EA045347B1 - POSITIONING SYSTEM IN REAL-TIME KINEMATICS (RTK) MODE, BASE STATION AND METHOD (OPTIONS) OF CALIBRATION AND OPERATION - Google Patents

Description

The invention relates to a base station for a real-time kinematics (RTK) positioning system with one or a group of rovers, and to a real-time kinematics (RTK) positioning system with a base station and one or a group of rovers. The invention also relates to a method for calibrating a base station for use in a real-time kinematics (RTK) positioning system with one or a group of rovers, and to a method for operating a real-time kinematics (RTK) positioning system with a base station.

The invention also relates to the use of a base station in a real-time kinematics (RTK) positioning system and/or to the use of a base station and/or a real-time kinematics (RTK) positioning system.

Real Time Kinematics (RTK) positioning is a technique used in satellite navigation to improve the accuracy of position data obtained from satellite positioning systems (Global Navigation Satellite Systems - GNSS), particularly GPS (Global Positioning System), GLONASS, Galileo , Indian Navigation Satellite Constellation (NavIC) and Beidou. In addition to, or as an alternative to, the information contained in the signal, RTK uses measurements of the carrier wave phase of the signal and provides real-time correction information with centimeter precision. The range to the satellite is calculated essentially by multiplying the carrier wavelength by the number of complete cycles between the satellite and the rover and adding the phase difference. The RTK mode involves the use of a base station and one or a group of rovers to reduce the positioning error of the rovers. The base station transmits correction information to one or a group of rovers. For example, a base station relays the carrier phase it observes, and one or a group of rovers compares its own phase measurements with the phase received from the base station. Document EP 3, 351 968 A1 discloses a known solution for determining a geographic location at a particular point using a mobile geolocation device.

It is known that the base station is placed at a reference point with known coordinates, in particular at a known photographed location, for example, at a reference point. However, in the absence of such reference points with known coordinates, for example, in an agricultural area with no reference points with known coordinates, which is often typical for remote and/or very large farmland, RTK is difficult to apply.

One of the objectives of the present invention is to provide improved solutions, in particular an improved base station for a real-time kinematics (RTK) positioning system with one or a group of rovers, and/or an improved real-time kinematics (RTK) positioning system with a base station. station and one or a group of rovers, and/or an improved method for calibrating a base station for use in a real-time kinematics (RTK) positioning system with one or a group of rovers, and/or an improved method for operating a real-time kinematics (RTK) positioning system with a base station. In particular, one object of the present invention is to provide a base station for a real-time kinematics (RTK) positioning system with one or a group of rovers, and/or a real-time kinematics (RTK) positioning system with a base station and one or a group rovers, and/or a method for calibrating a base station for use in a real-time kinematics (RTK) positioning system with one or a group of rovers, and/or a method for operating a real-time kinematics (RTK) positioning system with a base station, providing high accuracy location data, including in areas without known coordinates, in particular in agricultural areas without known coordinates, and/or in areas of application where the accuracy of location data must be high, in particular in applications such as selection and/or breeding of seed varieties, and/or research of seed material.

According to the first aspect, a base station is proposed for a real-time kinematics (RTK) positioning system with one or a group of rovers, comprising a global navigation satellite system (GNSS) receiver, a transmitter for transmitting corrective information to one or a group of rovers, and a wireless local area network module (LAN/WLAN), and at least one control unit, wherein said at least one control unit is configured to operate the base station in rover mode, in which correction information is received from the network transmission server according to the standard of the Radio Engineering Commission of Marine Servers via the Internet ( NTRIP) and determine at least two locations of the base station in rover mode based on the received correction information from the NTRIP server, wherein said at least one control unit is configured to determine an optimized location of the base station by averaging the at least two locations in rover mode .

The base station components include a global navigation satellite system (GNSS) receiver, a transmitter, a wireless local area network (WLAN) module, and at least one control unit. The GNSS receiver is preferably configured with

- 1 045347 the ability to connect to the global navigation satellite system and receive location data from it. The GNSS receiver is preferably configured to connect to at least two different systems, preferably such as GPS and/or GLONASS and/or Galileo and/or Beidou and/or other global navigation satellite systems. In particular, this provides an advantage over existing solutions that are connected to only one GNSS.

The transmitting device is configured to transmit corrective information from the base station to one or a group of rovers. As will be discussed in more detail below, the transmitting device may be configured to transmit correction information from the base station to one or a group of rovers wirelessly, for example, via a radio modem, and/or wired, for example, via cable, in particular via a universal serial cable. bus (USB cable).

In this case, a rover can preferably be understood as any mobile and/or transportable device containing a GNSS receiver. For example, a mobile sensor device and/or an agricultural vehicle may be a rover, and/or contain a rover, and/or perform the functions of a rover.

Another component of the base station is a wireless local area network (LAN/WLAN) module. As will be discussed in more detail below, the wireless LAN module represents a wireless LAN client and/or forms a wireless access point. In particular, the WLAN module is preferably configured to connect to a WLAN access point and/or create a WLAN access point to enable the base station to access the Internet.

The base station also includes at least one control unit. For example, the minimum control unit may preferably be a central processing unit (CPU). The control unit may also be a single board computer, such as a Raspberry Pi brand as a non-limiting example. In addition, the at least one control unit within the base station may be part of a larger, preferably distributed, control circuit, which may include additional components not included in the base station, but which are part of the mobile device, as a non-limiting example of a portable computer , and/or mobile phone (smartphone), and/or tablet computer. These additional control circuit components may be one or a group of additional control blocks.

In addition, the minimal design of the base station control block may not contain a graphical user interface, which, in turn, may be formed by an additional control block and/or control circuit component associated with the base station control block, but not included in the base itself. stations. In a preferred embodiment, the base station control unit is configured to connect to one or a group of additional components of a larger control circuit and/or to one or a group of additional control units in a wired and/or wireless manner.

For example, the at least one base station control unit may be configured to determine two or more rover mode locations and determine an optimized base station location by averaging the at least two rover mode locations. An additional control block and/or component of a larger control circuit may be created and configured to connect the base station, preferably as an NTRIP client, to the NTRIP server. For example, the at least one base station control unit may also be configured to determine two or more rover mode locations and determine an optimized base station location by averaging the at least two rover mode locations, and may also be configured to connect the base station station, preferably as an NTRIP client, to an NTRIP server.

The base station is preferably used in an RTK system, typically containing at least two GNSS receivers with a data link between them. One GNSS receiver is a component of a deployable base station. The at least one additional GNSS receiver is preferably a receiver on one or a group of rovers. The base station in an RTK system usually remains in a fixed position. One possible exception is described below. One or a group of RTK system rovers are typically configured to move from place to place. For example, base stations are usually placed at the edge of a field in which one or a group of rovers must carry out tasks by moving from place to place. Typically, the purpose of a base station is to calculate position corrections and transmit them to one or a group of rovers. In the present description, this operating mode of the base station, in which the base station transmits correction information to one or a group of rovers, is preferably referred to as the stationary base station mode.

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Each of the rovers typically determines its location by receiving position data from the GNSS, and then each of the rovers using the correction information received from the base station to correct the (usually less accurate) position data received from the GNSS. In a preferred embodiment, with the help of correction information received from the base station, one or a group of rovers can determine their positions and/or perform navigation and/or automatic piloting with an error well below ±10 cm, in particular below ±5 cm, in in particular below ±3 cm, preferably in the range from ±2 to 3 cm.

The disclosed solution is based, among other things, on the established fact that in known RTK systems, in particular in areas without starting points with known coordinates, the base station must be installed in a stationary position, and the coordinates of the base station in this location must be known. stationary position. Based on these constant coordinates, the base station calculates transmission time and phase measurement errors caused by network errors, clock errors, and ionospheric activity. Position data from GNSS typically contains position data with an accuracy of ±2 m due to the lack of correction information for the base station. This error is transmitted systematically to rovers that use corrective information from the base station. At the same time, the relative positioning accuracy still does not go beyond about 2.5 cm.

In particular, the disclosed solution can be adapted to employ a fixed RTK approach and/or a floating RTK approach. In a preferred embodiment, the disclosed solution utilizes a fixed RTK approach rather than a floating RTK approach.

The fixed RTK approach uses complex mathematical formulas or an algorithm to calculate the exact number of radio wavelengths between the satellites and the base station antenna - a process known as disambiguation - producing either a fixed or floating solution. In the case of a fixed solution, the number of wavelengths is an integer or an integer value, and the algorithm only produces an integer result. A small number of visible satellites, poor constellation geometry, and poor radio link between the base station and rover can be barriers to obtaining a fixed solution.

In the floating RTK approach, the algorithm does not produce an acceptable fixed value, so the multivalued value can be expressed as a decimal or floating point number. According to Tripod Data Systems, the floating approach typically produces coordinates with an accuracy of about 4 to 18 inches over a known distance of a little over half a mile between two points. If the only solution that can be obtained is a floating one, it may be necessary to restart the RTK system or simply wait for a more accurate fixed solution. However, if the cause is poor satellite visibility, it may happen that a fixed solution cannot be obtained.

In addition, as discussed in more detail below, particularly high accuracy of location data is required, in particular, for applications such as breeding and/or breeding of seed varieties and/or research of seed materials in which agrotechnical objects are used, in particular agrotechnical subobjects are relatively small in size. For these relatively small agrotechnical objects, in particular agrotechnical subobjects, which will be discussed below, special requirements have been established for the accuracy of location data. The accuracy of ±2 m of the GNSS system may be sufficient for general agricultural work, in particular farming, even so-called precision agriculture, in particular for growing crops in large quantities. In applications with special precision requirements, such as seed breeding and/or seed breeding and/or seed testing, the accuracy of ±2 m of a GNSS system is not sufficient, even though the relative accuracy may be up to 2.5 cm. For applications with such high precision requirements, in particular for breeding and/or seed variety breeding and/or seed research, high levels of absolute accuracy (rather than relative accuracy) are required. This is due to the fact that in such areas of application as selection and/or breeding of seed varieties, and/or research of seed material, at agrotechnical facilities, in particular agrotechnical sub-facilities, work is performed repeatedly and/or multiple works and/or agricultural processes at different points in time, while all of them must be performed with the same absolute accuracy.

Another disadvantage of known systems is that if it is necessary to continue and/or repeat a previous operation using the base station, in particular after a break and/or break, the base station, in particular the GNSS receiver, must be returned to exactly that location , where the operation was previously created and/or executed. For example, if you need to use the base station on different dates and/or move it between uses, it is critical to use exactly the same original coordinates and install the base station in the same location. In particular, the exact location of the base station in latitude and longitude must be known.

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Therefore, known systems require the installation of a base station at initial points with known coordinates, for example, at an officially measured reference point, after which these known coordinates are entered into the GNSS receiver of the base station. In this case, by transmitting corrective information to one or a group of rovers, absolute accuracy of about 2.5 cm can be achieved.

However, in remote areas there may be no reference points with known coordinates, in particular officially measured reference points, and/or the process of entering coordinates into the GNSS receiver of the base station, possibly multiple times, and/or the process of re-locating the base station in exactly the same place, as for the previous operation, is time-consuming and/or associated with the risk of errors.

In view of the above, according to the disclosed solution, the specified at least one control unit of the base station is configured to operate the base station in rover mode, in which correction information is received from the Network Transmission Protocol server according to the standard of the Radio Engineering Commission of Maritime Servers over the Internet (NTRIP). NTRIP is a protocol for providing services for transmitting real-time corrective information for positioning using GNSS, in particular GPS. NTRIP provides the ability to stream RTK correction information over the Internet.

Operating a base station in rover mode means, in particular, that, unlike in stationary mode, in which the base station transmits correction information to one or a group of rovers, in rover mode the base station receives correction information. In the present description, this operating mode of the base station in which the base station receives the correction information is referred to as the rover mode.

Thus, although the primary function of a base station is to transmit correction information to one or a group of rovers, the disclosed solution involves operating the base station, preferably for a predetermined and/or limited period of time, in a rover mode in which the base station receives the correction information, namely from the NTRIP server. That is, in rover mode, the base station preferably functions as an NTRIP client.

When the base station is operating in rover mode, and preferably operating as an NTRIP client, two or more so-called rover mode base station locations are determined based on the NTRIP server correction information received from the NTRIP server. According to the disclosed solution, the at least one control unit is configured to determine an optimized base station location by averaging the at least two rover mode locations. That is, during operation of the base station in rover mode, at least two so-called rover mode locations (i.e., base station locations determined during operation of the base station in rover mode) are determined based on corrective information from the NTRIP server, and then averaging the at least two rover mode locations to obtain a so-called optimized base station location.

In a preferred embodiment, once the optimized location of the base station is determined, the base station is switched from rover mode to stationary mode, in which the base station transmits correction information to the rovers. That is, in stationary mode, the rover preferably no longer functions as an NTRIP client.

Preferably, during operation of the base station in rover mode, the base station is kept in a constant position, i.e. not moved, but left in the same stationary position. In a preferred embodiment, the base station and/or said at least one control unit is configured and/or configured to operate the base station in rover mode, wherein the base station is kept in a constant position during operation in rover mode. Thus, it is known that the actual location of the base station is the same during operation of the base station in rover mode.

That is, if a base station in rover mode, based on received correction information from the NTRIP server, determines that at least two locations were different from each other, while the base station did not move, an optimized location can be determined by averaging the specified at least two (different from each other) locations in rover mode.

In particular, as discussed in more detail below, when the base station is operated in rover mode, for example, for 5-10 minutes and/or preferably about 500 to 1000 positions of the base station in rover mode are determined from the received correction information from the NTRIP server, whereupon the data 500-1000 locations in rover mode are averaged, i.e. calculate the average location over the specified 500-1000 locations in rover mode, this optimized location has very high accuracy and is close to the actual actual location of the base station.

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The disclosed solution provides the advantage that the optimized location of the base station can be determined with a very high degree of accuracy, essentially anywhere, as long as the WLAN module of the base station can be connected to the NTRIP client. This makes it possible to use the base station in different fields. In addition, for example, after performing one operation on one field, the base station can be moved to another field to perform another operation on it.

Another advantage is that operating the base station in rover mode, as disclosed in the present invention, allows the base station to be brought into operation quickly and reliably. Once the optimized location of the base station has been determined, as disclosed in the present invention, the correction information transmitted from the base station to one or a group of rovers allows the rovers to determine their own locations with an accuracy in the usual RTK range, in particular about ±2- 3 cm. In particular, this provides an advantage in areas without starting points with known coordinates, for example, in remote and/or very extensive agricultural areas. This also provides an advantage in applications where high accuracy of location data is required, in particular in the areas of breeding and/or seed variety breeding and/or seed research, in which the agrotechnical objects used, in particular agrotechnical sub-objects, have relatively small in size, as will also be discussed in more detail below.

In addition, the disclosed solution provides a very cost-effective method for determining the optimized location of a base station, suitable for use by the base station to communicate correction information to one or a group of rovers with conventional RTK positioning accuracy, preferably about ±2-3 cm.

The disclosed solution allows one to overcome the disadvantages of known solutions that require knowledge of the exact coordinates of the base station and their input into the GNSS receiver before the base station starts operating to transmit corrective information. In particular, the disclosed solution is compatible with a wide variety of GNSS solutions, including but not limited to GPS, GLONASS, Galileo, and/or Beidou systems. Thus, the disclosed solution is cost-effective, adaptable and user-friendly, and can be easily implemented into known and/or optimized workflows. In particular, the disclosed solution provides the advantage of low costs, particularly compared to prior art solutions. In addition, the disclosed solution provides the advantage of a high degree of adaptability, in particular the possibility of using the base station as a stationary field reference station near an agricultural facility and/or using the base station as a mobile reference station that can be placed on a rover, for example, in the form of a cubic support station on a tractor and/or in the form of a removable module for a smartphone, and moving with the rover. In particular, the base station, preferably in the form of a mobile reference station, is lightweight and/or practical and/or user-friendly and/or easy to operate.

In one preferred embodiment, said at least one control unit is configured to adjust the duration of the period of operation in rover mode and/or the number of averaged locations in rover mode.

Preferably, the duration of the rover mode period may be a predetermined period of time, preferably user-configurable and/or variable. It is also preferred that the number of rover mode locations determined by operating the base station in rover mode and then averaging to determine an optimized base station location is a predetermined number, preferably user-defined and/or modifiable.

For example, said at least one control unit within the base station comprises means for interfacing, preferably wirelessly, with one or a group of components of the control circuit, for example, with mobile devices such as a laptop and/or a mobile phone (smartphone), and /or tablet computer. Preferably, said at least one control unit comprises means for pairing, preferably wirelessly, with a device running a Windows operating system. In a preferred embodiment, the wireless interface means is a WLAN interface means. For example, this allows a user to configure said at least one control unit via a mobile device without the need for wired access to a base station.

The additional GNSS receiver preferably includes a multi-band antenna.

In one preferred embodiment, the transmitting device is configured to transmit correction information to one or a group of rovers wirelessly and/or wiredly.

There is a group of methods for transmitting a correction signal from a base station to one or

- 5 045347 group of rovers.

In one preferred embodiment, the transmitting device is configured to transmit correction information to one or a group of rovers wirelessly. For example, as will be discussed in more detail below, a wireless method for transmitting correction information from a transmitting device to one or a group of rovers may consist of transmitting data via a radio modem over a radio channel in a certain frequency range, usually in the decimeter range. This method is preferred to provide wireless transmission of signals in real time and at low cost.

This embodiment is preferred, in particular, in the case of the base station transmitting correction information to one or a group of rovers, in particular two or more rovers moving independently of each other. In this embodiment, it is also preferable to keep the base station in a fixed position, for example, at the edge of a field or between two fields, during operation in a stationary mode, i.e. during the transmission of corrective information from the base station to the rovers. Transmitting correction information to rovers wirelessly is a simple and cost-effective way to provide correction information to two or more rovers from a single base station.

In yet another preferred embodiment, the transmitting device is configured to transmit correction information to one or a group of rovers by wire. For example, correction information can be transmitted from a transmitter to one or a group of rovers via a cable, such as a USB cable. In particular, a wired connection for transmitting correction information between a transmitter and one or a group of rovers is preferred in the case where correction information from a base station is provided to only one rover, and/or when correction information is provided to two or more rovers from a single base station, wherein the movement two or more rovers does not occur independently of each other, but in parallel and/or in constant communication with each other, as, for example, during harvesting, when a harvesting machine and a transport vehicle move together through a field. In this embodiment, in the case of a wired connection between the transmitting device and one or a group of rovers and for transmitting correction information, it may be preferable not to keep the base station in a fixed position, for example, at the edge of a field, while operating the base station in a stationary mode. In this embodiment, it may be preferable to locate the base station on the rover and move it with the rover when the base station is in stationary mode, i.e. when the base station transmits correction information to the rover. It should be noted that even in this embodiment, when the base station is installed on the rover, it is preferable that the base station remains in the same position, i.e. it would not move during operation of the base station in rover mode, i.e. in the course of determining the optimized location of the base station when the base station is functioning as a rover, i.e. as an NTRIP client. In this case, once the determination of the optimized location is completed and the base station is switched from rover mode to stationary mode, in which the base station transmits corrective information to the rover based on its optimized location, the base station can be moved with the rover. In this case, in the preferred embodiment, the possibility of wireless connection of the base station, in particular the ability to connect the base station to the WLAN, in particular to the NTRIP server, is blocked during operation of the base station in stationary mode. Thus, the base station is configured to be used, for example, in the form of a removable module, preferably for any type of mobile device functioning as a rover, for example, for a non-limiting example, for a mobile phone (smartphone), a laptop computer, a tablet computer, or for a manned or an unmanned field device, which can be ground-based and/or airborne, in particular for drones, tractors or agricultural robots.

In one preferred embodiment, the base station comprises, preferably a weather-resistant enclosure.

An enclosure, in particular a weatherproof enclosure, provides the advantage that base station components contained within the enclosure are protected, in particular, from debris and/or moisture and/or damage and/or unwanted actions . In a preferred embodiment, the housing may be locked. In a preferred embodiment, one or a group of components or subcomponents of the base station is located or located outside the housing.

For example, it may be preferable for a GNSS receiver, in particular a multi-band antenna, to be located outside the housing during operation of the base station. It is also preferable that at least one, a group or all of the components located within the housing are connected to each other wirelessly and/or wired. It is also preferable that at least one, a group or all of the components located outside the housing are configured to communicate with one, a group or all of the components located inside the housing, wirelessly and/or wired.

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In another preferred embodiment, the transmitting device comprises a radio modem, wherein the radio modem preferably includes a radio antenna and/or the radio modem preferably includes a radio antenna telescope, and/or the radio modem is preferably configured to transmit data in the frequency range 403-473 MHz and/or 902- 928 MHz, and/or the radio modem preferably has a range of up to 3 km inclusive, preferably up to 5 km inclusive, or up to 6 km inclusive, or up to 25 km inclusive, or up to 50 km inclusive.

As stated above, it may be preferable for the transmitting device to include a radio modem, in particular for wirelessly transmitting correction information from a base station to one or a group of rovers. In particular, frequency bands may be selected depending on national and/or regional preferences. In addition, the transmission power and/or range of the radio modem, in particular data transmission via the radio modem, can be selected in accordance with national and/or regional requirements, and/or requirements related to environmental conditions, in particular topographic conditions , and/or depending on the height of the radio antenna.

For example, in Germany, it is preferable that data transmission between a base station and one or a group of rovers occurs over a radio data link in the frequency range from 403 to 473 MHz, and the transmission power is preferably in the range up to 3 km inclusive. However, in other countries with different regulatory requirements and/or larger fields, other frequency ranges and/or transmit powers may be preferred for radii up to and including 25 or 50 km. In particular, the range of the radio modem also depends on the topographic conditions of the field to be covered and/or the height of the radio antenna.

Preferably, the radio modem has a range covering at least one field, or preferably two or more fields. Thus, one base station, preferably located between adjacent fields, can provide corrective information to rovers moving in these two or more adjacent fields. It is also preferable that the radio modem has a range covering at least one cell in the cellular network.

In another preferred embodiment, the base station comprises at least one power source, in particular at least one battery, and/or means for interface with the power supply.

The battery as a power supply provides the advantage of being able to create an autonomous base station. In a preferred embodiment, the battery is provided with at least one means of interface with, preferably an external power supply for (re-)charging the battery.

In another preferred embodiment, the WLAN module is a WLAN client and/or forms a wireless access point, the wireless access point preferably including a router and/or a mobile device, such as a standard smartphone, preferably configured to function as a wireless access point.

The WLAN module may be a WLAN client and/or form a wireless access point. In addition, the wireless access point can also be created as a separate device, i.e. not included in the base station. For example, a wireless access point may be, in particular - temporarily, implemented on the basis of a mobile device, as a non-limiting example - a smartphone or telephone, laptop or tablet computer, which can perform the functions of a wireless Internet access point, wherein the base station is solely WLAN client to connect to this, preferably temporary, wireless access point. In particular, the ability of a base station to access the Internet is a temporary requirement that exists, in particular, when the base station is operated in rover mode. Preferably, when the base station is operating in rover mode, Internet connectivity is required to establish a connection between the base station as an NTRIP client and the NTRIP server to receive correction information from the NTRIP server to determine the optimized location of the base station. Since the base station is operated in rover mode, preferably only for a limited period of time, it may be preferable for the wireless access point to be provided not as part of the base station, but as a separate device, in particular as part of a mobile device, to provide a temporary outlet in Internet.

According to another aspect, a real-time kinematics (RTK) positioning system with an deployable base station and one or a group of rovers is proposed.

According to another aspect, it is proposed to use an deployable base station in a real-time kinematics (RTK) positioning system, and/or use an deployable base station and/or an deployable real-time kinematics (RTK) positioning system in and/or in conjunction with deployable a method and/or a system for managing agricultural processes, and/or as part of a disclosed method for placing planting material, in particular seeds, and/or cuttings, and/or seedlings, and/or tubers, and/or bulbs, and/or scions,

- 7 045347 at a geographically linked agricultural facility, and/or as part of and/or together with an agricultural machine, in particular with a planter, for placing planting material, in particular seeds, and/or cuttings, and/or seedlings, and/or tubers, and/or bulbs, and/or scions, on a geographically referenced agricultural site, as disclosed in the present invention, and/or in an area without starting points with known coordinates, in particular in an agricultural area without starting points with known coordinates, and /or in applications where high accuracy of location data is required, in particular in the areas of selection and/or breeding of seed varieties and/or seed research.

The use of an deployable base station and/or positioning system in RTK mode provides advantages in a number of application areas. In particular, the use of a disclosed base station and/or RTK positioning system as part of and/or in conjunction with a disclosed method and/or agricultural process control system provides the advantage of providing highly accurate real-time data on the location of a group of rovers, configured to be used as sensor devices as part of the disclosed method and/or control system for agricultural processes. Providing highly accurate real-time location data provides significant benefits in terms of data quality and thereby improves the quality and creates additional capabilities for analysis and/or documentation and/or visualization as part of an agricultural process control method and/or system. These benefits are especially valuable in areas without known coordinates, where providing highly accurate, real-time location data is particularly important. It also provides advantages in applications where high accuracy of location data is required, in particular in the areas of breeding and/or seed variety breeding and/or seed research, in which the agrotechnical objects used, in particular agrotechnical sub-objects, have relatively small size, as also discussed in more detail below.

In another aspect, a method is provided for calibrating a base station for use in a real-time kinematics (RTK) positioning system with one or a group of rovers, the method including taking the base station with a global navigation satellite system (GNSS) receiver. , transmitting device, WLAN module, operate the base station in rover mode, in which they receive corrective information from the network transmission protocol server according to the standard of the Radio Engineering Commission of maritime servers over the Internet (NTRIP servers), determine at least two locations of the base station in rover mode according to the received corrective information from the NTRIP server, determine the optimized location of the base station by averaging the specified at least two locations in rover mode.

In one preferred embodiment of the base station calibration method, the base station is kept in a constant position during operation in rover mode.

In another preferred embodiment of the base station calibration method, the base station receives correction information from the NTRIP server via the LAN/WLAN module.

In another preferred embodiment of the base station calibration method, the base station is operated in rover mode for a period of time, in particular less than 15 minutes or less than 10 minutes, preferably from 5 to 10 minutes, and/or the base station determines at least 100 locations in rover mode, or at least 250 locations in rover mode, or at least 500 locations in rover mode, or at least 1000 locations in rover mode, preferably from 500 to 1000 locations in rover mode.

In another preferred embodiment, a method for calibrating a base station includes adjusting the base station for the length of the rover mode period and/or the number of rover mode locations to average.

According to another aspect, there is provided a method of operating a real-time kinematics (RTK) positioning system with a base station, preferably the base station of the present application, and one or a group of rovers, wherein the method of operating a real-time kinematics (RTK) positioning system includes comprises the steps of: calibrating the base station as disclosed herein, operating the base station in a stationary mode based on the optimized location.

In one preferred embodiment, a method of operating a positioning system in real time kinematics (RTK) mode includes the steps of: transmitting correction information to one or a group of rovers, preferably through a transmitter and/or preferably in a standardized correction information format established by radio engineering maritime server commission (NTRIP).

According to another aspect, a computer-readable medium is provided containing a computer program containing program instructions for executing a method for calibrating a base station of the present application and/or a method for operating a positioning system in real-time kinematics mode.

- 8 045347 time (RTK) for this application.

According to another aspect, there is provided a computer-readable medium comprising a computer program product comprising computer-readable instructions that, when executed on a computer, when loaded into a computer, cause the computer to execute a method for calibrating a base station of the present application and/or a method for operating a positioning system. in real time kinematics (RTK) mode according to this application.

Preferably, the computer software product is a physical, commercially available software product, including a program, and by way of non-limiting example, a computer program, stored on a computer readable medium (e.g., random access memory (RAM), read-only memory (ROM), on a CD, in a storage device, etc.), an embedded system containing a system and a computer program, a network of computer programs implemented on a computer basis (for example, a client-server system, a cloud computing system, etc. .p.), a computer with a computer program loaded into it, run in it, stored in it and/or executed in it.

Advantages, preferred embodiments, and details of certain aspects can also be learned from the description of advantages, preferred embodiments, and details of relevant other aspects.

Additional embodiments result from combining individual, group, or all of the preferred features disclosed herein.

A base station for a real-time kinematics (RTK) positioning system with one or a group of rovers, and/or a real-time kinematics (RTK) positioning system with a base station and one or a group of rovers, and/or a method for calibrating a base station for an application in a real-time kinematics (RTK) positioning system with one or a group of rovers, and/or a method of operating a real-time kinematics (RTK) positioning system with a base station can find application, in particular, in the composition and/or in conjunction with the disclosed below method and/or control system for agricultural processes. In addition, a base station for a real-time kinematics (RTK) positioning system with one or a group of rovers, and/or a real-time kinematics (RTK) positioning system with a base station and one or a group of rovers, and/or a method for calibrating the base stations for use in a real-time kinematics (RTK) positioning system with one or a group of rovers, and/or a method for operating a real-time kinematics (RTK) positioning system with a base station can find application, in particular, in the composition and/or together with the method and/or agricultural machine disclosed below for placing planting material.

In particular, individual features and/or a group of features disclosed in relation to a base station for a real-time kinematics (RTK) positioning system with one or a group of rovers, and/or to a real-time kinematics (RTK) positioning system with a base station and one or a group of rovers, and/or a method for calibrating a base station for use in a real-time kinematics (RTK) positioning system with one or a group of rovers, and/or a method for operating a real-time kinematics (RTK) positioning system with base station, may preferably be combined with individual and/or group of features disclosed in relation to the agricultural process control method and/or system disclosed below, and/or the planting material placement method and/or agricultural machine disclosed below, to create particularly advantageous embodiments.

According to another aspect, a method for managing agricultural processes is proposed, which includes stages at which: an agrotechnical object is created by establishing geographically referenced boundaries of the agrotechnical object, a breakdown scheme of the agrotechnical object is created by defining geographically referenced agrotechnical subobjects within the agrotechnical object, the agrotechnical object is stored, including its boundaries and its agrotechnical subobjects, in a geospatial database located on the server, assign the characteristics of the site to the agrotechnical object, in particular to agrotechnical subobjects, assign plant characteristics to the agrotechnical object, in particular to agrotechnical subobjects, exchange data related to the agrotechnical object with at least at least one sensor device, perform the task using said at least one sensor device, taking into account data related to the agrotechnical object.

According to the proposed solution and preferred options for its implementation, disclosed in more detail below, the creation and preservation of an agrotechnical object with a breakdown scheme defining geographically referenced agrotechnical subobjects in a geospatial database provides the ability to assign site characteristics, as well as plant characteristics, to a given agrotechnical object, in particular - its subobjects. This can create a collection of preferably multi-dimensional data containing more than just geographic location information

- 9 045347 agrotechnical object and its sub-objects, but also information about the characteristics of the site and plant characteristics related to them and preferably, as will be disclosed below, additional information. This collection of accumulated data can serve as a central data hub.

According to the proposed solution and preferred embodiments thereof, it is possible to exchange data related to the agricultural object with at least one sensor device, wherein said at least one sensor device can perform a task depending on the data related to the agricultural object. In this way, a connection can be established between the tasks performed by the at least one sensor device and the data relating to the agricultural object. This makes it possible to improve the task performance of said at least one sensor device, for example, in terms of quality, efficiency, safety, etc., while simultaneously improving the accumulated data, for example, in terms of quality, detail, etc. This makes it possible to improve the management of agricultural processes and thereby create a comprehensive solution for managing agricultural processes from the beginning to the end of their entire cycle, as will be discussed in detail below.

In the context of this application and as will be discussed in more detail below, agricultural processes may include one or a group of the following: placement of planting material, by way of non-limiting example, sowing of seeds, and/or placement of seedlings, and/or cuttings, and/or bulbs, and/or tubers, and/or scions, transplantation of planting material, as a non-limiting example - seedlings, and/or cuttings, and/or bulbs, and/or tubers, and/or scions, picking planting material, as a non-limiting for example - seedlings, and/or cuttings, and/or bulbs, and/or tubers, and/or scions, pinching planting material, as a non-limiting example - seedlings, and/or cuttings, and/or bulbs, and/or tubers, and/or scions, plant sampling, harvesting, inspection, removal of immature pistils, pollination, sampling for genotyping or composition analysis, treatment with chemicals and/or fertilizers and/or irrigation, weeding, in particular mechanical weeding, phenotyping.

The process of managing these agricultural processes, as will be discussed below, may include one or a group of activities from the following group: planning, administration, maintenance, inspection, monitoring, documentation, analysis, evaluation, visualization.

The geographic location of plant material is important for managing agricultural processes. For example, in plant growing, in particular in hybrid plant growing, breeding lines and/or varieties of plants, plant material is located in fields.

In this case, these fields are called agrotechnical objects.

As used herein, plant material preferably means any plant material, including, but not limited to, plant material not yet planted (preferably referred to herein as planting material), plant material located in and preferably growing in a field, and /or plant material moved from the field, for example by harvesting, grafting, sampling for genotyping or composition analysis, and/or for transplanting.

According to the proposed solution and preferred options for its implementation, an agricultural facility is created by establishing its geographically bounded boundaries. This can be done, for example, using a geographic information system (GIS). GIS can be understood as a system designed to collect, store, access, analyze, manage and/or present a wide variety of types of spatial and/or geographic data with georeferenced coordinates, in particular latitude and longitude. The boundaries of an agrotechnical object are preferably field boundary lines, preferably forming one closed line running along the periphery, delimiting the agrotechnical object. The geographic location of these boundaries is stored in a geospatial database, for example, as a polygon or as connected coordinate points.

It will also be disclosed below that an agrotechnical sub-object may include any one or a group from the following group: block, plot, strip, row, sowing line, point location.

Agrotechnical sub-objects can also be understood as smaller zones into which a larger agro-technical object is divided. For example, there may also be a hierarchy of agrotechnical subobjects within an agrotechnical object.

In particular, the solution and preferred embodiments of the present application are suitable for agrotechnical facilities, in particular agrotechnical sub-facilities, of relatively small size, used in the fields of pre-breeding, breeding and/or breeding of plant lines, plant populations and plant varieties. For these relatively small agrotechnical objects, in particular agrotechnical sub-objects, taking into account the special needs of pre-breeding, selection and/or breeding of plant lines, plant populations and plant varieties, particularly high accuracy of location data is required. For example, different varieties can be placed close to each other in small agricultural sub-sites. In particular, for applications such as pre-breeding, selection and/or development of plant lines, plant populations and plant varieties, it is important to manage agricultural processes in different agronomic sub-facility on an individual basis. Accurate location data is therefore necessary to distinguish individual small agricultural sub-sites, as well as the individual lines, populations or varieties located within them, from each other. Particularly in applications such as pre-breeding, selection and/or development of plant lines, plant populations and plant varieties, it may be desirable to distinguish agronomic sub-objects from each other by reference points and/or individual plant materials, by way of non-limiting example. - individual seeds and/or individual plants.

In this case, such a small agrotechnical sub-facility can also be called a selection plot or an experimental plot. In a preferred embodiment, the agrotechnical sub-object, in particular a selection plot or experimental plot, has a substantially rectangular shape with an edge length at the larger edge of no more than 15 m, or no more than 12 m, or no more than 10 m, or no more than 7.5 m, or no more than 5 m, or no more than 3 m, or no more than 1.5 m, or no more than 1.25 m. In the preferred embodiment, the agrotechnical sub-object, in particular a selection plot, has an edge length on a relatively short edge of no more than 3 m, or no more 2 m, or no more than 1.5 m, or no more than 1.35 m, or no more than 1.25 m.

Non-limiting examples of the size of an agrotechnical sub-facility, in particular a breeding plot, include: 3 mx10 m, for example, for corn; 1.35 mx7.5 m, for example, for common beets; 1.25 m x 1 m, for example for cereals such as wheat, rye or barley.

In a preferred embodiment, the size of the agrotechnical sub-object, in particular the selection plot, is set taking into account such parameters as, in particular, the width of the agricultural processing machine, in particular the seeders planned for use to perform tasks at the agro-technical sub-object, in particular the selection plot .

For example, an agronomic facility may contain blocks and plots as agrotechnical subobjects. In a preferred embodiment, a plurality of plots form a block, and the agricultural facility may contain a plurality of blocks.

In another example, agronomic subobjects may be rows, strips, seed rows, and/or point locations. For example, an agronomic sub-object may comprise a group of rows, with each row containing one or a group of seed rows, with each seed row containing a group of lined point locations.

An agrotechnical object can also contain only one single agrotechnical subobject. In this case, the only agrotechnical subobject may be identical to the agrotechnical object. A single agrotechnical sub-object may also include only part of an agrotechnical object, for example.

The definition of agrotechnical subobjects within an agrotechnical object is called the creation of a breakdown scheme for the agrotechnical object.

Both the agrotechnical object, in particular its boundaries, and agrotechnical subobjects are geographically linked.

In this case, georeferencing preferably means that the boundaries of an agrotechnical object and/or an agrotechnical subobject are correlated with a terrestrial geographic coordinate system, preferably using a reference coordinate system, which, in turn, can be correlated with a system of geodetic landmarks.

In a preferred embodiment, the geo-referenced boundaries of the agricultural facility and/or agricultural sub-objects are stored in a geospatial database, preferably also including a GIS web server, particularly the Geographic Information Systems Research Institute's (ESRI) Oracle Esri Enterprise system. The GIS web server is preferably an Internet mapping service hosting server and/or a GIS-based Internet application. The geospatial database and/or servers can be hosted online or in the cloud.

It is also preferred that navigation data be created, for example in the form of one or a group of navigation lines, preferably during the creation of the agricultural facility and/or the agricultural facility layout. Here, navigation data preferably means information usable by an agricultural machine and/or a mobile device, for example a mobile touch device, for navigation purposes. In particular, the navigation data may indicate a path to be followed by the agricultural machine and/or mobile device.

It is also preferable, as also discussed in more detail below, that the geospatial database may be part of a database system containing one or a group of additional databases

- 11 045347 data. In addition, the server may include one or a group of subservers and/or be part of a server landscape with a group of servers and/or subservers.

The creation of an agrotechnical object and/or a breakdown scheme for an agrotechnical object can be carried out in various ways. These include, but are not limited to: creating drawings of agri-technical objects and/or agro-technical sub-objects in a drawing application, loading geographic data, in particular geo-referenced boundaries, from GIS files (in particular Esri.shp or Google KML format files) , synchronizing geographic data, in particular geo-referenced boundaries, from, preferably a mobile, GNSS application, and/or copying geographic data, in particular geo-referenced boundaries, from an agro-technical object and/or agro-technical sub-objects whose boundaries were previously established, for example, in the previous year and were stored in a geospatial database.

In particular, the creation of an agrotechnical object and its breakdown scheme, which includes agrotechnical subobjects, and the storage of geo-referenced data related to them in a geospatial database according to the proposed solution and its preferred embodiments provides the possibility of assigning additional information to them.

According to the proposed solution, they are assigned site characteristics, and/or plot characteristics, and/or block characteristics. Information that may also be assigned is disclosed below.

Vegetation characteristics and/or site characteristics and/or additional information for assignment can be created in various ways. For example, a site characteristics database, and/or a vegetation characteristics database, and/or one or a group of additional databases may be created. In addition, site characteristics and/or vegetation characteristics and/or additional information can be obtained from said at least one sensor device and/or can be entered by the user, created as uploaded data, by copying, synchronizing, downloading and/ or by other suitable means.

In particular, site characteristics mean characteristics related to the site of an agrotechnical facility, in particular agrotechnical sub-objects. As will also be discussed below, site characteristics may include any one or more of the following: crop rotation, field crop profile, slope, surface conditions, soil information, breeder information, treatments (particularly fungicide, herbicide application) , rodent repellents, bird repellents and/or microorganisms), crop type, crop priority, harvest results, harvest monitoring data, field name, grower, test number, test class. In particular, site characteristics may contain historical data, including information about past use.

It will also be disclosed below that plant characteristics may include any one or group of the following: year, crop, material group, cultivar name, cultivar type, cultivar attributes, flowering categories, hardiness, general vitality, pedigree, data on plant components, crossbreeding history, crossbreeding dossier, particularly place and/or time of crossbreeding, male/female lines, regulatory restrictions, component data, disease control data, risk management factors, genetic identification, type of randomization, replication , number of inputs, number of plants. In particular, plant characteristics can be created by creating a link to a plant characteristics database, which may also be referred to as a breeding database and/or a production database. These databases may include commercial database systems such as Oracle and SAP. For example, a user can select certain information from a plant characteristics database and assign it to an agronomic subobject. This makes it possible to spatially link specific information related to plant characteristics with an agrotechnical object and its subobjects.

At the stage in which data related to the agricultural object is exchanged with at least one sensor device, it is preferable to transmit data to said at least one sensor device and/or receive data from said at least one sensor device. In a preferred embodiment, two-way data exchange is possible.

The step of performing a task using the at least one sensor device depending on the agro-technical data may include performing the task using the at least one sensor device depending on the agro-technical data transmitted to and/or received by said at least one sensor device. It is also preferable that the step of performing a task using said at least one sensor device may include that the task is performed depending on data related to the agro-technical object prior to transmission of this data from the said at least one sensor device, preferably to a database.

In general, the task performed by said at least one sensor device may be any task in relation to data, in particular data collection, and/or agricultural processes, in particular any activities that must be carried out in within the agricultural process.

The solution and preferred options for its implementation in this application are also disclosed in more detail below in the form of a number of advantages, in particular those that will be discussed below. The advantage is that a centralized geospatial database and web server is created for a single ecosystem, preferably containing relational data in a multidimensional matrix. The advantage of the solution is that it preferably contains a builder module for creating a breakdown scheme for an agro-technical sub-object (for example, a block/plot) and allows for simple, traceable and instant documentation. Another advantage of the proposed solution and preferred embodiments thereof is that they preferably provide the ability to field data collection for the layout design, field inspection and processing, as well as the ability to use mobile applications in the field. As a further advantage, the proposed solution and preferred embodiments thereof are preferably suitable for GNSS-capable machines and/or sensors, and/or enable documentation and quality control/compliance audits. The advantage of the proposed solution and preferred embodiments is the ability to transmit data and/or motion control signals to mobile (touch) devices.

Thus, in the preferred embodiment, the advantage is provided that it is possible to create a hub of digital geospatial data and a method for planning and managing field breeding and seed production processes. As a further advantage, the efficiency and quality of seed breeding can preferably be increased through i) the introduction of new digital technologies, ii) increased documentation needs, iii) tracking and traceability over time and space of genetic indicators in the field, iv) collection environmental data that addresses some of the major plant breeding challenges of the 21st century.

Another advantage is that it preferably provides a geospatial computing system (also referred to as a hub) for use in the field of hybridization and a method for creating, recording and documenting seed production activities in the breeding cycle. The system, as an advantage, preferably provides the ability to plan, implement, manage and document field processes during the full life cycle of the breeding and seed field (before the start of the season, during the season and after the end of the season). For example, detailed spatial layouts of a breeding site can be created with associated genotype and/or phenotypic data, with the resulting layouts recorded during planting and imported into the system. The system, as an advantage, preferably functions as a geospatial data hub containing seed fields and associated data in a geospatial database with real coordinates (as opposed to Excel layout schemes), and, as a further advantage, preferably serves as a basis for autonomous processes, thereby increasing the quality and efficiency of associated processes.

Thus, as an advantage, according to the proposed solution and preferred variants of its implementation, a unified spatially-referenced computing system and method for planning, implementing and managing field selection and seed/plant growing processes are proposed. As an advantage, the system preferably contains components including one or a group of the following: a centralized geodatabase and web server, a GIS-based Internet application, a system for planning and documenting seed/crop block/plot layouts, field recording of layouts seed/crop facilities, field mobile app, field inspections, treatments, harvest/post-harvest documentation, field mobile apps, GNSS-enabled machinery apps and sensors, quality/compliance documentation and audits, dashboard visualizations and spatial visualization, decision support system.

The basis of the proposed solution and the preferred options for its implementation is, among other things, the established fact that the planning of traditional seed breeding was carried out using a variety of software packages, including breakdown schemes for seed production objects in Excel spreadsheets. According to known solutions, a general idea of where a particular genotype is located can often only be obtained at the field level. These layout plans for known solutions were not spatially referenced to a coordinate system or geospatially recorded in a GIS (geographic information system). According to known solutions, schemes for the breakdown of seed/crop production facilities were recorded on paper in the field during planting, grafting or transplantation, and then in office conditions were transferred to plans in Excel format, which led to errors, in particular, to the fact that genotypes were classified as incorrect locations in the field. Another disadvantage of traditional planning of seed/crop production processes according to known solutions is that field documentation, in particular about the treatments used in the field, was saved in different formats and systems, or, in some cases, kept on paper without centralized grouping or storage.

For example, according to the proposed solution and preferred options for its implementation, a method is proposed for changing the status of an agrotechnical sub-object from new to planned, planned, planted and harvested. This method preferably launches an automated information flow for use in other related databases, in particular in breeding/seed/planting databases, and preferably sends data, in particular the real coordinates of agrotechnical sub-objects and sowing/planting dates to databases, in particular - into breeding and seed/plant growing databases.

Other preferred and advantageous non-limiting aspects of the proposed solution and preferred embodiments thereof include space-time scheduling; creation and management of seed/crop agrotechnical facilities and/or seed/crop agrotechnical sub-objects; planning schemes for separating seed production objects in GIS with real coordinates and sizes with the ability to determine seeds/plants (and number of plants) that may be suitable for agrotechnical objects and/or agrotechnical subobjects; fixation of the layout of sown/planted seed/crop production objects during sowing/planting and conversion into layout plans; field spatial verification that the appropriate genotypic/genetic population is located in the appropriate planned plot during seeding/planting, i.e. comparison of a plan associated with a genotypic/genetic population with data on the plant characteristics of the genotypic/genetic population, preferably in the form of a machine-readable code, more preferably in the form of a radio frequency identification (RFID) tag or bar code or quick response code (QR code). code) on the bag containing the plants to be planted; planning and mapping precise locations of genotypic/genetic populations for seed/plant production; spatially organized system of quality control and regulatory compliance for seed/crop production; plans and documentation standardized across all departments, cultures, and regions; a consolidated overview of all seed/plant production activities; a comprehensive system of digital territorial planning and documentation of all field processes throughout the entire seed/crop production cycle.

In particular, the advantage of the proposed solution and the preferred options for its implementation is the possibility of creating a single centralized spatially referenced system for planning and documenting field seed production processes. For example, the exact location of each genotype in the field is stored, thereby providing spatio-temporal tracking and traceability. The proposed solution and its preferred embodiments provide the advantage of not only centrally storing and grouping compliance and quality data for each field into groups of spatial levels of agrotechnical objects and/or agrotechnical subobjects, but also, preferably, spatial tracking and traceability across the exact absolute physical location of the genotypic/genetic population in the field, as opposed to known solutions where the location was recorded only in a breakdown scheme in an Excel spreadsheet or in a non-spatial database.

The following discloses non-limiting preferred examples of application of the proposed solution and preferred embodiments thereof.

Non-limiting preferred examples of documentation include the following. In the preferred embodiment, documents of various formats, in particular word format documents, photographs can also be directly loaded and associated with an agricultural object. It is also preferable to store all documents in a database with extended access for all users with the appropriate rights and functions. Preferably, documents stored at the breeding station or farmer level are available at all agricultural facilities associated with such stations or farmer. This may include lease agreements, as well as rules, guidelines and methodological documents (for example, work instructions). It is also preferable that, in the case of linking seed work with special classes, in particular with material containing GMOs (genetically modified organisms), with an agrotechnical object and/or agrotechnical subobject or their detection at an agrotechnical object and/or agrotechnical subobject, for this documents such as standard operating procedures (SOPs) or quality control instructions automatically become available from the agro-technical facility and/or agro-technical sub-facility.

In terms of fit, non-limiting preferred examples are the following. In the preferred embodiment, routes and additional data received from the machines, for example, speed, piece division, etc. can also be sent to a centralized system to enable real-time planting monitoring.

In terms of seeding/planting, non-limiting preferred examples are the following. Preferably, real-time tracking data can be visualized on a dashboard containing a variety of graphical and spatial visualizations of the complete seed/crop cycle. It is also preferable for the field summary to provide an overview of the number of fields, area and statistics at the block and plot level, listing general treatment and inspection data. The preferred option also provides a summary of harvest results in the form of maps and spatially referenced graphs. It is also preferable to be able to compare harvest results between different years. It is also preferable that the dashboard also contains other environmental data, such as historical, current and forecast data on weather and soil conditions. The preferred option is to visualize the geospatial data of inspections, as well as visualize subsequent alerts associated with inspections. For example, if a bloom alert is detected, the field can be marked red for a set period of time as a warning to other users to stay away from the field if they have visited other fields in bloom to avoid cross-contamination.

With respect to the development of plant lines, plant populations, and plant varieties, non-limiting preferred examples of processes include the following. Identification and selection of suitable fields, planning of agronomic facilities and/or agrotechnical sub-facilities, preferably based on and/or taking into account data from breeders and/or from a breeding database, sowing seeds, transplanting, grafting, targeted isolation, picking, pinching, sampling for genotyping or composition analysis, collection of observational data and qualitative assessment of plants, preliminary selection/breeding of plants, sampling of plants, pollination (natural/manual), agronomic treatments of plants with chemicals, fertilization, irrigation, mechanical weeding, phenotyping, collection of data from sensory devices , harvesting, analysis and visualization of results.

In another preferred embodiment, a method for controlling agricultural processes includes collecting data through said at least one sensor device, preferably through at least one sensor of the touch device, and assigning the collected data to an agricultural object, in particular to agricultural subobjects.

The data collected by said at least one sensor device may include site characteristics, and/or vegetation characteristics, and/or any additional information referred to herein, by way of non-limiting example, processing data, observation data, data successful planting, harvest data, post-harvest data, administrative information and/or timing data.

Preferably, the data collected by said at least one sensor device must be stored offline in a storage device of said at least one sensor device, and/or transferred and/or synchronized with a database system and/or with a cloud storage device. It is also preferable that the data collected by the at least one sensor device can be assigned to a field spatial system operating in the at least one sensor device. Preferably, the field spatial system may be a native application running on the at least one sensor device and preferably may contain a self-contained database, preferably synchronized with a centralized geospatial database. For example, depending on the coverage area of the at least one sensor device and/or the network, the data can be synchronized in real time and/or stored, in particular temporarily, outside the network, preferably for subsequent synchronization. For example, synchronization may occur automatically when network connectivity becomes available and/or may be initiated manually. In addition, the data collected by the at least one sensor device may be transmitted wirelessly or wiredly, for example by connecting via a USB memory interface to a USB storage device.

The data collected by said at least one sensor device can be assigned directly to an agro-technical object, in particular to agro-technical sub-objects, and/or stored in a geospatial database.

It is also preferable that the exact location of said at least one sensor device at the time of data collection and/or the exact time of data collection are included in said data and/or also assigned to the agricultural object, in particular to the agricultural sub-objects.

In addition, the data collected by said at least one sensor device can be assigned to an agro-technical object, in particular to agro-technical sub-objects, by selecting

- 15 045347 of the corresponding agrotechnical object, in particular - the corresponding agrotechnical subobjects, by the user and linking data with them. It is also advantageous that, in particular, if the exact location of said at least one sensor device is known at the time of data collection, the assignment to the corresponding agricultural object, in particular to the corresponding agricultural subobjects, can occur automatically by comparing the exact location of the said at least one sensor device during the collection of data with geographically referenced data of an agrotechnical object, in particular agrotechnical subobjects.

In another preferred embodiment, these steps are performed for a plurality of agricultural objects.

In a preferred embodiment, all of the proposed steps and elements of this application that are applicable to one agricultural facility are also applicable to multiple agricultural facilities.

In addition, the implementation of the proposed stages can occur repeatedly and/or in an order different from the disclosed one in relation to one agricultural object and/or in relation to multiple agricultural objects.

In particular, a set of agrotechnical objects may refer to a set of agrotechnical objects dispersed throughout the world.

In another preferred embodiment, a method for controlling agricultural processes includes selecting one of two or more agricultural objects based on site characteristics and/or plant characteristics assigned to the respective agricultural objects and/or selection criteria.

In a preferred embodiment, the selection of one of two or more agricultural objects can be made at any time, provided that two or more agricultural objects have been identified. It is also preferable that more than one agricultural object can be selected from a plurality of agricultural objects. This can be done by selecting two or more agricultural objects from a plurality of agricultural objects simultaneously and/or by repeating the selection process. A preferred embodiment comprises a selection module for selecting suitable agricultural objects.

In a preferred embodiment, agricultural objects that meet the necessary selection criteria can be marked as selected. It is also preferable that once a site is selected, its status changes from potential to approved. It is also preferable that if the plant characteristics assigned to an agrotechnical object and/or site characteristics do not correspond to the necessary selection criteria, a warning message is generated. It is also preferable that agricultural sites meeting the necessary selection criteria be appropriately labeled and documented.

In a preferred embodiment, the selection criteria are specified, for example, manually by the user. Selection criteria may include, but are not limited to, one or a group of the following: description, priority, appropriate crop, and/or field use. In addition, individual site characteristics and vegetation characteristics and/or a group of them, and/or treatment data, as well as observational data and/or administrative information disclosed herein, can be used as selection criteria for this application.

Another selection criterion preferably relates to a geographically referenced containment area, also disclosed below. For example, during the selection process, the presence of overlap is checked between the geographically referenced isolation zone of the selected agrotechnical object with any other agrotechnical objects and/or their isolation zones, preferably for the current year or cycle.

It is also preferable to check against selection criteria related to the geospatial layer data, in particular flood zones, nature reserves, soils or airspace prohibited from flying unmanned aerial vehicles (UAV), in particular to ensure that the selected agricultural features are not located in such restricted areas. In a preferred embodiment, the geospatial layer data can be generated in the form of a catalog of geospatial data, preferably in the form of an additional database, in which, depending on the location of the agricultural object, all layers intersecting with the agricultural object can be displayed as map layers.

An example of a quality management system in the seed/crop industry is the Excellence Through Stewardship (ETS) system, which promotes the widespread implementation of intelligent production planning and management programs and quality management systems throughout the entire life cycle of agricultural products (https://www.excellencethroughstewardship.org /our-organization). Preferably, data on compliance with the ETS system during the life cycle of the seed/crop production processes may be specified, in particular, selection criteria can be created and each field that meets the selection criteria must be marked.

The selection process is aimed, in particular, at ensuring the selection of an agrotechnical object,

- 16 045347 meeting certain requirements. Particularly in the field of breeding, it may be important to select a variety of agronomic objects with similar or even homogeneous traits. This allows us to minimize the influence of external factors on the development of plant material placed at agricultural facilities and on their development.

In another preferred embodiment, a method for controlling agricultural processes includes assigning processing data to an agronomic object, in particular to agronomic subobjects.

For example, the processing data may include data about processing agents, which may preferably be contained in a database. Processing data related to the treatment product may include any one or more of the following: product name, type, registration number, post-treatment waiting period, standard rate and/or application device, active ingredients and/or expiration dates. Treatment data may also include data on target pests and/or contractors.

It is also preferable that the treatments applied on the agricultural facility, in particular on its agronomic sub-objects, are documented and/or assigned to the agricultural facility, in particular on its agro-technical sub-objects, for example, using a mobile sensor device. It is also preferable that treatments can be visualized and/or color coded depending on various treatment parameters, for example, fields marked in red should be avoided due to the need to comply with the waiting period after spraying.

In another preferred embodiment, a method for controlling agricultural processes includes assigning observation data to an agronomic object, in particular to agronomic subobjects.

Observation data may include, but is not limited to, notes, manual entries, scores, quality scores such as clearance, counting, damage, bloom, pre-breeding, breeding, general notes, photographs, images, scans, readings sensors, plant height, plant damage, moisture content, sugar content, leaf size, leaf area, biomass, shape, habit, leafless plants, cotton boll harvest, weight, plant damage, disease control (e.g. traps) insects, spore-pollen traps), flowering, condition, vitality, number of plants, invasive plants, discarded plants, environmental parameters, values recorded by machines/devices.

For example, observational data in the form of digital plant field data may be collected by a user with a mobile sensor device running a standalone version of the system connected to a GNSS device, preferably a rover of the present application.

In another preferred embodiment, a method for managing agricultural processes includes the step of assigning data on completed plantings to an agrotechnical object, in particular to agrotechnical subobjects. Data on completed plantings preferably contain the location of the placed planting material, including the plant characteristics of the planting material assigned to the agrotechnical object, in particular to agrotechnical subobjects.

It is also preferred that the planting data include recorded plant characteristics assigned to the planting material contained in the container. Additional examples of completed landing data are also disclosed below.

In another preferred embodiment, a method for managing agricultural processes includes assigning harvest data to an agricultural object, in particular to agricultural subobjects. In another preferred embodiment, a method for managing agricultural processes includes assigning post-harvest data to an agro-technical object, in particular to agro-technical sub-objects.

Management of harvest and/or post-harvest data is preferably carried out in the harvest module. In a preferred embodiment, the harvesting module has the function of exporting data in different formats, with the ability to import them by software of harvesting machines containing data about the agrotechnical object and the sequence of agrotechnical subobjects for harvesting. In some preferred embodiments, the GNSS device, in particular the rover of the present application, is configured to assign, during harvesting, coordinates to a data array about the harvest results for each agricultural sub-object. This allows the harvest location to be mapped and checked against the plan. Also preferably, post-harvest data can be collected, in particular information about the cleaning of the machine after harvesting.

Harvest data may include, but is not limited to, any one or more of the following: yield, quality, purity, sugar content, dry matter content, moisture, weight, size, shape, color, soil adhesion, chlorophyll portion of beets, number of ears, ear height,

- 17 045347 protein content, starch content, chemical compounds (in particular - elements and molecules, for example, sodium, alpha-amino nitrogen).

In another preferred embodiment, a method for managing agricultural processes includes assigning administrative information to an agrotechnical object, in particular to agrotechnical subobjects.

For example, administrative information can serve for various checks and documentation of quality compliance, in particular for the means and means of complying with the requirements of quality management systems, for example, the Excellence Through Stewardship (ETS) organization discussed above.

For example, in the case of genetically modified organisms (GMOs), regulatory information may be provided, such as regulatory test identifiers, approval numbers, and/or movement and/or release identifiers and dates.

In another example, the administrative information may include the location of costs for an agricultural facility, allowing labor and other costs for the agricultural facility, particularly an agricultural sub-facility, to be allocated and calculated, preferably over the course of a season, thereby providing an advantage , meaning that costs will be available during the season rather than simply calculated at the end of the season, and preferably entered directly into accounting systems.

For example, administrative information can be obtained by connecting to one or a group of administrative information databases, in particular quality management databases and/or regulatory document databases.

Preferably, plant characteristics and/or site characteristics and/or treatment data and/or observational data and/or planting data and/or harvest data and/or post-harvest data and/or administrative information , and/or time data is collected in one or more ways from the following group: using a touch device, by connecting to databases, uploading and/or downloading data, synchronization.

In another preferred embodiment, a method for controlling agricultural processes includes assigning time data to an agronomic object, in particular agronomic subobjects, and/or site characteristics, and/or plant characteristics, and/or processing data, and/ or observational data, and/or planting data, and/or harvest data, and/or post-harvest data, and/or administrative information.

In this way, spatiotemporal information can be generated. Spatial means pertaining to space. Temporal means pertaining to time. The concept of spatiotemporal is preferably used in the process of data analysis if the data is collected both in space and in time, and characterizes a particular phenomenon in a certain place and time. In general, a spatial database contains data related to geometric space that can be queried. Many spatial databases may simply represent coordinates, points, lines, and polygons. In general, a time database contains data relating to time in the past, present or future. A spatiotemporal database contains data collected in both space and time that characterize a phenomenon at a specific location and time period.

Preferably, if steps are (repeatedly) performed at different times, the stored information includes data about the time at which the step was performed and/or data about the time at which the stored information was valid.

In another preferred embodiment, a method for managing agricultural processes includes creating a geographically referenced agricultural facility containment zone and storing the agricultural facility containment zone in a geospatial database.

In another preferred embodiment, the isolation zone is created by calculating the outer boundary of the isolation zone by adding at least one buffer distance to the boundaries of the agricultural object in a direction outward from the agricultural object, in particular from the center of the agricultural object, and/or by calculating the distance between the agricultural object and another agrotechnical object or another isolation zone, and/or by calculating the internal boundary of the isolation zone by adding at least one buffer distance from the boundaries of the agrotechnical object in the direction towards the agrotechnical object, in particular towards the center of the agrotechnical object. For example, the boundaries of the containment zone may be substantially parallel to the boundaries of the agricultural facility. It is also preferable that a group of isolation zones can be created.

For example, an isolation zone can serve to ensure a minimum distance between an agricultural facility and restricted access areas, in particular rivers, trees, indigenous vegetation, infrastructure, etc., and/or to comply with legally established minimum distances.

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For example, various means of checking isolation distance can be created by performing a geospatial buffer calculation to verify that agricultural objects are correctly positioned in space relative to other agricultural objects.

As a first example, the isolation distance determination operation may be performed on an area outside the field boundaries (outer buffer). In this case, preferably no more than two buffer distances can be entered, with the buffer determination algorithm preferably calculating an outer buffer encircling the boundary of the agricultural property, which is drawn on the map to check the isolation distance from the field in question relative to other seed/crop fields.

In the second example, an internal isolation distance is introduced, thereby creating an internal buffer/isolation within the boundaries of the agricultural facility. This may be necessary to create an internal turning lane within the boundaries of an agricultural facility.

As a third example, one of the optional options for checking isolation distances is buffer zone milestones. By defining an isolation distance and placing a milestone on the map using a special placement tool, you can create an isolation radius and display it on the map and/or use it to check buffer distances.

Containment zones provide the advantage of being able to comply with a number of requirements, in particular one or a group of the following: restrictions on GMOs (preventing GMOs from entering the natural environment, for example, as a result of wind pollination, washing of seeds/plants from the field); preventing contamination (cross-pollination), ensuring genetic purity/accurate crossing; distance to other fields; legally established restrictions on technical means; distance to natural objects and areas, in particular rivers, forests or environmental zones; Marking spray/treatment areas and using a buffer to create restricted areas to prevent equipment or personnel from entering (pre-return period).

For example, isolation zones can also serve for navigation of mobile (touch) devices and/or agricultural machines. For example, if the containment zone serves to georeference and close the zone (temporarily or long-term), a warning may preferably be issued and/or prevented from entering the mobile (sensor) device and/or agricultural machine. Preferably, different levels of warning may be provided: 1. Warning in the case where the navigation line leads through the isolation zone; 2. Warning when entering the isolation zone; 3. A virtual wall, meaning the impossibility of entering the isolation zone with a mobile (touch) device and/or an agricultural machine, preferably implemented in the form of influencing the control of the movement of a mobile (touch) device and/or an agricultural machine.

In addition, the boundaries of the isolation zone, and/or the boundaries of the agro-technical object, and/or the boundaries of the agro-technical sub-object can serve to initiate the start and/or termination of the task by the mobile (sensory) device and/or the agricultural machine when entering the isolation zone, and/or to an agro-technical object, and/or to an agro-technical sub-object, for example, for sowing, and/or measuring with sensors, and/or spraying.

In another preferred embodiment, the agrotechnical object forms a polygon, and/or at least one of the agrotechnical subobjects, a group of agrotechnical subobjects, or all agrotechnical subobjects form polygons, and/or at least one of the agrotechnical subobjects, a group of agrotechnical subobjects, or all agrotechnical subobjects form coordinate points.

In a preferred embodiment, the agrotechnical object and/or at least one, group or all agrotechnical subobjects form a polygon. This may mean, for example, that the agrotechnical object and/or agrotechnical subobjects are in the form of a polygon. In particular, the boundaries of an agrotechnical object and/or the boundaries of agrotechnical subobjects may have the form of a polygon, preferably in the form of a closed boundary line running along the periphery, limiting the agrotechnical object and/or the corresponding agrotechnical subobject.

In addition, at least one, a group or all agrotechnical sub-objects can form coordinate points. The agricultural subobject may preferably be in the form of a polygon, as described above, or in the form of a coordinate point. If an agrotechnical subobject is in the form of a coordinate point, it may also be called a point location.

If the agronomic subobject is in the form of a very small polygon and/or fiducial point, a very precise location of the plant material can be determined. In a preferred embodiment, a single coordinate point can be assigned to a single plant material, in particular a single seed, and/or a single seedling, and/or a single cutting, and/or a single bulb, and/or a single tuber, and/or a single leaf. If the agrotechnical subobject has the form of a polygon, then, depending on the size of the polygon, a single plant material, or two, three or more single plant materials are assigned to the agrotechnical subobject.

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It is also preferable to assign data to an agrotechnical object, in particular to agrotechnical subobjects, at the level of a polygon or a coordinate point. For example, an image captured by a camera may contain pixels in the form of physical raster image dots as the smallest addressable elements, wherein the image is preferably assigned to an agricultural object, in particular agricultural sub-objects, by assigning individual pixels or groups of pixels to coordinate points and/or polygons.

In another preferred embodiment, said at least one touch device constitutes a mobile touch device and preferably includes one or more of the following group: telephone (smartphone), tablet, laptop, wearable computer, in particular smart watch and/or a device with a hands-free function, for example, smart glasses, a manned vehicle (for example, an ATV or other), an unmanned autonomous vehicle, in particular a ground and/or aircraft, for example, an agricultural robot and/or drone, an agricultural machine , in particular - a tractor and/or planter, and/or harvesting machine, and/or sprayer, helicopter, airplane, non-geostationary satellite. In this case, a portable computer may also be referred to as a portable computer.

In another preferred embodiment, said at least one sensor device constitutes a stationary sensor device and is preferably one or more of the following: weather station, stationary sensor, stationary measuring device, geostationary satellite, tower.

In another preferred embodiment, said at least one touch device includes a first touch device and a second touch device, wherein the first touch device is configured to send agricultural object-related data directly to the second sensor device and/or receive agricultural object-related data directly from a second touch device.

Preferably, if there is more than one sensor device, at least the first and second sensor devices are configured to exchange data and/or power. For example, the first touch device may be configured to charge the second touch device.

In another example, the first sensor device may be a planter and the second sensor device may be a laptop where they communicate, e.g., the laptop may provide the planter with data related to planter drive control and/or speed control, and/or stop control.

In another example, the first sensor device may be an agricultural robot with the ability to control it by exchanging data with the second sensor device depending on the readings obtained at the agricultural facility.

The first sensor device is preferably configured to collect data that is evaluated and reported to the second sensor device, which makes changes to its tasks depending on the data received from the first sensor device.

In another preferred embodiment, management may include any one or group of the following: planning, administration, maintenance, inspection, monitoring, documentation, analysis, evaluation, visualization.

For example, as discussed above, the creation of documentary reports can be useful for quality management and regulatory compliance. In addition, the data can be transferred to other systems, for example, before and/or after analysis, and/or for further analysis.

In particular, as also disclosed below, a visualization module is provided with the ability to graphically and/or visually display data and/or selected subsets of data. For example, visualization can be implemented through a display panel, and/or virtual reality tools, and/or animation, and/or simulation.

In another example, the visualization may include displaying relevant and/or selected information related to the current location of the user and/or the (mobile) touch device. For example, the user may be graphically shown a restricted area (eg due to spraying) at a certain distance from the user's current location.

In another preferred embodiment, the agricultural processes and/or tasks performed by the sensor device and/or agricultural machine may include one or a group of the following: placement of planting material, by way of non-limiting example, sowing of seeds and/or placement of seedlings, and /or cuttings, and/or bulbs, and/or tubers, and/or scions, transplantation of planting material, as a non-limiting example - seedlings, and/or cuttings, and/or bulbs, and/or tubers, and/or scions, picking planting material, as a non-limiting example - seedlings, and/or cuttings, and/or bulbs, and/or tubers, and/or scions, pinching planting material, as a non-limiting example - seedlings, and/or cuttings, and/or bulbs, and/or tubers, and/or scions, selection

- 20 045347 plant samples, harvesting, inspection, pollination, treatment with chemicals and/or fertilizers, and/or irrigation, weeding, in particular - mechanical weeding, (re-)seeding, (overseeding), phenotyping.

In addition, the agricultural processes and/or tasks performed by the sensor device and/or agricultural machine may include additional activities, such as, but not limited to, tests for plant propagation, and/or line or variety development, and/or plant selection, and/or seed/plant production and/or data collection.

In another preferred embodiment, agronomic sub-objects may include any one or a group of the following: blocks, plots, strips, rows, seed rows, point locations, in particular - individual plant material, as a non-limiting example - individual seeds and/or individual plants.

In a preferred embodiment, the layout of the agricultural object can be created using a builder module, preferably containing a build algorithm. Creating a farm site layout preferably involves creating detailed geospatial layout plans.

For example, in the field of seed/crop production, a seed/crop plot may include blocks and plots. For example, a plot may be a collection of planting material of the same genotype. In another example, a block may be a collection of plots with planting material of different genotypes. In another example, a block may be a collection of plots containing planting material from a population of plants. In another example, the block may represent the internal boundary of a seed/crop operation with a specified propagation location within the agricultural facility.

For example, a seed/crop breakdown scheme at an agricultural facility can be formed in blocks, while, depending on the seed/plant crop being grown and the type of work, the breakdown scheme can be formed at a more detailed plot level. In a preferred embodiment, it is also possible to plan the location of individual plants, in which the plants are preferably marked as a point on the map and assigned a coordinate point. Seed production activities preferably include, but are not limited to, the following: main seed propagation, isolation plots, DG propagation (double haploids), cuttings (e.g. stecklings), propagation blocks, cages, greenhouses, open blocks and enclosures.

Data related to agrotechnical subobjects, for example, blocks, may include name, type (in particular, pre-industrial seed production and/or industrial seed production), type of seed/crop production, crop type and other characteristics.

The spatial location of an agro-technical sub-object in the field can be determined by drawing it on a map manually and/or by automated placement by the builder module, in particular, taking into account the boundary of the agro-technical object, agro-technical sub-objects and/or the loaded boundary recorded using a GNSS device, for example, a rover . To provide more detailed layouts, geospatial layouts can be generated for some seed/cropping operations, such as enclosures or open blocks. The design algorithm, preferably configured to use user input data such as plot length/width, number of rows, number of seeds/plants, number of plots, and selected template layouts, automatically generates plot layouts.

In another example, in the case of biennial crops, in particular beetroot, the builder module may contain striping means for geospatial planning of a layout scheme specifically for cuttings, in particular stacklings. Stecklings are preferably small fruits of common beet obtained in the first year, which, after vernalization, are transplanted in the second year to a seed-growing agrotechnical facility for propagation of common beet seeds. Dividing schemes specifically for cuttings, in particular stacklings, can be created by setting the parameters for dividing into strips, in particular, the planting machine (on which the processing width and the number of plots or strips per processing width depend) and the number of rows per strip. Next, the user selects the zone of the agricultural facility for the layout plan and sets the starting point and direction of dividing into strips. Preferably, a lane layout will then be automatically generated and mapped, calculating the total available length (also called spacing) of the lanes.

The builder also preferably includes a process for assigning plant characteristics, by way of non-limiting example, genotype data and/or phenotype data, such as plot numbers, plant identification or codes, which can be obtained by connecting to a seed database and /or breeding database, agrotechnical sub-objects. For example, agrotechnical subobjects can be assigned genetic data from a seed database and/or a breeding database, with the agrotechnical subobjects stored in a geospatial database.

The breakdown scheme of an agricultural facility can preferably also be converted into other formats, in particular by exporting to Excel format with accompanying assigned data. The proposed solution and preferred embodiments thereof preferably provide the ability to search for specific genetic components and also preferably visualize grouped data, such as components, on a map, for example, to view all agricultural sites with beet plants containing seeds.

In addition to the agro-technical sub-objects, the builder module is preferably configured to create navigation data, which may include, in particular, navigation lines, which may be in the form of crop guide lines and/or corridor guide lines, for example. Navigation data can be used, for example, to set precise routes for sowing or other tasks, in particular for soil preparation, or for navigation in industrial traffic control systems. To implement staking schemes on an agricultural site, in some cases it may be preferable to transfer the planned staking schemes and navigation data to a (mobile) sensor device and/or agricultural machine, in particular to a navigation application and/or an industrial traffic control system in autopilot mode, preferably with the usual RTK accuracy, and it is preferable to control the task with their help, in particular, to start the landing process. For example, the transfer can be done manually using memory cards or using a cloud data transfer service on the Internet.

In another preferred embodiment, site characteristics may include any one or a group of the following: crop rotation, field crop profile, slope, surface conditions, soil information, breeder, treatment, crop type, crop priority, harvest results harvest, harvest observation data, field name, agricultural producer, test number, test class.

Site characteristics may include one or a group of additional information, in particular - property boundaries, soil types, watersheds, obstacles, watercourses, field topography, data on past crops, past field treatments, tramlines and/or controlled traffic zones transport, irrigation.

The proposed solution and preferred options for its implementation preferably provide for the collection of additional information for each agricultural facility, in particular a dossier of crops in the field, and/or documents. A field crop file can be created for each agricultural unit in a variety of ways: i) manually entering previous years' crops and/or cover crops for the field; ii) copying a field from the previous year, which automatically copies a previously manually entered dossier of crops or crops planned for the field from the previous year to the new agrotechnical object. For example, an agricultural facility may be used to propagate beet seeds in the first year, corn, rye or wheat in the second, third and fourth years, and again to propagate beetroot in the fifth year. This documentation is preferably a record of a field crop dossier for selection and/or propagation of seeds and other intercrops.

In another preferred embodiment, plant characteristics may include one or a group of the following: year, crop, material group, cultivar name, cultivar type, cultivar traits, flowering categories, hardiness, general vitality, pedigree, plant component data, history crossbreeding, dossier of crossbreeding sites, in particular - place and/or time of crossbreeding, male/female lines, regulatory restrictions, component data, disease control data, risk management factors, genetic identification, type of randomization, replication, number of entries, number of plants.

Plant characteristics may include one or a group of additional information, in particular - the boundaries of the experimental plot, the boundaries of the plot, the desired seeding density of seeds within the plot, the desired genetic identity of seeds within the plot, treatments performed, seed treatments, plant growth data (for example , plant germination rate, plant germination, number of leaves depending on time, plant height data, ear height data, etc.), harvest data, wind resistance data, crop, breeder, genetic data, genetic pedigree, characteristics and plant parameters, component data, breeder and/or management requirements, organizational information, field data, trial number, trial class, total number of plots, number of plots, genetic identification, type of randomization, replicates, number of inputs, location, number of plants , total number of grains per plot, number of rows per plot, breeder, treatment, crop type, crop priority, field name, agricultural producer.

For example, the user will select the required plant characteristics and assign them to an agrotechnical object and/or an agrotechnical subobject. For example, this allows a specific genotype to be spatially linked to an agronomic object and/or agrotechnical sub-object and thereby ensure full tracking and traceability in space and time. For example, this makes it possible to identify a seed previously grown in a field that the farmer returned to breeding in the next agricultural cycle or in subsequent years by navigating using a GNSS device, in particular a rover, according to the previous plan and coordinates of the seed location.

In another preferred embodiment, said at least one sensor device comprises at least one sensor, wherein said at least one sensor is preferably one or a group of the following: an environmental sensor, for example a soil sensor and/or a sensor soil moisture content, in particular time reflectometer (TDR), and/or frequency reflectometer (FDR), and/or universal moisture meter (UMP), and/or surface sediment radar (GPR), and/or electromagnetic inductometer (EMI), and/or an electrical resistivity tomograph (ERT), preferably a ground-mounted one, a meteorological sensor, for example a weather station and/or a weather data sensor, a phenotyping sensor, preferably a ground-mounted and/or above-ground mounted one, for example an RGB camera, and /or thermal imaging camera and/or hyperspectral camera and/or multispectral camera, position sensor: for example, GNSS gyroscope, environmental control unit (EMU), potentiometers, sensor on the machine, for example, to obtain data about machine parameters and/or machine readings, in particular speed and/or course, preferably ground-mounted, mechanical, for example a sensor for recognizing scales and/or seed counters, for example a reader, and/or a near-field signal reading sensor (NFC sensor), and/ or a radio frequency identification (RFID) sensor, an optical sensor such as a lidar and/or a light curtain and/or a near-infrared spectroscopy (NIRS) sensor, a radar sensor such as an imaging radar sensor, in particular a synthetic radar aperture.

In another preferred embodiment, the geospatial database is part of a database system containing one or a group of additional databases, wherein an information connection within the database system, and/or between the geospatial database and one or a group of additional databases of the database system, and/or between said at least one sensor device and a database system, in particular one or a group of its databases, preferably represents a direct and/or indirect information connection.

For example, a group of databases, and/or related databases, and/or at least one data store may be created.

For example, communication between databases and/or data assignment may involve the use and preferably storage of unique identifiers.

It is also preferred that the provision of any data referred to herein may occur according to one or a group of the following non-limiting examples: manual entry, automatic copying, persistent database connection, direct and/or indirect database connection, through a means of interface with the database, synchronization in manual and/or automatic mode.

Non-limiting examples of information connection and/or assignment also include: automatic assignment of crop ID and plant characteristics database information through a database link; combining data sets based on at least one identical characteristic (in particular, without a direct connection between the databases and the breakdown scheme of the agricultural object); manual assignment by the user to data in the database of plant characteristics through a means of interface with the database (in particular, without a direct connection between the databases and the breakdown scheme of the agrotechnical object); manual loading of a database of plant characteristics and automatic linking or manual assignment (in particular, without a direct connection between the databases and the breakdown scheme of the agrotechnical object); spatial reference of data, for example, assignment of soil sensor readings to an agrotechnical subobject; direct linking of data (for example, from a sensor) with an agrotechnical sub-object and storage in a database (in particular, with a direct connection between databases and the breakdown scheme of an agro-technical object); linking an agrotechnical object in the field based on coordinates with information from a database of plant characteristics; linking the boundary of an agrotechnical subobject in the form of a virtual polygon/fence extending beyond the boundary of an agrotechnical subobject with information (in particular, with a direct connection between databases and the breakdown scheme of an agrotechnical object).

According to another aspect, an agricultural process management system is proposed that contains a database system containing data related to an agrotechnical object, wherein the data includes geographically referenced boundaries of the agrotechnical object, a breakdown scheme of the agrotechnical object defining geographically referenced agrotechnical subobjects within the agrotechnical object, characteristics sites assigned to an agrotechnical object, in particular agrotechnical subobjects, plant characteristics assigned to an agrotechnical object, in particular agrotechnical subobjects, at least one sensor device with a control unit, wherein the control unit is configured to receive data related to the agrotechnical object from the database system data, wherein the control unit is configured to initiate execution of the task by said at least one sensor device depending on the data related to the agrotechnical object.

The system preferably includes at least one graphical user interface for exchanging information with the user, preferably receiving input from the user and/or transmitting information to the user.

According to another aspect, there is provided a computer-readable medium containing a computer program containing software instructions for executing a proposed method of controlling agricultural processes.

According to another aspect, there is provided a computer-readable medium comprising a computer program product containing computer-readable instructions that, when executed in a computer, when loaded into a computer, cause the computer to execute a proposed method of controlling agricultural processes.

According to another aspect, a method is proposed for placing planting material, in particular seeds and/or cuttings and/or seedlings and/or tubers and/or bulbs and/or scions, on a geographically referenced agricultural site, wherein the method includes: The stages at which they take an agricultural machine, in particular a planter, receive, preferably from a database system, data related to an agro-technical object, wherein the data includes geographically referenced boundaries of the agro-technical object, a breakdown scheme of the agro-technical object defining geographically referenced agro-technical sub-objects within the agrotechnical object, the site characteristics assigned to the agrotechnical object, in particular to the agrotechnical subobjects, take planting material with plant characteristics assigned to the planting material, place the planting material on the agrotechnical object, in particular to the agrotechnical subobjects, using an agricultural machine in accordance with the relevant regulations data on an agrotechnical object, the location of the placed planting material is geographically linked with the plant characteristics assigned to the planting material at the agrotechnical object, in particular at agrotechnical subobjects.

In this case, a field and/or an agricultural site may preferably be understood as any piece of land, fenced or unfenced, used and/or suitable for use in agricultural processes, as a non-limiting example - the cultivation of agricultural crops, which can also be, for example, a plot in the greenhouse.

In this case, planting material preferably means plant material that has not yet been planted. Planting material can be taken in different forms, as a non-limiting example - in the form of seeds, and/or cuttings, and/or seedlings and/or tubers, and/or bulbs, and/or seedlings, and/or seedlings, and/or layerings and/or scions. For example, cuttings can be taken in the form of sticks and/or plant pieces. Preferably, stecklings are small roots and/or small plants grown from seeds over a period of time, preferably a group of months. The stecklings can be, in particular, beet stecklings. In a preferred embodiment, stackings, particularly beet stackings, are grown from seed in the field, then removed from the field and replanted by placing the stackings according to the disclosed solution. This process of transplanting stecklings can also be called the transplantation process.

The taken agricultural machine is configured to transport and/or place planting material. Non-limiting examples of agricultural machinery include a tractor and/or an agricultural robot and/or a planter. In a preferred embodiment, the agricultural machine is a planter configured to plant planting material, in particular, placing planting material on a field.

The agricultural machine may include and/or be connected to a trailer, in particular to a trailer configured to carry one or a group of people and/or one or a group of planting devices. Preferably, placement of the planting material can be done manually, semi-automatically, and/or automatically. For example, in the case of manual planting, during plant placement, at least one person on the trailer manually places the planting. In another example, planting material placement can be performed in a semi-automatic manner, in which at least one person on the trailer controls planting material placement using a planting device configured to place the planting material. Alternatively, placement of the planting material can be done automatically, preferably using an automatic planter. In a preferred embodiment, the automatic planter is configured to place the planting material without the need for a person to place the planting material. A non-limiting example of an automatic planter is a seeder.

The placement of planting material takes place at a geographically linked agro-technical facility in accordance with the data related to the agro-technical facility. The data related to the agro-technical object is preferably received from a database system.

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In this case, georeferencing, in particular georeferencing the location of the placed planting material, preferably means that the location of the placed planting material, in particular within the agricultural facility, is referenced to a terrestrial geographic coordinate system, preferably using a reference coordinate system, which, in in turn, it can preferably be tied to a system of geodetic landmarks. In particular, the location of individual planting material, by way of non-limiting example, individual seeds and/or individual cuttings and/or individual seedlings and/or individual tubers and/or individual bulbs and/or scions, preferably referenced to a terrestrial geographic coordinate system.

The location of the placed planting material is preferably determined from location data, in particular from optimized location data obtained using a real-time kinematics (RTK) positioning system, in particular from a real-time kinematics (RTK) positioning system, described in more detail below.

The breakdown scheme of an agro-technical object preferably contains agro-technical sub-objects, described in more detail below. For example, a plot may be a collection of planting material of the same genotype. In another example, a block may be a collection of plots with planting material of different genotypes.

The farm-related data preferably includes navigation data, for example in the form of one or a group of navigation lines, the navigation lines preferably forming information for the movement of an agricultural machine on the farm-site, in particular on the farm-site sub-site. The agricultural machine can preferably be guided along the navigation lines.

For example, the navigation lines may be arranged in stripes and/or parallel to each other. The guidance lines are preferably spaced from each other by a distance depending on the width of the treatment, wherein the width of the treatment depends on the width of the machine, and/or the width of the agricultural machine, and/or the width of the trailer connected to it, and/or the width of any part of the agricultural machine. For example, the guidance lines can be spaced apart from each other by a distance corresponding to the processing width. The total distance of navigation lines and/or the distance of a single navigation line within an agro-technical object, in particular within an agro-technical sub-object, can be calculated. Thanks to this, the distance over which the planting material should be placed is known, which allows you to take the appropriate amount of planting material.

The disclosed method provides a number of advantages. For example, the process of placing planting material can be carried out in full accordance with a detailed digital plan, in particular with no deviations or only minor deviations of the location of the planting material placed from the planned location, due to the fact that the necessary data for placing the planting material with information about the exact location can be accepted into the field and/or are available at the time of placement of planting material. This allows planting material to be placed according to site-specific data and in planned locations.

Another advantage of the disclosed method is the ability to save time on placing planting material compared to known methods. Time savings are achieved due to the absence of the need for additional planning during the placement of planting material.

In addition, the reception of precise location data, in particular navigation data, in particular navigation lines, according to the disclosed solution allows several operations to be carried out automatically. For example, controlling the movement of an agricultural machine and/or guiding it along navigation lines can be carried out automatically and/or autonomously. The placement of planting material according to the data related to the agrotechnical object can also occur in a semi-automatic mode, and/or in an automatic and/or autonomous mode.

In addition, the disclosed solution makes it possible to improve the assessment of planting material placed at an agro-technical facility, in particular at agro-technical sub-facility, its analysis and reporting due to the fact that the geographically referenced location of the placed planting material is available in digital format and accurately documented.

In one preferred embodiment, agrotechnical objects, in particular agrotechnical sub-objects, have plant characteristics assigned to them, in particular plant characteristics, which are discussed in more detail below.

Assigning plant characteristics to agrotechnical objects, in particular agrotechnical subobjects, ensures the availability of information, in particular, about the exact location in which planting material with the specified plant characteristics should be placed.

The method preferably includes the step of generating navigation data by means of a builder module, preferably containing a build algorithm, wherein the navigation data is assigned to agro-technical objects, in particular to agro-technical sub-objects.

Agricultural objects, in particular agricultural sub-objects, preferably contain predetermined locations of predetermined planting material having plant characteristics. Planting material can be placed in accordance with predetermined locations of predetermined planting material in the field.

In another preferred embodiment, the method includes the step of assigning the location of the placed planting material, including the plant characteristics of the planting material, to the agro-technical object, in particular to the agro-technical sub-objects. This data is also referred to herein as landing data.

The location of the placed planting material, including plant characteristics, can preferably be stored, preferably autonomously, for a certain period of time and/or for a certain number of agrotechnical objects, in particular for a certain number of agrotechnical subobjects. The stored data can preferably be subsequently transferred, preferably to a database system, in particular when it becomes possible to establish an information connection with the database system. The possibility of preferably offline storage of data provides the advantage that data on the location of placed planting material need not be lost in the event of a (temporary) lack of communication, in particular a lack of communication with the database system. This allows the disclosed method to be used in areas of poor network coverage.

The method preferably includes the step of assigning the location of the individual planting material placed, including the plant characteristics of the individual planting material, to the agrotechnical object, in particular to the agrotechnical subobjects.

In another preferred embodiment, the planting material is taken in at least one container, and/or said at least one container contains information about the plant characteristics assigned to the planting material contained therein.

Said at least one container preferably contains planting material, which should be placed on an agro-technical object, in particular on an agro-technical sub-object. Said at least one container may be a box, and/or hopper, and/or bag, and/or other device capable of storing and/or accommodating planting material. For example, information about herbal characteristics is printed on the at least one container.

In another preferred embodiment, the plant characteristics are in the form of a machine-readable code, preferably an RFID tag, or a bar code, or a QR code.

Plant characteristics can preferably be read by scanning a machine readable code. The machine-readable code can be scanned using a mobile device, such as, but not limited to, a laptop and/or a mobile phone (smartphone), and/or a tablet computer, and/or a reader. Reading of the machine-readable code can preferably be carried out using an NFC device and/or a device with an NFC chip, in particular a smartphone.

The use of machine-readable code provides advantages, in particular that it avoids errors when reading plant characteristics.

In another preferred embodiment, the method includes taking a container of planting material and recording the plant characteristics assigned to the planting material contained in the container.

As disclosed above, the container may be a box and/or hopper and/or bag and/or other device capable of storing and/or accommodating planting material. The container is preferably filled with planting material. The registration of the plant characteristics assigned to the planting material contained in the container can be started by issuing a start signal, for example by pressing a button. The registration of plant characteristics assigned to the planting material contained in the container can be stopped by issuing a stop signal, for example by pressing a button. Data from recorded plant characteristics can be combined with data obtained from geo-referencing the location of planting material placed.

The planting data preferably contains recorded plant characteristics assigned to the planting material contained in the container. This is advantageous when the recorded plant characteristics assigned to the planting material contained in the container are part of the planting data.

The advantage of registering the plant characteristics assigned to the planting material contained in the container is the possibility of obtaining data with information about both the plant characteristics of the planting material and the location, in particular the location within the agro-technical object, in particular within the agro-technical sub-object in which it was planting material with these plant characteristics is placed. This way you can trace exactly what planting material and with what plant characteristics were placed in that

- 26 045347 or other location.

The movement of the agricultural machine is preferably recorded. In particular, the landing data may include the recorded movement of the agricultural machine and/or its deviation from the navigation data provided as part of the layout diagram.

In another preferred embodiment, the method includes the step of, when all or a predetermined portion thereof of the planting material contained in the container has been placed, taking the next container of planting material, recording the plant characteristics assigned to the planting material contained in the next container.

When a predetermined portion of the planting material contained in the container has been placed, it is preferable to stop recording the plant characteristics assigned to the planting material contained in the container, preferably in automatic mode. The next planting material container may contain planting material with plant characteristics that are identical or non-identical to the plant characteristics assigned to the planting material contained in the container.

When all the planting material contained in the container has been placed, there will be no more planting material left in the container. In a preferred embodiment, recording of the plant characteristics assigned to the planting material contained in the container is stopped, preferably in automatic mode, when all the planting material contained in the container has been placed. The next planting material container may contain planting material with plant characteristics that are identical or non-identical to the plant characteristics assigned to the planting material contained in the container.

The method preferably includes the steps of taking a group of subsequent containers with planting material, recording the plant characteristics assigned to the planting material contained in said group of following containers. Groups of the following planting containers may contain planting material with identical or non-identical plant characteristics. Groups of following containers can be taken one after another to accommodate the planting material contained in the following containers.

In another preferred embodiment, the method includes the step of comparing the recorded plant characteristics assigned to the planting material contained in the container with the plant characteristics assigned to the agrotechnical object, in particular agrotechnical subobjects.

Said comparison may include a comparison to determine whether the registered plant characteristics assigned to the planting material contained in the container and the plant characteristics assigned to the agrotechnical object, in particular the agrotechnical subobjects, are identical and/or identical and/or non-identical. Depending on the result of the comparison, a notification may be issued with information about the result of the comparison.

Comparison of the registered plant characteristics assigned to the planting material contained in the container with the plant characteristics assigned to the agrotechnical object, in particular agrotechnical subobjects, provides the advantage of being able to display and/or analyze, preferably automatically, deviations and/or differences between the registered plant characteristics and plant characteristics assigned to an agrotechnical object, in particular to an agrotechnical subobject. In addition, it is possible to easily check whether the registered plant characteristics assigned to the planting material contained in the container coincide with the plant characteristics that the planting material must have to be placed on an agro-technical object, in particular on agro-technical sub-objects, according to the plant characteristics assigned to the agro-technical object , in particular - agrotechnical sub-objects.

In another preferred embodiment, the method includes a step in which, if the registered plant characteristics assigned to the planting material contained in the container and the plant characteristics assigned to the agrotechnical object, in particular agrotechnical subobjects, do not match, a warning notice is issued.

By issuing a warning notice in the event that the registered plant characteristics assigned to the planting material contained in the container and the plant characteristics assigned to the agrotechnical object, in particular agrotechnical subobjects, do not coincide, it is possible to ensure that the person managing and/or controlling the planting process is informed, about the discrepancy before the planting material is placed. This avoids mistakes such as choosing the wrong container and/or the wrong planting material with the specified plant characteristics.

In another preferred embodiment, the method includes the step of generating registered agrotechnical objects, in particular agrotechnical subobjects, with registered plant characteristics assigned to them, and/or assigning registered plant characteristics to agrotechnical objects, in particular agrotechnical

- 27 045347 sub-objects.

The method also preferably includes the step of generating a registered agrotechnical object, in particular agrotechnical sub-objects, with registered plant characteristics assigned to them.

In this case, registered agrotechnical objects preferably mean agrotechnical objects generated by recording data on completed plantings, in particular data on the location of placed planting material placed using an agricultural machine, in particular during the movement of an agricultural machine on an agricultural object, in in particular - to the agrotechnical sub-object.

In a preferred embodiment, together with data on completed plantings, in particular data on the location of planting material placed, it is possible to generate registered agrotechnical objects, in particular agrotechnical subobjects. Registered agricultural sites preferably contain a layout diagram and/or layout diagrams containing data on plantings made, in particular data on the location of planting material placed.

By generating registered agrotechnical objects, in particular agrotechnical subobjects, with registered plant characteristics assigned to them, it is possible to ensure the availability and/or ability to visualize detailed information about planting data. Since data on completed plantings contains generated registered agrotechnical objects, visualized data on completed plantings can be compared with data related to an agrotechnical object, in particular to agrotechnical subobjects.

In a preferred embodiment, data on completed plantings contains generated registered agrotechnical objects, in particular agrotechnical subobjects. The generated registered agrotechnical object, in particular agrotechnical subobjects, is preferably assigned to data on completed plantings.

In another preferred embodiment, the method includes the steps of recording information from sensors, in particular weather information, and/or information about environmental conditions, and/or information about field conditions, preferably containing information about temperature, and/or humidity, and/or moisture content in the soil, and assign the recorded information from the sensors to agrotechnical objects, in particular to agrotechnical subobjects.

Preferably, data is obtained with information about weather conditions and/or environmental conditions and/or field conditions, in particular temperature conditions and/or humidity conditions and/or soil moisture content.

Data with said information may be obtained from recorded information from at least one sensor, preferably from a group of sensors. The at least one sensor may be configured to receive said information from the sensors. The at least one sensor may be, for example, an environmental sensor and/or a meteorological sensor and/or a phenotyping sensor and/or an optical sensor.

In another preferred embodiment, the method includes the step of recording the location of a single planting material, in particular a single seed and/or cutting and/or seedling and/or tuber and/or bulb and/or scion, preferably based on information from a location sensor, the location sensor being located on the agricultural machine.

The location of a single planting material can be recorded using a location sensor. The location sensor can be placed on an agricultural machine, in particular on a planter and/or trailer connected to and/or included in the agricultural machine. The location sensor is preferably located on the dispensing device that dispenses the unit planting material. For example, the location sensor may include a photobarrier.

The advantage of recording the location of a single plant material is that the exact location of a single plant material can be known. Thus, once a single planting material has been placed, it can be identified and observed at some future date and/or time. A single planting material may also be referred to as a single planting material.

According to another aspect, an agricultural machine is proposed, in particular a planter, for placing planting material, in particular seeds and/or cuttings and/or seedlings and/or tubers and/or bulbs and/or scions, geographically linked agricultural object, wherein the agricultural machine contains a placing block configured to place planting material, in particular seeds and/or cuttings and/or scions, on a geographically referenced agricultural object, a control unit configured to receive, preferably from database systems related to an agrotechnical data object, wherein the data includes the geographically referenced boundaries of the agrotechnical object, a breakdown scheme of the agrotechnical object defining geographically referenced agrotechnical subobjects within the agrotechnical object, site characteristics assigned to the agrotechnical object,

- 28 045347 in particular - to agricultural sub-objects, a rover for use in a positioning system in real-time kinematics (RTK) mode with a base station, wherein the control unit is configured to georeference, using the rover, the location of the placed planting material with plant characteristics assigned to the planting material, at an agro-technical facility, in particular at agro-technical sub-facilities.

The components of the agricultural machine are preferably a placement unit, a control unit and a rover. The placement block is preferably configured to accommodate and/or seat the planting material. The placing unit can be operated in automatic and/or semi-automatic and/or manual mode. The placement unit may include a placement device and/or an automatic planter.

In one of the preferred embodiments, the agricultural machine contains a location sensor configured to provide information about the location of a single planting material, in particular a single seed, and/or cutting, and/or seedling, and/or tuber, and/or bulb, and/or scions, and/or at least one sensor configured to output meteorological information, and/or information about environmental conditions, and/or information about field conditions, preferably containing information about temperature and/or humidity, and /or soil moisture content.

Registration of the location of a single planting material can be carried out using a location sensor placed on an agricultural machine, in particular on a planter and/or trailer connected to and/or included in the agricultural machine. The location sensor is preferably located on the dispensing device dispensing a single planting material. The location sensor may comprise, for example, a photobarrier.

The advantage of recording the location of a single plant material is that the exact location of a single plant material can be known. Thus, once a single planting material has been placed, it can be identified and observed at some future date and/or time. Placing the locator sensor on an agricultural machine eliminates the need for additional devices to accommodate and/or move the locator sensor.

Said at least one sensor is preferably placed on an agricultural machine, in particular on a planter and/or trailer connected to and/or included in the agricultural machine.

Placing the at least one sensor on an agricultural machine provides the advantage of eliminating the need for additional devices to accommodate and/or move the at least one sensor. In addition, said at least one sensor is constantly located near the place where the planting material is placed. Therefore, those received from said at least one sensor contain relatively accurate information about the conditions existing in the place where the planting material is placed.

According to another aspect, it is proposed to use the proposed agricultural machine as part of and/or in conjunction with a method and/or system for controlling agricultural processes.

In particular, the use of an agricultural machine as part of and/or in conjunction with a method and/or system for controlling the agricultural process provides the advantage of being able to remotely plan the placement of planting material in a digital format. Subsequently, the placement of planting material can be carried out based on the digitally generated information required for placement.

According to another aspect, there is provided a computer-readable medium comprising a computer program containing program instructions for executing the planting material placement method of the present application.

According to another aspect, there is provided a computer-readable medium comprising a computer program product containing computer-readable instructions that, when executed on a computer, when loaded into a computer, cause the computer to execute the planting material placement method of the present application.

Preferred embodiments will now be described by way of example in the accompanying drawings, in which:

fig. 1 is a schematic representation of the workflow of an example of a method for managing agricultural processes;

fig. 2 is a schematic general view of an example of an agricultural process control system;

fig. 3 - example of collecting and organizing field data;

fig. 4 is a schematic illustration of an example of a graphical user interface for use in a method for controlling agricultural processes;

fig. 5 is a schematic representation of an example of a graphical user interface for use in a method for controlling agricultural processes;

fig. 6 is a schematic representation of an example of a method for controlling agricultural processes;

fig. 7 is a schematic representation of an example of a method for controlling agricultural processes;

fig. 8 is a schematic representation of an example of a method for controlling agricultural processes;

fig. 9 - example of an agrotechnical object with an agrotechnical subobject and an isolation zone;

fig. 10 is an example of a breakdown diagram of an agro-technical object with an agro-technical sub-object containing a group of blocks and an isolation zone;

fig. 11 is an example of a layout diagram for an agro-technical object with an agro-technical sub-object containing a group of strips;

fig. 12 is an example of a breakdown diagram of an agro-technical object with an agro-technical sub-object containing blocks containing plots;

fig. 13 - schematic representation of an agricultural facility and two isolation zones;

fig. 14 illustrates a preferred example of a base station for a real-time kinematics (RTK) positioning system;

fig. 15 is another preferred example of a base station for a real-time kinematics (RTK) positioning system;

fig. 16 - results of the first experiment according to this application, called Experiment 1: base-rover approach;

fig. 17 shows the results of the first experiment of this application, called Experiment 2: experiment with a cube only;

fig. 18 is a schematic illustration of an example method for calibrating a base station for use in a real-time kinematics (RTK) positioning system with one or a group of rovers;

fig. 19 is a schematic illustration of an example method of operating a real-time kinematics (RTK) positioning system with a base station and one or a group of rovers;

fig. 20a is an example of an agricultural vehicle containing a rover in which the agricultural vehicle travels across a field to place planting material;

fig. 20b is an example of an agricultural vehicle including a rover in which the agricultural vehicle travels across a field to place planting material, a base station being located on the agricultural vehicle;

fig. 21a is an example of an agricultural machine containing a rover in which the agricultural machine travels across a field to place stackings in an automatic manner;

fig. 21b is an example of an agricultural machine comprising a rover in which the agricultural machine travels through a field to place stackings in an automatic manner, with a base station located on the agricultural machine;

fig. 22a is an example of an agricultural machine containing a rover in which the agricultural machine drives across a field to place stackings in a semi-automatic manner;

fig. 22b is an example of an agricultural machine containing a rover in which the agricultural machine is driven through a field to place stackings manually;

fig. 23 is a top view of an example of an agro-technical sub-facility with an agricultural machine placing planting material on the agro-technical sub-facility;

fig. 24 is a top view of an example of an agricultural subfacility with an agricultural machine placing planting material on the agricultural subfacility, with a base station located on the agricultural machine;

fig. 25 is a schematic representation of an example of a method for placing planting material on a geographically linked agricultural facility.

Elements with identical or similar functions are designated by the same reference numerals in the figures.

Fig. 1 is a schematic representation of the workflow of an example of a method for controlling agricultural processes. Seed fields and related data 61, in particular documentation, dossiers, isolation distances, are stored in a geospatial database 71. In particular, the geographically referenced boundaries of agro-technical objects and agro-technical sub-objects are stored in a geospatial database 71 connected to a geographic information system (GIS) web server. The seed/crop fields and associated data 61, in particular documentation, dossiers, isolation distances, are further stored in a plant characteristics database 70, which may also be referred to as a breeding database and/or a production database. The selection 62 of one, or two, or more agricultural objects is carried out in order to ensure the selection of an agricultural object that meets certain predetermined requirements. Choice 62 involves the application of a quality management system in the seed/crop industry, preferably in the form of Excellence Through Stewardship (ETS) compliance data. The creation of a 64 layout diagram of an agrotechnical object is carried out using a builder module containing a construction algorithm. The construction algorithm is made with the ability to use user input data, in particular, the length/width of the plot, the number of rows, the number of seeds, the number of plots, and selected template layouts, and automatically generate a layout layout. The builder module may contain a means of dividing into strips for geospatial planning of a breakdown scheme specifically for cuttings, in particular stacklings. The created layouts 69, for example, with blocks and plots, are stored in the geospatial data base 71. The creation 64 of a breakdown scheme for an agro-technical object allows for the placement 65 of planting material on an agro-technical object, which includes reading plant characteristics by scanning a machine-readable code.

Scanning machine-readable code can be done using, for example, a smartphone. In particular, reading plant characteristics in this way provides the advantage of being able to avoid errors in reading plant characteristics. Documentation of 66 site characteristics can be performed, including but not limited to chemical and/or fertilizer and/or irrigation treatments, weeding, crop type, crop priority, harvest results, harvest monitoring data. In addition, it is possible to generate 68 plant observation and qualitative assessment data including observational data. Observation data may include, but is not limited to, notes, manual entries, scores, quality scores such as clearance, counting, damage, bloom, pre-breeding, breeding, general notes, photographs, images, scans, readings sensors, plant height, plant damage, moisture content, sugar content, leaf size, leaf area, biomass, shape, habit, leafless plants, cotton boll harvest, weight, plant damage, disease control (e.g. traps) insects, spore-pollen traps), flowering, condition, vitality, number of plants, invasive plants, discarded plants, environmental parameters, values recorded by machines/devices. The generated plant observation and qualitative assessment data is stored in a geospatial database 71. Finally, the seed field can be mapped and the dashboard visualized. Real-time tracking data can be visualized on a dashboard, providing a variety of spatial and graphical visualizations of the complete seed cycle.

Fig. 2 is a schematic overview of an example agricultural process control system 200. The system 200 contains a database system 250, 251, 252 containing data related to the agricultural object. System 200 also includes sensor devices, each with its own control unit. In this example, the sensor devices are an agricultural machine 202 containing motion control systems 210 and an implement control 211. In addition, the mobile base stations 80a, 80b may also be considered sensor devices, each with at least one control unit.

As mobile GNSS equipment 201, it is possible to use mobile base stations 80a, 80b for a positioning system in real-time kinematics (RTK) mode at an agricultural facility. Such a base station allows you to determine locations within an agricultural facility with accuracy in the usual range for RTK, in particular - about ±2-3 cm. Mobile GNSS equipment 201 is configured to connect 221 to the GIS environment 230 to receive data from it and transmit data to her. The GIS server architecture in the GIS environment 230 may include a device 240, such as a desktop client 241, a smartphone 242, a laptop 243, connected to a web server 250 connected to the GIS server 251. The GIS server 251 is connected to the data server 252. The GIS server 251 can be accessed by desktop users 261 and administrators of the GIS server 262. The agricultural machine 202 is configured to connect 222 to a GIS environment 230, in particular at an agricultural facility. The agricultural machine 202 may include motion control systems 210 and an implement control 211 . For example, the movement of an agricultural machine can be controlled according to a layout diagram, and the data can be obtained from a GIS environment. In addition, data, for example including data on planting material placed, can be sent from the agricultural machine to the GIS environment.

Fig. 3 is an example of collecting and organizing field data. Mobile touch devices 51a-e, such as tablet computers, are configured to connect 52 to a web server 250 connected to a GIS server. Mobile sensor devices 51a-e may receive data from and transmit data to the web server 250 and/or GIS server. Various users 53a-c have the ability to connect 54 to a web server 250 connected to the GIS server. This enables the exchange of data and information between all connected users and all connected mobile sensor devices in agricultural facilities.

Fig. 4 is a schematic representation of an example graphical user interface 300 for

- 31 045347 changes in the way of managing agricultural processes. It can be selected to display field 301 and in particular the agricultural object, dossier 302, in particular the dossier of crops in the field, documents 303 with data assigned to one or a group of agricultural objects, exceptions 304, model 305, milestones 306 on the map and builder 307, which includes, in particular, a builder module. In this case, dossier 302 is selected and displayed. It is possible to add a record 311, edit a record 312, and delete a record 313. The information contained in the dossier is presented in table. 330, consisting of columns year 321, previous field 322, previous crop 323 and notes 324. Information for different years is displayed in lines 331, 332, 333.

Fig. 5 is a schematic diagram of an example of a graphical user interface 400 for use in a method for controlling agricultural processes. The left column displays a summary of 401 field data containing the total number of agronomic facilities and the total area of these agronomic facilities. The field below may display information about agricultural producers or other site characteristics 402, where the site characteristics may include any one or a group of the following: crop rotation, field crop record, slope, surface conditions, soil information, breeder, treatment, crop type, crop priority, harvest results, harvest observation data, field name, grower, test number, test class. In the field below, a farm site breakdown diagram 403 may be displayed. The middle column contains information received from at least one sensor 411, wherein said at least one sensor is one of the following group: an environmental sensor, such as a soil sensor, and/or a soil moisture sensor, in particular - TDR, and/or FDR, and/or UMP, and/or GPR, and/or EMI, and/or ERT, preferably ground-mounted, meteorological sensor, for example, a meteorological station, and/or sensor for receiving meteorological data, sensor for phenotyping, preferably ground and/or above-ground installation, e.g. RGB camera and/or thermal imaging camera and/or hyperspectral camera and/or multispectral camera, position sensor: e.g. GNSS gyroscope, EMU, potentiometers, a sensor on the machine, for example, to obtain data on machine parameters and/or machine readings, in particular speed and/or course, preferably ground-mounted, mechanical, for example, a sensor for recognizing scales and/or seed counters, for example a reader, and/ or an NFC sensor and/or an RFID sensor, an optical sensor such as lidar and/or a light curtain and/or NIRS, a radar sensor such as an imaging radar sensor, in particular a synthetic aperture radar. The column on the right displays plant characteristics 421, which may include any one or a group of the following: year, crop, material group, variety name, variety type, variety characteristics, flowering categories, hardiness, general vitality, pedigree, data on components of the plant, history of crossing, dossier of crossing sites, in particular - place and/or time of crossing, male and female lines, regulatory restrictions, data on components, data on disease protection measures, risk management factors, genetic identification, type of randomization, replication , number of inputs, number of plants. The field below may display site characteristics 422, where site characteristics may include any one or a group of the following: crop rotation, field crop record, slope, surface conditions, soil information, breeder, treatment, type crop, crop priority, harvest results, harvest monitoring data, field name, agricultural producer, test number, test class. The field below may display control 423, where control may include any one or a group of the following: planning, administration, maintenance, inspection, monitoring, documentation, analysis, evaluation, visualization. In the field below, a general overview of 424 checks and processing can be displayed.

Fig. 6 is a schematic representation of an example of a method 1100 for controlling agricultural processes. Method 1100 includes the steps disclosed below. At step 1101, an agro-technical object is created by establishing geographically referenced boundaries of the agro-technical object. At step 1102, a breakdown diagram of the agricultural facility is created by defining geographically referenced agricultural subobjects within the agricultural facility. At step 1103, the agricultural object, including its boundaries and its agricultural subobjects, is stored in a geospatial database located on the server. At step 1104, site characteristics are assigned to the agrotechnical object, in particular to the agrotechnical subobjects. At step 1105, plant characteristics are assigned to the agrotechnical object, in particular to agrotechnical subobjects. At step 1106, data related to the agricultural object is exchanged with at least one sensor device. At step 1107, a task is performed using the at least one sensor device depending on the data related to the agricultural object.

Fig. 7 is a schematic representation of an example of a method 1100 for controlling agricultural processes. Method 1100 comprises the steps disclosed in FIG. 6, and the steps disclosed below. At step 1108, data is collected through said at least one touch device, preferably through at least one sensor of the touch device, and the collected data is assigned.

- 32 045347 data for an agrotechnical object, in particular - agrotechnical subobjects. At step 1109, one of two or more agricultural objects is selected based on the site characteristics and/or plant characteristics assigned to the corresponding agricultural objects and/or selection criteria. The steps of method 1100 can be performed for a variety of agricultural applications.

Fig. 8 is a schematic representation of an example of a method 1100 for controlling agricultural processes. Method 1100 comprises the steps disclosed in FIG. 6 and FIG. 7, and the steps disclosed below. At step 1110, processing data is assigned to the agrotechnical object, in particular to the agrotechnical subobjects. At step 1111, the observation data is assigned to the agrotechnical object, in particular the agrotechnical subobjects. At step 1112, data on completed plantings is assigned to the agrotechnical object, in particular to agrotechnical subobjects. At step 1113, harvest data is assigned to the agrotechnical object, in particular to agrotechnical subobjects. At step 1114, post-harvest data is assigned to the agro-technical object, in particular to the agro-technical sub-objects. At step 1115, administrative information is assigned to the agrotechnical object, in particular the agrotechnical subobjects. At step 1116, time data is assigned to the agrotechnical object, in particular to agrotechnical subobjects, and/or site characteristics, and/or plant characteristics, and/or processing data, and/or observation data, and/or planting data, and /or harvest data, and/or post-harvest data, and/or administrative information. At step 1117, a geo-referenced ag facility containment zone is created and the ag property containment zone is stored in a geospatial database, where the containment zone is preferably created by calculating the outer boundary of the confinement zone by adding at least one buffer distance to the boundaries of the ag property in a direction outward from the farm property. , and/or by calculating the distance between the agricultural object and another agricultural object or other isolation zone, and/or by calculating the internal boundary of the isolation zone by adding at least one buffer distance from the boundaries of the agricultural object in the direction of the agricultural object.

Fig. 9 is an example of an agrotechnical object 25 with an agrotechnical object boundary 20 forming the outer boundary of the agrotechnical object. Agrotechnical sub-facility 10 is located within the agrotechnical facility. The isolation zone is created by calculating the outer boundary 30 of the isolation zone by adding a buffer distance to the boundary 20 of the agricultural object in the direction from the center of the agricultural object. For example, an exclusion zone may serve to ensure a minimum distance between the agricultural facility and restricted areas and/or to comply with legally established minimum distances.

Fig. 10 is an example of a layout diagram for an agro-technical object 25 with a border 20 of the agro-technical object forming the outer boundary of the agro-technical object. Agrotechnical sub-facility 10 is located within the agrotechnical facility. The isolation zone is created by calculating the outer boundary 30 of the isolation zone by adding a buffer distance to the boundary 20 of the agricultural object in the direction from the center of the agricultural object. Agrotechnical sub-object 10 contains a group of blocks 11. In this case, blocks 11 may represent the internal boundary of seed/crop production work with a specified location of breeding within the agro-technical object.

Fig. 11 is an example of a layout diagram of an agricultural object 25 with the border 20 of the agricultural object forming the outer boundary of the agricultural object. Agrotechnical sub-facility 10 is located within the agrotechnical facility. Within the agrotechnical sub-facility, there are breakdown schemes specifically for cuttings, in particular, stecklings. This layout scheme can be created by specifying the striping parameters, in particular the planting machine and the number of rows per strip. Such a layout scheme with lanes 12 can be automatically generated and plotted on a map, and the total available length of lanes can be calculated.

Fig. 12 is an example of a layout diagram of an agro-technical object 25 with a border 20 of the agro-technical object forming the outer boundary of the agro-technical object. Agrotechnical sub-object 10 is located within the agro-technical object 25. The first block 11a and the second block 11b are located within the agro-technical sub-object 10. The first block 11a contains a group of plots 13a. The second block 11b contains a group of plots 13b. Each of these plots can represent a collection of planting material of one genotype. Each block can be a collection of plots with planting material of different genotypes.

Fig. 13 is an example of an agrotechnical object 25 with an agrotechnical object boundary 20 forming the outer boundary of the agrotechnical object. To ensure a minimum distance between the agricultural facility 25 and a potential new agricultural facility, isolation distances may be displayed. Therefore, a buffer distance is set and the first milestone 21 is set. In this case, the first milestone 21 is located at the center of the agricultural facility 25. The first isolation zone is created by calculating the outer boundary 30a of the first isolation zone by adding the buffer distance to the first milestone 21. The second isolation zone is created by calculating the outer boundary 30b of the second isolation zone by adding the buffer distance to the second milestone 22. With the selected

- 33 045347 buffer distance and the locations of the first milestone 21 and the second milestone 22, in this example, the agricultural facility centered at the location of milestone 22 would be too close to the agricultural facility 25. The potential new agricultural facility should be located at a greater distance from the agricultural facility 25.

Fig. 14 illustrates a first preferred example of a base station 80 for a real-time kinematics (RTK) positioning system. Base station 80 includes a Global Navigation Satellite System (GNSS) receiver with a multiband antenna 83. The multiband antenna 83 is mounted on a mounting device 82 that may be placed on the ground with the ability to locate the multiband antenna 83 some distance above the ground. The multiband antenna 83 is connected by a cable 84 to a GNSS module 85 housed in a weatherproof housing 89 of the base station 80. The weatherproof housing 89 includes a cover 88 by which the weatherproof housing 89 can be closed and opened. The multiband antenna 83 is configured to connect to a global navigation satellite system and receive location data 91 from it. The multiband antenna 83 is designed to connect to at least two different systems, in particular GPS, GLONASS, Galileo, Beidou, and receive location data 91 from them.

Another component of the base station 80 in FIG. 14 is the 87 LAN/WLAN module. The WLAN module 87 is configured to connect to a WLAN access point to enable the base station to access the Internet. A WLAN access point can be created, for example, using a smartphone. To supply the base station 80 with energy, the base station includes a battery 81 that functions as a power source. In addition, the base station includes a control unit 94. The control unit 94 is configured to operate the base station 80 in rover mode. The base station 80 remains in a fixed position without moving during operation in rover mode. In rover mode, control unit 94 may receive update information from the NTRIP server and determine groups, for example, 1000, of rover locations from the received update information from the NTRIP server. Next, control unit 94 may determine an optimized base station location by averaging certain groups, eg, 1000, of rover locations. This optimized location has very high accuracy and is close to the actual actual location of the base station. The base station also includes a radio modem 86 as a transmitter for transmitting correction information 92. Once the optimized location of the base station 80 is determined, the correction information 92 can be transmitted from the base station 80 to one or a group of rovers, allowing one or a group of rovers to determine their own locations with an accuracy in the usual range for RTK, in particular - about ±2-3 cm.

Fig. 15 is another preferred example of a base station 80 coupled to an agricultural machine, such as a tractor 40, wherein the base station includes an element 95, which may be, for example, a smartphone. Element 95 contains a control unit, a WLAN module and a transmitting device. Element 95 is coupled to a multiband antenna 83, wherein the multiband antenna 83 is located on a mounting device 82 and is connected to the element by a cable 84. The multiband antenna 83 is configured to connect to a global navigation satellite system and receive location data 91 from it. The multiband antenna is designed to connect to at least two different systems, in particular GPS, GLONASS, Galileo, Beidou, and receive location data from them. The WLAN module allows element 95 to access the Internet. To supply the element 95 with energy, the element contains a battery that functions as a power source. The control unit is configured to operate the base station in rover mode. The base station 80 remains in a fixed position without moving during operation in rover mode. In rover mode, the control unit can receive correction information from the NTRIP server and determine a group, for example, 1000, of rover locations from the received correction information from the NTRIP server. The control unit may then determine the optimized base station location by averaging certain groups, for example 1000, of rover locations. This optimized location has very high accuracy and is close to the actual actual location of the base station. When the optimized location of the base station 80 is determined, correction information can be transmitted from the base station 80 to one or a group of rovers, in this case, the agricultural machine 40. Element 95 transmits the correction information via USB cable 96 to the agricultural machine 40. The agricultural machine 40 can determine your own location with an accuracy in the usual range for RTK, in particular - about ±2-3 cm.

Fig. 16 shows the results of the first experiment of this application, referred to as Experiment 1: base station - rover approach.

The positioning accuracy of each RTK GNSS receiver was assessed in static and long-term experiments in which the receiver or its antenna was placed over a geodetic landmark

- 34 045347 with known location.

In this experiment, the base station was first operated in rover mode and then in stationary mode.

In rover mode, the base station's LTE gateway (LTE gateway) was used to receive its actual location using the location averaged over 1000 rover mode locations transmitted in information from the NTRIP server. In stationary mode, the corresponding coordinates of the optimized base station location were used to correct incoming NMEA (National Marine Electronics Association) messages from the rover.

The relative positioning accuracy of the rover was quantified using standard indicators, in particular - circular probable deviation (CEP), root mean square radial error (RMSE) and double root mean square radial error (2RSE), which determines the radius of the circle in which 50%, 63% and 98% were located. accepted coordinates.

The absolute location of the base station was estimated by calculating the distance between a geodetic landmark with a known location and all measured rover locations.

According to the statistical indicators of the 16-hour experiment, the base-rover determined the relative accuracy of 0.29 cm (KVO), 0.35 cm (SRO) and 0.7 cm (2SRO), while in terms of absolute accuracy, the displacement relative to a geodetic landmark with a known location is on average was 1.27 cm, and the maximum deviation was 2.94 cm.

In addition, the analysis showed the presence of a stable connection between the base station and the rover.

Fig. 17 shows the results of the first experiment of this application, called Experiment 2: base station only.

The positioning accuracy of each RTK GNSS receiver was assessed in static and long-term experiments in which the receiver or its antenna was placed over a geodetic landmark with a known location.

During the experiment, the base station only location in rover mode was continuously adjusted according to data from the NTRIP server received through the LTE gateway.

A static experiment, in which the base station in rover mode continuously received correction signals via the NTRIP protocol for 4 days, showed that cases of loss of the correction signal amounted to less than 0.1% of the total number of measurements. Circular probable deviation (CPD), root mean square radial error (RMSE) and double root mean square radial error (2RMS) were 1.02 cm, 1.22 cm and 2.43 cm, respectively, and the absolute positioning accuracy averaged 2.57 cm.

The results of static experiments indicate high accuracy for both approaches to operating the base station - both in stationary mode and in rover mode.

Fig. 18 schematically illustrates a method 1400 for calibrating a base station for use in a real-time kinematics (RTK) positioning system with one or a group of rovers. Method 1400 includes the steps disclosed below. At step 1401, a base station with a global navigation satellite system (GNSS) receiver, a transmitter, and a LAN/WLAN module are taken. As a base station, you can take, for example, the base station from FIG. 14 and/or FIG. 15. At step 1402, the base station is operated in rover mode, in which correction information is received from a network transmission protocol server according to the standard of the Radio Engineering Commission of maritime servers over the Internet (NTRIP servers) and at least two locations of the base station in rover mode are determined from the received correction information from NTRIP server. In rover mode, the base station remains in a fixed position without moving. The base station may be operated in rover mode for a predetermined period of time, for example, 5 to 10 minutes, and/or until a predetermined number of rover mode locations are obtained, for example, 1000 rover mode locations. At step 1403, an optimized base station location is determined by averaging two or more, for example, 1000, rover mode locations. Method 1400 preferably also includes step 1404, described below. At step 1404, the base station is configured for the length of the rover mode period and/or the number of rover mode locations to average.

Fig. 19 schematically illustrates a method 1500 of operating a real-time kinematics (RTK) positioning system with a base station and one or a group of rovers. Method 1500 includes the steps disclosed below. At step 1501, the base station is calibrated. At step 1502, the base station is operated in a stationary mode based on the optimized location. Method 1500 preferably also includes the following step. At step 1503, the correction information is transmitted to one or a group of rovers, preferably through a transmitting device and/or preferably in a standardized correction information format established by the Marine Server Radio Engineering Commission.

Fig. 20a depicts an agricultural machine 40, in this case a tractor, containing a plant 41 placed on the agricultural machine 40, the agricultural machine 40 being driven across a field to place planting material. Base station 80, such as the base station of FIG. 14, located at the edge of the field. Once base station 80 is positioned at the field edge, it can be calibrated in rover mode to determine its optimized location. Once the optimized location of the base station 80 has been determined, the base station may enter a stationary mode in which the base station wirelessly transmits correction information 92 to the rover 41. Based on the received correction information 92, the location of the agricultural machine 40 can be accurately determined. The trailer 43 is connected with an agricultural machine 40 by a connecting device 42. The trailer 43 contains a container with planting material, in particular with seeds 44. The dispensing of seeds 44 is carried out using a dispensing device with the possibility of placing seeds 44 on the field, as planned in advance. The ability to accurately determine the location of the agricultural machine 40 and/or trailer 43 allows planting material to be placed in the field at precisely predetermined locations.

Fig. 20b depicts an agricultural vehicle 40, in this case a tractor, including a rover 41 mounted on an agricultural vehicle 40, the agricultural vehicle 40 being movable across a field to place planting material. Base station 80, such as the base station of FIG. 14 or from fig. 15 is also located on the agricultural vehicle 40. The base station 80 can be calibrated in rover mode to determine its optimized location. In this example, in rover mode, the base station 80 and the agricultural machine 40 are in a fixed position without moving. Once the optimized location of the base station 80 has been determined, the base station may enter a stationary mode in which the base station transmits correction information to the rover 41 via USB cable 96. Based on the received correction information, the location of the agricultural machine 40 can be accurately determined. The trailer 43 is connected to agricultural machine 40 with a connecting device 42. The trailer 43 contains a container with planting material, in particular with seeds 44. The dispensing of seeds 44 is carried out using a dispensing device with the possibility of placing seeds 44 on the field as planned in advance. The ability to accurately determine the location of the agricultural machine 40 and/or trailer 43 allows planting material to be placed in the field at precisely predetermined locations.

Fig. 21a depicts an agricultural vehicle 40, in this case a tractor, including a rover 41 mounted on an agricultural vehicle 40, with the agricultural vehicle 40 driving across a field to place planting material. Base station 80, such as the base station of FIG. 14, located at the edge of the field. Once base station 80 is positioned at the field edge, it can be calibrated in rover mode to determine its optimized location. Once the optimized location of the base station 80 has been determined, the base station may enter a stationary mode in which the base station wirelessly transmits correction information 92 to the rover 41. Based on the received correction information 92, the location of the agricultural machine 40 can be accurately determined. The trailer 43 is connected with an agricultural machine 40 and a connecting device 42. The trailer 43 contains a container with planting material, in this case, stackings 46. The stackings 46 are placed in an automated manner with the possibility of placing the stackings 46 on the field, as planned in advance, using an automatic planter. The automatic planter is designed to accommodate stackings without the need for a person to place the stackings. The ability to accurately determine the location of the agricultural machine 40 and/or trailer 43 allows planting material, in particular stackings, to be placed on the field in precisely predetermined locations. Next, the stacking stacks 47 will be placed on the field at their predetermined location.

Fig. 21b depicts an agricultural vehicle 40, in this case a tractor, including a rover 41 mounted on an agricultural vehicle 40, the agricultural vehicle 40 being movable across a field to place planting material. Base station 80, such as the base station of FIG. 14 or from fig. 15 is also located on the agricultural vehicle 40. The base station 80 can be calibrated in rover mode to determine its optimized location. In this example, in rover mode, the base station 80 and the agricultural machine 40 are in a fixed position without moving.

Once the optimized location of the base station 80 has been determined, the base station may enter a stationary mode in which the base station transmits correction information to the rover 41 via USB cable 96. Based on the received correction information, the location of the agricultural machine 40 can be accurately determined. Trailer 43 is connected to the agricultural machine 40 by a connecting device 42. The trailer 43 contains a container with planting material, in this case, stackings 46. The stackings 46 are placed in an automated manner with the possibility of placing the stackings 46 on the field, as planned in advance, using an automatic planter. The automatic planter is designed to accommodate stackings without the need for a person to place the stackings. The ability to accurately determine the location of the agricultural machine 40 and/or trailer 43 allows planting material, in particular stackings, to be placed on the field in precisely predetermined locations. Next, the stacking stacks 47 will be placed on the field at their predetermined location.

Fig. 22a depicts an agricultural vehicle 40, in this case a tractor, containing a rover 41 placed on an agricultural vehicle 40, with the agricultural vehicle 40 driving across a field to place the stackings. Base station 80, such as the base station of FIG. 14, located at the edge of the field. Once base station 80 is positioned at the field edge, it can be calibrated in rover mode to determine its optimized location. Once the optimized location of the base station 80 has been determined, the base station may enter a stationary mode in which the base station wirelessly transmits correction information 92 to the rover 41. Based on the received correction information 92, the location of the agricultural machine 40 can be accurately determined. The trailer 43 is connected with an agricultural machine 40 by a connecting device 42. The trailer 43 contains a container with planting material, in this case - stackings 46. The stackings 46 are placed in a semi-automatic manner, in which a person 48 on the trailer 43 controls the placement of the planting material using a landing device 49, configured to accommodate stacklings, whereby the stacklings 46 can be placed on the field as planned in advance. The ability to accurately determine the location of the agricultural machine 40 and/or trailer 43 allows planting material, in particular stackings, to be placed on the field at precisely predetermined locations. Next, the stacking stacks 47 will be placed on the field at their predetermined location.

The semi-automatic method from Fig. 22a may also be implemented using a base station 80 located on the agricultural machine 40 of FIG. 21b.

Fig. 22b depicts an agricultural vehicle 40, in this case a tractor, containing a rover 41 placed on an agricultural vehicle 40, with the agricultural vehicle 40 driving across a field to place the stackings. Base station 80, such as the base station of FIG. 14, located at the edge of the field. Once base station 80 is positioned at the field edge, it can be calibrated in rover mode to determine its optimized location. Once the optimized location of the base station 80 has been determined, the base station may enter a stationary mode in which the base station wirelessly transmits correction information 92 to the rover 41. Based on the received correction information 92, the location of the agricultural machine 40 can be accurately determined. The trailer 43 is connected with an agricultural machine 40 connecting device 42. The trailer 43 contains a container with planting material, in this case - stackings 46. The stackings 46 are placed manually, in which a person 48 on the trailer 43 places the planting material manually with the possibility of placing the stackings 46 on the field, as it was planned in advance. The ability to accurately determine the location of the agricultural machine 40 and/or trailer 43 allows planting material, in particular stackings, to be placed on the field at precisely predetermined locations. Next, the stacking stacks 47 will be placed on the field at their predetermined location. Manual method from Fig. 22b may also be implemented using a base station 80 located on the agricultural machine 40 of FIG. 21b.

Fig. 23 is a top view of an agricultural machine 40 on an agricultural site, showing part of the boundary 20 of the agricultural site. Agrotechnical sub-facility 10 is located within the agrotechnical facility. The agricultural machine 40 includes a rover configured to receive correction information 92 from a base station 80 located adjacent to the agricultural facility. Reception of the correction information 92 allows the location of the agricultural machine 40 and the location of the trailer 43 connected to the agricultural machine to be accurately determined. Within the agro-technical sub-object 10 there are parallel navigation lines 12, 13 containing information for moving the agricultural machine 40 on the agro-technical sub-object 10. Within the agro-technical sub-object 10, the agricultural machine 40 begins to move at the starting point 15 and travels along the navigation lines 12. Traveled route 17 register. In addition, the locations 16 of placed planting material are recorded. Within the agrotechnical sub-object 10, marks 14 are specified. Each mark 14 has the plant characteristics of the planting material that should be placed there. This allows planting materials with non-identical plant characteristics to be placed within the agrotechnical subfacility 10.

Fig. 24 is a top view of an agricultural machine 40 on an agricultural property, showing a portion of the agricultural property boundary 20. Agrotechnical sub-facility 10 is located within the agrotechnical facility. The agricultural machine 40 includes a rover configured to receive correction information from a base station 80 located on the agricultural machine 40. Reception of the correction information allows the location of the agricultural machine 40 and the location of the trailer 43 connected to the agricultural machine to be accurately determined. Within the agrotechnical sub-facility 10 there are parallel navigation lines 12,

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Claims (9)

13, containing information for moving the agricultural machine 40 in the agricultural sub-facility 10. Within the agricultural sub-facility 10, the agricultural machine 40 starts moving at the starting point 15 and travels along the navigation lines 12. The route 17 taken is recorded. In addition, the locations 16 of placed planting material are recorded. Within the agrotechnical sub-object 10, marks 14 are specified. Each mark 14 has the plant characteristics of the planting material that should be placed there. This allows planting materials with non-identical plant characteristics to be placed within the agrotechnical subfacility 10. Fig. 25 schematically illustrates a method 1600 of placing planting material, in particular seeds and/or cuttings and/or seedlings and/or tubers and/or bulbs and/or scions, on a geographically referenced agricultural site. Method 1600 includes the steps disclosed below. At step 1601, an agricultural machine is taken, in particular a planter. At step 1602, data related to the agricultural facility is received, preferably from a database system, wherein the data includes georeferenced boundaries of the agricultural facility, a breakdown scheme of the agricultural facility defining geographically referenced agricultural subobjects within the agricultural facility, site characteristics assigned to the agricultural facility , in particular - agrotechnical sub-objects. At step 1603, planting material is taken with the plant characteristics assigned to the planting material. At step 1604, planting material is placed on the agro-technical object, in particular on agro-technical sub-objects, using an agricultural machine according to data related to the agro-technical object. At step 1606, the location of the placed planting material is geographically linked to the plant characteristics assigned to the planting material at the agrotechnical facility, in particular at the agrotechnical subfacilities. Method 1600 preferably also includes the following steps. At step 1607, the location of the planting material placed with the plant characteristics assigned to the planting material is stored and/or transmitted, preferably to a database system. At step 1608, a container with planting material is taken. At step 1609, the plant characteristics assigned to the planting material contained in the container are recorded. At step 1610, when all of the planting material contained in the container has been placed, the next container of planting material is taken. At step 1611, the plant characteristics assigned to the planting material contained in the next container are recorded. At step 1612, the registered plant characteristics assigned to the planting material contained in the container are compared with the plant characteristics assigned to the agrotechnical object, in particular the agrotechnical subobjects. At step 1613, if the registered plant characteristics assigned to the planting material contained in the container and the plant characteristics assigned to the agrotechnical object, in particular the agrotechnical subobjects, do not match, a warning notice is issued. At step 1614, registered agrotechnical objects, in particular agrotechnical subobjects, with registered plant characteristics assigned to them are generated. At step 1615, the registered plant characteristics are assigned to agrotechnical objects, in particular to agrotechnical subobjects. At step 1616, information from the sensors is recorded, in particular weather information and/or information about environmental conditions and/or information about field conditions, preferably containing information about temperature and/or humidity and/or soil moisture content. At step 1617, the registered information from the sensors is assigned to agrotechnical objects, in particular to agrotechnical subobjects. At step 1618, the location of a single planting material, in particular a single seed, and/or cutting, and/or seedling, and/or tuber, and/or bulb, and/or scion, is recorded, preferably based on information from the location sensor, wherein The location sensor is placed on the agricultural machine. CLAIM 1. A base station (80) for a real-time kinematics (RTK) positioning system with one or a group of rovers, containing: a global navigation satellite system (GNSS) receiver (85), a transmitter for transmitting corrective information to one or a group of rovers (40), a wireless local area network (LAN/WLAN) module (87) and at least one control unit (94), wherein said at least one control unit is configured to operate the base station in rover mode, in which corrective information is received from a network transmission protocol server according to the Marine Servers Radio Engineering Commission over the Internet (NTRIP) standard and at least two locations of the base station are determined in rover mode according to the received correction information from the NTRIP server, where the rover mode positions are positions of the base station determined when the base station is operating in the rover mode, - 38 045347 wherein said at least one control unit is configured to determine an optimized location of the base station by averaging said at least two locations in rover mode, wherein the base station is located on one rover and is adapted to move with said rover when the base station the station is in stationary mode, while in stationary mode the base station is adapted to transmit corrective information (92) to the specified rover. 2. The base station according to the previous paragraph, in which the specified at least one control unit is configured to configure the duration of the period of operation in rover mode and/or the number of averaged locations in rover mode, and/or the GNSS receiver includes a multi-band antenna (83) , and/or the transmitting device is configured to transmit corrective information to one or a group of rovers wirelessly and/or wired, and/or the base station preferably comprises a weatherproof housing (89). 3. The base station according to at least one of the previous claims, in which the transmitting device includes a radio modem (86), wherein the radio modem preferably includes a radio antenna, and/or the radio modem preferably includes a radio antenna telescope, and/or the radio modem is preferably configured to transmit data to frequency range 403473 MHz and/or 902-928 MHz, and/or the radio modem has a range of preferably up to 3 km inclusive. 4. The base station according to at least one of the previous claims, in which the base station contains at least one power supply source (81), in particular at least one battery, and/or means for interface with the power supply source. 5. The base station according to at least one of the previous claims, wherein the wireless local area network (LAN/WLAN) module (87) represents a wireless local area network (LAN) client and/or forms a wireless access point, wherein the wireless access point access device preferably includes a router and/or a mobile device, for example a standard smartphone, preferably configured to function as a wireless access point. 6. A real-time kinematics (RTK) positioning system with a base station (80) of at least one of the previous claims and one or a group of rovers (40). 7. The use of a base station according to at least one of the previous claims 1-5 and/or together with a method and/or control system for agricultural processes, and/or as part of a method for placing planting material, in particular seeds and/or cuttings , and/or seedlings, and/or tubers, and/or bulbs, and/or scions, at a geographically located agricultural facility (25), and/or as part of and/or together with an agricultural machine, in particular with a planter, for placement of planting material, in particular seeds, and/or cuttings, and/or seedlings, and/or tubers, and/or bulbs, and/or scions, on a geographically linked agricultural facility (25), and/or in an area without original points with known coordinates, in particular in agricultural areas without starting points with known coordinates, and/or in areas of application where high accuracy of location data is required, in particular in the areas of selection and/or breeding of seed varieties, and/or seed research. 8. A method for calibrating a base station for use in a real-time kinematics (RTK) positioning system with one or a group of rovers (40), the method comprising the steps of taking the base station (80) with a global navigation satellite system (GNSS) receiver ) (85), a transmitting device, a wireless local area network (LAN/WLAN) module (87), wherein the base station is located on one rover and moves with the specified rover when the base station is in stationary mode, while in stationary mode the base station transmits correction information (92) to the specified rover, the base station is operated in rover mode, in which correction information is received from a network transmission server according to the NTRIP standard, and at least two locations of the base station are determined in the mode rover according to the received correction information from the NTRIP server, wherein the rover mode positions are positions of the base station determined when the base station is operating in the rover mode, determining an optimized location of the base station by averaging the at least two rover mode locations. 9. The method for calibrating a base station according to at least one of the previous claims, wherein the base station (80) is in a constant position during operation in rover mode, -