rotary-wing) drone.
However, the invention is not limited to the latter. That is to say, a drone with rigid wings, a so-called fixed-wing aircraft, can also be used as an alternative.
In the context of the invention, the (rotary-wing) drone not only has the sensor, or plurality of sensors, already referred to, with the aid of which the surface of the ground and/or the range of ground depths is scanned, but, in accordance with the invention, at least one manipulator unit is additionally provided as a component of the drone. With the aid of the manipulator unit, the ground quality can be modified, in particular as a function of data determined with the aid of the sensor.
In the simplest case, the manipulator unit can be designed as a controllable storage container for seed material, for Date recue/Date Received 2021-05-10

-4-example. In this case, the ground quality can be positively modified in such a manner that, as a function of the natural properties of the ground, such as, for example, the nitrogen content of the ground, its moisture, its temperature, its surface topology, or even its composition, as determined by the sensor, seed material can be directly applied with the aid of the manipulator unit. However, it is also possible to apply chemicals and, in the example described, fertilisers, in a targeted manner with the aid of the manipulator unit designed as a controllable storage container. This can be done in a very targeted manner, and, as an example, in a manner depending on the fertiliser requirement previously determined with the aid of the sensor, and can be adjusted in a targeted manner with the aid of the manipulator unit.
In contrast to the prior art, this procedure is associated with the particular advantage that the seed material, and/or the chemicals, or the one or plurality of fertilisers, in the example, are directly supplied to the ground as a function of its local ground quality. It is therefore expressly unnecessary to maintain an additional seed material machine, or a machine that applies fertiliser, and to send it into an appropriately investigated zone, for example, of an arable surface area. This would require additional expenditure on machinery, and is inherently associated with delays.
In contrast, in accordance with the invention, seed material and/or fertiliser can be applied directly, for example, if the condition of the ground in terms of moisture content, nitrogen content, etc. allows and requires this. This enables a particularly economical use of seed material and/or fertiliser, which has not previously been possible with this consistency and detail in the prior art. Furthermore, the expenditure on technical equipment has been considerably reduced.

Date recue/Date Received 2021-05-10

-5-In overall terms, the surface area of the ground to be scanned can be divided into one or a plurality of plots. By this means the individual plots can be scanned separately.
Depending on the ground quality of the respective plot determined with the aid of the sensor, the ground quality can now be modified as described. The division of the surface area of the ground to be scanned into the individual plots can advantageously take place by way of appropriate GPS
(Global Positioning System) coordinates. However, it is also plain and simple to conceive a mechanical demarcation of the individual plots, whereby in each case they are defined by a boundary wire enclosing the plot. The boundary wire can be detected by the flying device, that is to say, by a dedicated sensor. For example, it is conceivable to apply electric current, for example short-duration current, for example short-duration current pulses, to the boundary wire, so that the electromagnetic field generated in this manner can be determined with the aid of the sensor, and as a consequence the boundary of the respective plot can be detected.
In principle, the manipulator unit can also be used as a controllable storage container, for example, for insects, and/or liquid. In the former case, for example, insects can be "dropped" in a targeted manner on an agricultural surface area; these can be used for pest control, and/or can support a declining natural population of pest controllers. These include, for example, so-called "ichneumon flies", with the aid of which pests can be controlled naturally, and without the use of pesticides. In principle, one or a plurality of liquids can also be applied in a targeted manner with the aid of the manipulator unit. These may take the form of weedkillers, water, etc., which can be applied in a precise manner, and thus particularly sparingly, as a function of the data determined with the aid of the sensor.
Here it is to be understood that, for example, a larger arable surface area can not only be scanned with the aid of LEGAL 167757937.1 Date recue/Date Received 2021-05-10

-6-one (rotary-wing) drone, but that it can also be advantageous here to work with a swarm of (rotary-wing) drones. Such a swarm of drones can, for example, be coordinated with each other such that the arable surface area to be scanned is divided into respective zones, and each drone only investigates a single zone and, where appropriate, sows seeds. However, it is also possible for the respective (rotary-wing) drones to scan, and/or treat, the zones in an overlapping manner.
In addition to the above-described improvement of the ground quality, for example by the introduction of fertiliser, or the sowing of seed material, in accordance with a further advantageous embodiment the invention provides for the scanned ground to be investigated with the aid of the sensor with regard to possible contaminants. These contaminants can take the form of pesticides, and/or metals, and/or radioactive materials, and/or waste materials, and/or effluents. That is to say, with the aid of the at least one sensor, the ground is investigated for the above-cited contaminants, wherein the list as specified is to be understood only as exemplary and not as restrictive. The manipulator unit now ensures that countermeasures are executed, depending on the contaminant that has been determined.
The countermeasures can, for example, take the form of markings applied to, or inserted into, the ground. With the aid of these markings, the position of the contaminants, and, where appropriate, their characteristics, can be specified and displayed. For example, the colour of the markings can be used to indicate the type of contaminant.
This makes it possible to execute subsequent treatment of the ground in the vicinity of the markings in a precise manner. This can be done manually, or, for example, automatically with the aid of mobile robots.

Date recue/Date Received 2021-05-10

-7-For example, in the simplest case, the sensor can take the form of a gas sensor, with the aid of which, for example, gases associated with effluents or waste materials, or gases emanating from effluents or waste materials, can be detected.
Digester gases also fall into this category. Typically, such digester gases emanate from effluents or waste materials, and can be detected sensorially with the aid of an appropriately designed gas sensor. In principle, the gas sensor is also able, for example, to record any gases escaping from a (gas) pipeline laid in the ground. The registration of the gases, or such digester gases, consequently and under certain circumstances, allows a conclusion to be drawn about, for example, waste materials present under the surface of the ground. The same is true for effluents.
Alternatively or additionally, the sensor can also be designed as a so-called GPR sensor, that is to say, as a ground-penetrating radar sensor. With the aid of such a sensor, the ground, and in particular a range of ground depths, can be characterised non-destructively, with the aid of high-frequency electromagnetic waves. For this purpose, such a sensor, that is to say, a ground-penetrating radar sensor, uses frequencies that are typically in the megahertz range. This allows the ground to be scanned down to depths of several metres. In principle, it is also possible to work with higher frequencies up into the gigahertz range, such as those used for mine clearance, which are typically only deployed in the ground to a depth of 20 to 30 cm.
Here use is made in overall terms of the fact that the propagation of such electromagnetic waves below the surface, that is to say, in the range of ground depths to be investigated, is strongly dependent on structures located in the ground. These structures cause reflection, scattering, diffraction and transmission of the radiated wave. In conjunction with time-of-flight measurements, for example by LEGAL 167757937.1 Date recue/Date Received 2021-05-10

-8-means of pulsed operation, not only can geological formations in the ground be recorded, but also contaminants such as metals, the radioactive materials mentioned, or other anomalies that can be traced back, for example, to waste materials and/or effluents.
With the aid of the one or plurality of manipulator units on or in the (rotary-wing) drone, the countermeasures with regard to such contaminants can now be taken directly and in a precise manner. The manipulator unit may, for example, be designed as a radiation source. Here, a design in the form, for example, of a laser has proved to be effective, with the aid of which the mines already mentioned and located in the ground can be detonated in a targeted manner. In such cases it is also possible for the manipulator unit simply to discharge a projectile so as to eliminate the mine. In addition, it is possible to neutralise effluents, for example with regard to their pH value, by means of chemicals introduced with the aid of the manipulator unit. It is also possible to add bacteria to the effluents or waste materials with the aid of the manipulator unit so as to promote their decomposition.
In order to be able to adapt the (rotary-wing) drone flexibly to different circumstances, the sensor and/or the manipulator unit are advantageously attached to the drone in an interchangeable manner. This makes it possible to adapt the one or plurality of sensors to the particular circumstances, depending on the ground being investigated.
The same applies to the one or plurality of manipulator units. In order to implement the interchange in a particularly efficient manner, an interchange station is typically provided for the sensor and/or the manipulator unit. In this context, it is particularly preferable for the interchange station also to be designed as a charging station for one or a plurality of batteries in the (rotary-wing) drone. In this manner, the (rotary-wing) drone in question Date recue/Date Received 2021-05-10

-9-is simultaneously charged and adapted to its new purpose.
Here the interchange of the sensor or manipulator unit in question can be carried out automatically, for example, by equipping the interchange station with a turret magazine, which surrounds the periphery of the drone when the latter is in its rest position on the interchange station. The turret magazine can be equipped with various sensors and/or manipulator units, which can be interchangeably coupled to the drone by an appropriate radial displacement in the direction of the drone.
For this purpose, the drone can be positioned on a platform of the interchange station. In this context the accumulators, or the at least one accumulator, of the drone can be charged with electrical energy, and advantageously inductively, for example via a coil embedded in the platform. By this means the charging process can, in overall terms, be carried out automatically and simultaneously together with the interchange process.
The interchange station does not necessarily have to be designed as a charging station for the batteries in the drone. Within the scope of the invention, it is also possible, for example, to supply the drone with the required electrical energy by way of a cable. The drone can be directly supplied with the required electrical energy by way of the cable. However, it is also possible for an accumulator of the drone to be supplied with the necessary energy with the aid of the cable. Furthermore, the option exists of designing the cable in question so that it can be released.
In this case, the cable can, for example, be released via a remote control that controls the drone, so that the drone can then start its work detached from the cable, and autonomously (with the aid of the onboard accumulator or plurality of accumulators).
Finally, there is the further possibility of not only LEGAL 167757937.1 Date recue/Date Received 2021-05-10

-10-recording the ground sensorially, but at the same time of equipping the drone with an image camera, and in this manner generating photographic image data of the surface of the ground that is being investigated. This image data can, for example, be visualised together with the data from the sensor or the plurality of sensors. For this purpose, a control unit in the (rotary-wing) drone can communicate with a central controller. In turn the central controller may be located in a remote-control unit for the (rotary-wing) drone, which is in any event required. In this manner, the image data and the sensor data can, for example, be visualised on a screen of the remote-control unit.
However, it is also possible to display the image data in question, and the sensor data, to a user directly with the aid of a VR (virtual reality) headset. In addition, other methods of visualisation are also conceivable, in which the data in question is transferred to a headset worn by the user, where it is reproduced on spectacle lenses in the manner of a head-up display. One way or another, the invention makes it possible for the first time to scan the ground in a targeted manner with regard to its surface and any range of depths, and, at the same time, to modify directly, and in a targeted manner, the ground quality, and, where appropriate, to implement countermeasures, if contaminants are recorded in or on the ground. This is where the main advantages are to be seen.
In what follows, the invention will be explained in more detail with the aid of a drawing illustrating just one example of embodiment. The single figure shows a device in accordance with the invention, which device is the subject matter of Claim 10. In the single figure, one (rotary-wing) drone 1 can actually be discerned, with the aid of which a ground 2 is being scanned. Instead of the one (rotary-wing) drone 1 shown, it is of course possible to implement a plurality of such (rotary-wing) drones 1, for example a swarm LEGAL 167757937.1 Date recue/Date Received 2021-05-10

-11-of drones. However, this option is not shown. In the case of such a swarm solution, the individual (rotary-wing) drones 1 are linked to each other by data technology.
In the example shown, the (rotary-wing) drone 1 in question is equipped with a thermal imaging camera 3, with the aid of which to scan the ground 2 with regard to any anomalous heat sources, or also its temperature. In the event of anomalous heat sources, these can take the form of radioactive contaminants, for example. Moreover, the thermal imaging camera 3 makes it possible to determine the temperature of the ground 2 so that, as a function of the latter, the discharge of seed material can be carried out in an optimal manner, as will be described in more detail below. At the same time the surface area of the ground 2 can be divided into individual plots. These plots can be defined by associated GPS coordinates, and/or in each case by an enclosing boundary wire.
In addition to the thermal imaging camera 3, a control unit 4 is also provided, as is an imaging camera 5. Furthermore, in accordance with the invention the (rotary-wing) drone 1 is equipped with a plurality of sensors 6, 7, which in accordance with the example of embodiment are arranged on the periphery, or the outer face, of the (rotary-wing) drone 1 and in overall terms are interchangeably held on the drone in question, as will be explained in more detail below.
The sensor 6 may take the form of a gas sensor. The sensor 7, on the other hand, is designed as a ground radar, or GPR, sensor 7. Needless to say, additional sensors are also conceivable. With the aid of the two sensors 6, 7, the surface, and/or a range of ground depths 2, is scanned.
In accordance with the invention, the (rotary-wing) drone 1 is equipped in the example with at least one manipulator unit 8 in addition to the at least one sensor 6, 7, or the LEGAL 167757937.1 Date recue/Date Received 2021-05-10

-12-two sensors 6, 7. In overall terms the sensors 6, 7, as well as the manipulator unit 8, the thermal imaging camera 3, and also the photographic imaging camera 5, are connected to the control unit 4, which undertakes all control functions, and functions for data acquisition and data collection. In turn the control unit 4 communicates with a central controller 9, which is shown schematically in the figure. Here the communication may typically take place wirelessly. The central controller 9 may be implemented in a remote-control unit for the (rotary-wing) drone 1, which is required in any event, but may also just as well be stationary at a certain point on the ground 2. Moreover, the central controller 9 can be coupled to a computer network. Furthermore, a visualisation of the data, as well as of the photographic image data of the image camera 5, may take place by way of the central controller 9. For this purpose, an operator can, for example, wear a headset, as already described earlier.
In the example of embodiment, the manipulator unit 8 is designed as a controllable storage container. For example, the manipulator unit 8, or controllable storage container, can hold seed material, and/or insects, and/or liquid, and/or chemicals in its interior, as already described earlier.
With the aid of the control unit 4, the targeted delivery of the above-cited materials by the manipulator unit 8 can now be controlled and specified. This occurs as a function of data determined with the aid of the two sensors 6, 7.
In the simplest case, for example, the gas sensor 6 detects a certain, and insufficient, moisture content of the ground, whereupon the control unit 4 pressurises the manipulator unit 8 in such a manner that it releases moisture in the form of water at the relevant location. Mostly, however, the work here will be, for example, with fertiliser, if a nitrogen sensor, which is not explicitly shown, has previously measured a corresponding requirement for fertiliser on the surface of the ground 2.
LEGAL_1 67757937.1 Date recue/Date Received 2021-05-10

-13-In addition, the ground 2 can be scanned with the aid of the two sensors 6, 7 with regard to possible contaminants. For this purpose, the GPR, or ground-penetrating radar, sensor 7 may scan the ground 2 down to a certain depth. If, for example, contaminants or waste materials are detected below the surface of the ground 2, these can be neutralised to a certain extent, for example, by the application of chemicals with the aid of the manipulator unit 8 and the controllable storage container. In principle, the manipulator unit 8 can also be used to deliver insects for the targeted control of pests, as already described earlier. In addition, the manipulator unit 8 can be designed as a radiation source, and in particular as a laser beam source, in order to implement the targeted destruction of contaminants located in the ground 2.
As already explained, the at least one sensor 6, 7, or the two sensors 6, 7, and also the manipulator unit 8 are interchangeably attached to the drone, that is to say, the (rotary-wing) drone 1. For this purpose, the two sensors 6, 7 and the manipulator unit 8 are in each case located on the outer periphery of a drone housing 11, and are interchangeably connected to the drone housing 11. In this manner, the sensor 6, 7, or the manipulator unit 8 in question, can be interchanged at an additionally illustrated interchange station 10.
For this purpose, the drone, that is to say, the (rotary-wing) drone 1 first flies onto a platform 12 of the interchange station 10. Coils can be embedded into the platform 12, with the aid of which accumulators arranged in the drone housing 11, or at least one such accumulator, are inductively charged. At the same time, the interchange station enables a targeted interchange of individual sensors 6, 7, or the manipulator unit 8.

Date recue/Date Received 2021-05-10

-14-For this purpose, the interchange station 10 is equipped with a turret magazine 13 (merely indicated), which surrounds the outer periphery of the drone positioned on the platform 12. The turret magazine 13 accommodates further sensors, or manipulator units, in individual compartments that are not explicitly shown; these are interchanged with the sensors 6, 7, or the manipulator unit 8, attached to the (rotary-wing) drone 1, for example, by means of a radial movement. This can all take place automatically during a charging process.
With the aid of the one or plurality of (rotary-wing) drones 1, the ground 2 to be scanned can, for example, be mapped and divided into different fields. Here it is also possible, for example, to use a triangulation method. With the aid of such a triangulation method, the surface area to be examined is, for example, divided into acute-angled triangles, and surveyed in this manner. By this means, the location of possible contaminants in the ground can be measured exactly, and compared, for example, with information on a map, or the contaminants can be properly mapped.

Date recue/Date Received 2021-05-10

Claims

PATENT CLAIMS

1. Method for scanning the ground with the aid of at least one flying device, in particular a (rotary-wing) drone (1), which has at least one sensor (6, 7), in accordance with which the surface, and/or a range of ground depths (2), is scanned by means of the sensor (6, 7), characterised in that, in addition to the sensor (6, 7), the flying device (1) has at least one manipulator unit (8), which modifies the ground quality as a function of data determined with the aid of the sensor (6, 7).

2. Method according to Claim 1, characterised in that, with the aid of the sensor (6, 7), the ground (2) is investigated with regard to its natural properties, such as, for example, its moisture, its nitrogen content, its temperature, its surface topology and its composition, in order to modify its quality with the aid of the manipulator unit (8) directly, and/or by means of data transmission to an additional external manipulator unit.

3. Method according to Claim 1 or 2, characterised in that, the surface area of the ground (2) is divided into one or a plurality of plots.

4. Method according to Claim 3, characterised in that, the respective plot is demarcated by a boundary wire, GPS coordinates, etc.
LEGAL 1:67758248.1 Date recue/Date Received 2021-05-10

5. Method according to one of the Claims 1 to 4, characterised in that, with the aid of the sensor (6, 7) the ground (2) is investigated with regard to possible contaminants such as pesticides, and/or metals, and/or radioactive materials, and/or waste materials, and/or effluents, and the manipulator unit (8) carries out countermeasures depending on the contaminant that is determined.

6. Method according to one of the Claims 1 to 5, characterised in that, the sensor (6, 7) is designed as a gas sensor (6), a GPR sensor (7) or a radiation sensor, individually or in combination.

7. Method according to one of the Claims 1 to 6, characterised in that, the manipulator unit (8) is designed as a controllable storage container, for example for seed material, and/or insects, and/or liquid, and/or chemicals.

8. Method according to one of the Claims 1 to 7, characterised in that, the manipulator unit (8) is designed as a radiation source.

9. Method according to one of the Claims 1 to 8, characterised in that, the sensor (6, 7), and/or the manipulator unit (8), are interchangeably attached to the (rotary-wing) drone LEGAL 1:67758248.1 Date recue/Date Received 2021-05-10 (1).

10. Method according to one of the Claims 1 to 9, characterised in that, an interchange station (10) is provided for the sensor (6, 7), and/or the manipulator unit (8).

11. Method according to Claim 10, characterised in that, the interchange station (10) is also designed as a charging station for at least one battery in the (rotary-wing) drone (1).

12. Device for scanning the ground with the aid of at least one flying device, in particular a (rotary-wing) drone (1), preferably for the execution of the method according to one of the Claims 1 to 11, wherein at least one sensor (6, 7) is provided on or in the flying device (1), and wherein the surface, and/or a range of ground depths (2), is scanned with the aid of the sensor (6, 7), characterised in that, the flying device (1) has, in addition to the sensor (6, 7), at least one manipulator unit (8), which modifies the ground quality as a function of data determined with the aid of the sensor (6, 7).
LEGAL 1:67758248.1 Date recue/Date Received 2021-05-10