FR3128354A1 - CONTROL DEVICE AND METHOD FOR CONTROLLING PLANTS - Google Patents

Abstract

Control device (BV) and method for the targeted elimination of a plant (T1, T2, T3, T4) previously growing in the ground of an open space (G) and identified, in which, in addition to a engagement means for the extraction of the plant (Struggle) from the ground, a pretreatment element is provided in order to remove the vegetation or the soil above the plant before the struggle. Fig. 1

Description

CONTROL DEVICE AND METHOD FOR CONTROLLING PLANTS

The present invention relates to a control device and a method for controlling a previously identified plant in open ground.

Various plants are known to agriculture, and are perceived as troublesome on pastures because they are avoided by grazing livestock, hinder the growth of fodder grasses or contain toxic elements which can even lead to the death of livestock. Among these plants, mention may be made in particular of rumex or ragwort, against which control by chemical means or by physical removal (hereinafter the reference to rumex is not limiting, but must on the contrary be understood as being representative of any plant to be removed within the meaning of this invention). Since the use of chemicals for weed control is often undesirable, mechanized or manual removal of dock is preferred, manual removal from the ground being tedious and expensive.

But mechanical control also, occasionally with the removal of dock, requires the time-consuming use of personnel to approach the various plants in the field by vehicle, and to operate tools suitable for the control of dock. Admittedly, possibilities for automatically recognizing and eliminating certain plants in the field using image recognition means are known. Often, however, the fight does not take place completely or sustainably, so that the plants can sprout again.

In particular, a resumption of germination of plants to be controlled from root residues still poses largely unsolved problems for conventional methods. Even the smallest remnants of roots are enough for the plant to sprout from what are called renewal buds. Another problem is the pest-damaged area around the plant. This is the area above the roots of plants or adjacent to parts of plants protruding from the ground, also referred to as grass cover or hereafter referred to as "vegetation". Vegetation broken up and “ploughed up” by the struggle allows the rumex seeds lying in the ground to germinate more easily, the rumex being a plant with germination triggered by light. Care must therefore be taken to preserve as much grass cover as possible. In addition, no soil residues should be scattered during the fight, as these can significantly harm the health of the livestock.

The object of the invention is therefore to provide an improved economical control device and a similar method for the targeted automated control of particular plants or groups of soil plants.

The problem is solved by means of a mobile control device for the targeted control of a plant previously growing and identified in the soil of an open ground, in particular rumex or ragwort, the control device being configured as a wheeled or tracked vehicle equipped with at least one drive, automatically movable in open terrain and having a chassis,
the control device further comprising:
a) a struggle mechanism with engaging means arranged along an axis which, starting from a rest position above the plant along a path of movement in the direction of the axis can be lowered onto the plant to come into mechanical engagement with the plant for its elimination (Struggle)
a1) the plant being removed from the ground for further destruction and/or disposal, and/or
a2) the root system of the plant being destroyed in the soil.
characterized in that
b) in addition to the engagement means, a pretreatment element is provided for the preparation of the fight, which is configured for the purpose of subjecting the vegetation at a target position above the root of the plant to a pretreatment facilitating the struggle before the means of engagement comes into engagement with the plant.

Advantageously, the preprocessing element:
a) is configured as a shovel which is movable relative to the axis, preferably orthogonal thereto, in order to reach vegetation or a layer of soil containing it from below and lift it from the target position with complete separation from adjacent vegetation, and/or
b) comprises at least one flow element which is configured to direct a flow of gas, in particular an air flow, onto movable or flexible parts of vegetation and thereby blow them away laterally from the position target, and/or
c) comprises a pusher, which is movable relative to the axis, preferably orthogonal thereto, in order to push the vegetation or a layer of earth containing it out of the target position in a forward lateral movement without complete separation adjacent vegetation, and/or
d) comprises cutting means with which the vegetation above the target position can be cut in order to prevent during the fight the envelopment of the engaging means with parts of the vegetation.

Advantageously, the pretreatment element is movable into and out of the path of movement of the engaging means.

Advantageously, the engagement means is movable relative to the frame in at least one, preferably in two directions orthogonal to each other and horizontal, in order to be able to move the engagement means exactly above a plant or from a target position without the control device being set in motion.

Advantageously, the means of engagement for the fight comprises a mobile milling head in rotation around the axis and which breaks the root system of the plant in the ground.

Advantageously, the engagement means for the fight comprises a gripper which is configured to grasp the plant in the ground in order to then release it from the ground.

Advantageously, the axis or its virtual extension is located inside an envelope curve lying parallel to the terrain and which runs externally around the wheels or drive tracks of the control device taken together.

Advantageously, the control device further comprising
a) at least one sensor, preferably configured as a camera, and data processing means, preferably image recognition means, with which the acquired environment data is then checked to see if it corresponds to predeterminable model data (identification), in order to be able to automatically search for certain plants in the field, and/or
b) a position recognition system that is configured to acquire the current position in the field of the control device or a plant identified by it as a target position associated with the plant and store it in a memory.

Advantageously, the control device is configured for the purpose of automatically approaching a predetermined target position on the ground in order to acquire at the target position image data of the local terrain, in particular of a local plant, and/ or control a local plant.

Advantageously, at least one control unit is provided, configured to control via transmission, reception or processing of corresponding signals:
- at least one drive and/or
- a position recognition system and/or
- at least one sensor, preferably with image recognition means, and/or
- the means of engagement and/or
- the pretreatment element
and for storing process data or reading it from memory.

Advantageously, the at least one control unit is configured for wireless communication with at least one remote control and communication unit, to which may in particular belong:
- one or more GPS transmitters,
- one or more external sensors, in particular drones,
- a fixed or mobile control unit for controlling or supplying data to the response system, and
- a data processing and/or storage unit for receiving and securing the data transferred by the control unit.

The problem is solved by a method of targeted control against a plant previously growing in the soil of a land, in particular dock or ragwort, by means of at least one control device as mentioned above, comprising at least one of the following process steps:
10) Movement of the field control device to a predetermined target position;
20) Preparing the control by pretreating the vegetation at the target position above the root of the plant with the pretreating element;
30) Fighting against the plant with the engaging means, in which the engaging means, starting from a rest position above the plant, is lowered thereon along a path of displacement and placed in functional interaction with it.

Advantageously, the following additional process step is carried out before process step 10):
05) Successive acquisition of environmental data along a predeterminable route and respective verification of the environmental data using identification algorithms, in particular image recognition means, as to the matching with predeterminable model data or identification characteristics based on model data (Identification), in order thereby to automatically search for plants in the terrain, in which, for one or more identified plants, the respective position in the terrain is acquired as a target position and stored in association with the respective plant.

Advantageously, the acquisition and verification of environmental data is carried out
a) using at least one sensor on board the response device, in particular a camera (K), and a control unit using this sensor and/or
b) using at least one external sensor remote from the combat device, in particular a drone, and by means of a control unit exploiting this external sensor, preferably also remote from the combat device.

Advantageously, the method of moving the combat device of method step 10) is carried out via the support by means of at least one external sensor comprising a data interface, in particular a drone, whose interface of data is configured for the purpose of, when approaching the target position, reporting data relating to the target position and/or the position of the wrestling device to the control unit of the wrestling device.

Advantageously, at least one screwing element, in particular a blade, inclined with respect to the axis and which can be turned around the latter is provided on the engagement means, so that the engagement means introduced into the ground, depending on the direction of rotation, exerts a pulling or driving force on the ground, and in which the following additional method step is carried out after method step 30):
40) Rotation of the engagement means around the axis in such a way that the screwing element presses downwards the soil previously loosened upwards within the framework of the fight, in order to thus consolidate and renature the soil at the target position.

Advantageously, a sowing element on board the control device automatically spreads seeds, in particular grass seeds, in the region of the target position at least at one instant during the process, preferably before the deposition of a layer of soil or renaturation.

Advantageously, several control devices as described above are employed simultaneously in order to take different or identical routes or target points and to execute one or more of the steps of the method described above.

Advantageously, the consultation of target points and/or the self-positioning of one or more control devices (BV) is carried out by means of cooperative positioning, in which
a) some or all of the control units of the individual combat devices and/or
b) one or more remote control units, in particular controls by drones or fixed servers,
exchange data between them, which relates to a target position or to the position of a control device.

By control within the meaning of the present invention, it is necessary to understand in particular the shredding on the spot of parts of the plant and/or of its roots to an extent such that the remaining residues can no longer germinate. Preferably the shredded remains have a maximum length of no more than 20mm, most preferably less than 10mm. Additionally, control can also include removing the plant or parts of it from the ground and evacuating it.

A target position is associated with each plant against which it must be fought within the meaning of the present invention. By this is meant the exact position of the plant against which it must be fought in the field. A target position for weed control is characterized by univalent position data with which a plant to be controlled or the location of the control in the field can be determined or predetermined( e) as precisely as possible. In a broader sense, a target position can also be defined independently of a plant, for example as a waypoint on a route or as another position in the field, related to the fight against the plant.

One aspect of the invention is based on the idea of using a control device in the form of an automatically movable vehicle, which is configured for the purpose of automatically eliminating certain plants in the field. In order to identify the plant against which it must be controlled in the field, the control device can embark its own means which allow such identification in an almost self-sufficient manner in the field. An alternative embodiment, according to which the control device is fed with data previously acquired in another and external way, is described in more detail below.

The vehicle is configured to move automatically through the terrain and to a plant to be removed or to the target position of it in order to fight the plant, from the ground. For the control of the plant, a control mechanism is provided, which in turn can receive an engaging means which interacts with the plant. The struggle mechanism may include a driven shaft, preferably movable vertically up and down, to provide rotational energy to the engaging means and thereby drive it. The engagement means may, for example, comprise a struggle element in the form of an endless screw and/or equipped with cutting elements, which rotates around a Z axis and can be introduced by screwing into the ground or into the local plant root at the target position. With a sufficiently high rotation speed, the plant and in particular its roots in the ground are fragmented finely enough to effectively prevent it from sprouting again. Other embodiments of the engagement means are also possible, for example endless screw elements rotating in opposite directions, circulating one around the other, cutting means of cylindrical shapes or other elements known to those skilled in the art for the fight against soil plants. A special embodiment of the engaging means as a gripper is described below in more detail.

In the aforementioned struggle, it is difficult to prevent the soil at the target position from being loosened and partially excavated. Apart from the visual consequence, plant residues can also thereby be brought to the surface, end up in the forage grass of grazing cattle and threaten their health. Two mutually complementary execution variants of the fighting device or the fighting method provide a parade here.

According to one embodiment, the control device according to the invention comprises a protective coat, preferably cylindrical, which surrounds the engagement means at least above the grass cover. This prevents shredded parts of plants or roots from being thrown radially outwards into the environment, and possibly sprouting there again. The protective mantle can be formed of sheet metal or a narrow mesh network, for example. It can lower itself onto the grass cover with the engaging medium and stay there, while the engaging medium is driven deeper into the ground for the fight and shreds the roots there. Even upon subsequent clearing of the subsoil engaging means, the protective mantle prevents lateral spread of soil (accompanied by root remnants) into a region beyond the target position. To do this, he can lean on the grass cover until the means of engagement is completely clear of the ground or even until he has reached a certain vertical distance from it. Then the protective cloak could also be lifted using a suitable mechanism, so that the wrestling device could search for the next target position.

Another embodiment according to the invention prevents the unintentional propagation of plant remains by an additional process step subsequent to the actual control. For this purpose, the engagement means has at least one screwing element, in particular a blade, which is inclined with respect to the axial direction and can be driven in rotation around the axis. Such a blade can simultaneously form part of a cutting blade implemented in the subsoil for the mulching of roots. The inclination of the blade can be provided in such a way that it is introduced by screwing into the ground in a first direction of rotation (direction of rotation of struggle) during the rotation of the attachment means, whereby it exerts on the ground an effort of relaxation directed towards the surface and loosens it and lifts it partially. This facilitates the penetration of the engagement medium into the soil, but also has the effect that the shredded root system with the loosened soil can come to the surface.

An advantageous embodiment of the method according to the invention therefore provides for reversing the direction of rotation of the engagement means (direction of release rotation) after shredding in the context of the fight. Due to the inclination of the blades, when the direction of rotation is reversed, this leads to the blade still lying in the ground pressing the loosened soil down towards the root of the plants, thereby consolidating the soil and flattens the terrain to a large extent at the target position. For this purpose, the engagement means carrying the blade can be moved gradually or continuously along the axis, which preferably takes place upwards, but if necessary also downwards in the opposite direction, so as to pressing down and compressing the loosened and raised soil as much as possible. Advantageously, regermination of the plant is also complicated by this, especially if it is a light-triggered germination plant.

According to the invention, the control device comprises, in addition to the engagement means, a pre-treatment element in order to temporarily or permanently eliminate the vegetation at the target position before the actual control. Therefore, the engaging means can achieve engagement with the plant in the best possible way. For this purpose, the pre-treatment element can fulfill different functions in order to facilitate and prepare the subsequent control, before the engagement means comes into engagement with the plant.

The pretreatment element can be configured, for example, as a shovel, movable relative to the axis (Z), preferably orthogonal thereto, in order to reach from below and remove vegetation or a soil layer at the target position. The removed material can then be completely separated from the adjacent vegetation and rest freely on the shovel. Here, the part of the plant protruding above the grass cover can also be jointly excavated by shoveling or sectioning. The material can be temporarily stored away from the target position in case it needs to be brought back there after control - for example for renaturation purposes. Disturbing parts of the plants, however, must be adequately removed.

Instead of a shovel, the pretreatment element can also be configured in a simplified manner as a pusher. This is movable with respect to the axis (Z), preferably orthogonal thereto, and is configured to push the vegetation or a layer of earth containing it outwards in a lateral movement of advance, d a certain distance from the target position (P). The layer of soil displaced by this need not be completely separated from the surrounding soil or vegetation, but can be pushed or spread in a scraping motion to one side of the target position. The advantage here is that the layer of earth still remains connected to the surrounding soil at one end. By a movement of the pusher in the opposite direction, subsequent in itself to the struggle, the layer of accumulated soil can spread again and thus again cover the target position. Renaturation is thus simplified. In particular, the restoration of the grass cover and/or grass clippings prevents the surface of bare earth from being abandoned after the fight. Thus, the germination of light-triggered germination dock is highly complicated.

Also conceivable is a pretreatment element with at least one flow element, which is configured to direct a flow of gas, in particular an air flow, over movable or flexible vegetation parts at the target position. Thanks to this, it is advantageously prevented that weeds wrap around the engaging element while the latter is screwed into the ground. Vegetation parts do not necessarily have to be uprooted or permanently removed from the target position. Instead, it is sufficient to blow away the herbs from the base of the Z axis by a suitable choice of the direction of flow. In particular, the flow rate can in particular also be maintained during the actual struggle in order to keep the rotary engaging means free of interfering weeds.

A cutting means with which the vegetation above the target position can be cut can also be considered as a preprocessing element. The cutting means may comprise several cutting elements, movable relative to each other and preferably driven in a motorized manner, for example in the manner of shears. In this way, too, envelopment of the engaging means with parts of vegetation or grass can be prevented during the struggle. Unlike the flow element described above, the vegetation here is permanently cut. Here, the part of the plant to be fought against growing above the grassy canopy can also be cut. This reliably prevents the accidental wrapping of the engagement element with weeds, the subsequent renaturation, however, being somewhat complicated by the cut.

The functional characteristics of the mentioned pretreatment elements can also be structurally combined with each other. For example, it is conceivable to provide cutting elements on a forward edge region of a shovel or pusher to optionally or additionally cut, shovel or push aside vegetation or soil.

The (temporary) removal of the weed above the site of control allows the duration of application to be extended significantly beyond the period immediately following the removal, because it can thus be avoided that the means of control is hampered by tall grass. As the volume of grass cluttering the wrestling area increases, the wrestling effort increases both in terms of energy and the wrestling equipment required. It can be assumed that once an individual grass volume threshold value has been reached, a control device is no longer able to carry out effective control. In the border zone, where control is just possible, the benefit lies in a gain in efficiency compared to energy-intensive control at medium grass heights. Comparable preparatory steps are conceivable in order to remove stones or other bulky objects from or within the wrestling area or thereby act on them in such a way that subsequent wrestling is made possible or facilitated. .

Pre-treatment can be done immediately before the actual control (the means of engagement interacts with the plant) or at a longer time interval (e.g. several hours or days) before it. For example, vegetation could already be cleared after an initial field inspection at an identified target point, while the actual control takes place a later day.

According to the invention, a mobile combat device is provided, configured as a wheeled or tracked vehicle movable automatically on open ground and comprising a chassis. The vehicle is intended for a targeted fight against a plant having previously grown and identified in the soil of the site, the plant being able to be in particular rumex or ragwort. The struggle device comprises for this purpose a struggle mechanism with an engagement means configured, for example, around an axis of rotation. Starting from a rest position above the plant relative to the frame, the engaging means can be lowered onto the plant along a path of travel in the direction of the axis of rotation. This is done with the aim of interacting with the plant and extracting it or its root system from the soil (control). Preferably, the vehicle then remains substantially immobile, i.e. it maintains the position it has taken on the ground during the struggle so that the engagement means can interact with the plant at the target location. The fight is preferably carried out by shredding the roots in the ground without picking up plant material and disposing of it elsewhere. However, it is quite possible, for example using the aforementioned shovel, before or after the fight, to pick up material at the target position and to dispose of it elsewhere.

A pretreatment element provided, for example, as a shovel, pusher or cutting means is preferably configured for the purpose of removing vegetation and/or clearing a layer of soil in a sideways movement directed transversely to the axis of rotation or the direction of actuation of the engagement means before the fight takes place. For this purpose, the pretreatment element can be to a large extent rigidly coupled with the chassis, so that the lateral movement takes place by displacement of the whole vehicle while the pretreatment element is for example lowered to the upper edge of the pitch. Alternatively, it is conceivable to move the pretreatment element relative to the chassis with a drive specifically provided for this purpose, so that the vehicle can remain essentially stationary during the pretreatment. In this case, the directions of the movements of the engagement means on the one hand (up and down) and of the pretreatment element on the other hand (laterally or orthogonally thereto) intersect at the level of the target position, and it must be ensured that the preprocessing element is movable to completely exit from, and return to, the travel path of the engaging means, so that the two components do not collide. The pretreatment element configured as a shovel, pusher or cutting means can preferably be lowered from a raised rest position to a working position in which it is at least partially on or below the upper edge of the ground. The pretreatment element can preferably be moved between the rest position and the working position (or also an optional intermediate position between these) by a pneumatic, hydraulic or electric actuator, in order to be able to predetermine via that -ci the engagement or depth of penetration of the pre-treatment element into the ground.

According to an advantageous embodiment of the invention, provision is made for the vegetation cut by the pre-treatment element and/or the layer of soil cleared at the target position to be temporarily stored in order to be redeposited in the ground at the same place. as a renaturation measure after the struggle. By this, not only the consequences of the fight visible from the outside are minimized, but the success rate of the fight is improved for the following reason already indicated above:

If the fight against the plant is not complete and, for example, not sufficiently finely shredded, there remains a risk that it will rebud. Some of the troublesome plants, including dock, belong to light-triggered germination plants, so they need a certain amount of daylight or sunlight to germinate or bud. If the land at the target position remains open after control, under-controlled plants can easily bud again. If, on the other hand, the ground is covered after the struggle by vegetation and/or a layer of soil and the subsoil is darkened, this then significantly complicates the new budding of plants with light-triggered germination. The success rate for the permanent removal of troublesome plants is thus considerably improved.

For renaturation, it is possible to return the material (vegetation and or layer of soil) previously removed to the target position after the struggle. In this way, the previous topology of the terrain is to a large extent restored and the struggle is hardly noticeable visually in comparison with a struggle without renaturation. For this purpose, the vehicle would first be controlled in such a way that with the aid of the preprocessing element, at the target position, the vegetation and/or the soil is cut, pushed aside or excavated according to a definable layer thickness. This can be done in one forward motion with the pretreatment element lowered onto or into the ground. By subsequently moving the vehicle or by lifting and pivoting the pre-treatment element, it can be moved out of the target position in order to then begin the fight there. After a successful struggle, the previously removed material can be brought back to the target position, for example by means of a shovel or a pusher, in order to reinsert the material into the ground by lowering, tilting or pushing it back.

Alternatively, however, it is also conceivable to divest "foreign" material at the target position on the ground after the fight in order to obtain a concealment effect. For example, soil taken from another location could be used for this purpose with the pre-treatment element. Another possibility is, for example, coverage by a temporarily applied element. This can be, among other things, a cylinder covered with a top cover or a screening object. Preferably, however, this object still allows the germination of important forage grasses for livestock.

According to an embodiment of the method, it is provided that the material resting on the shovel is detached from the shovel at the target position using the engagement means. To do this, the shovel is moved to the target position and the engaging means is lowered onto the shovel to come into loose contact with the contents resting on the shovel. By subsequent relative lateral movement of the shovel and the engaging means (for example by withdrawing the shovel from the target position) the contents of the shovel are detached from the shovel by the engaging means, which then remains preferably stationary, and falls to the ground at the target position. In addition, the vehicle can then also be moved in a targeted manner so that one or more wheels or tracks crush the loosened soil deposited at the target position and thus consolidate it.

The pretreatment element is suitably movable relative to the frame in at least one, preferably two mutually orthogonal and horizontal directions via suitable transverse guides. In this case, the vehicle can remain stationary in the region of the target position while the preprocessing element or the engaging means is maneuvered.

According to another advantageous embodiment of the invention, the engagement means is configured in the manner of a gripper which comprises at its lower end facing the ground several gripping arms or fingers. The gripper can be lowered, or alternatively inserted or pushed, into the ground at the target position with the gripper arms open such that the then closing gripper arms grip the plant firmly in the ground against which it is to be grappled. The plant is then released from the ground upwards by a subsequent upward movement of the gripper. Any soil possibly adhering to the plant is also cleared with it. The gripper may, for example, be driven with the shaft of the struggle mechanism and may comprise a suitable gear in order to transform the rotational movement of the shaft into an opening or closing movement of the gripping arms. The gripper is preferably maneuvered automatically by piloting with a control unit of the control device.

A development of the invention advantageously interacting with this embodiment provides an extermination mechanism to which the plant previously cleared from the ground can be provided. The extermination mechanism is preferably a shredder or grinder that shreds the plant supplied to it. The extermination mechanism is preferably configured in such a way that a plant previously cleared from the ground can be fed to it from above or fall into it. To this end, the grippers with the plant retained in them are movable relative to the extermination mechanism so that the plant can, by opening the grippers, fall from above into the extermination mechanism in order to be shredded there. The killing mechanism is preferably configured in such a way that the plant material it has shredded can fall downwards - ideally at an opening of the killing mechanism facing the ground. Preferably, the killing mechanism is arranged for this purpose above the target position, so that the shredded material is redeposited in the ground where the intact plant was previously cleared. A funnel can be provided for the precise distribution of the material on the floor, which funnel deflects the falling material from the killing mechanism into the floor opening in a targeted manner. The funnel can be connected to the extermination mechanism and be movable in common with it. The killing mechanism can essentially be fixedly connected to the frame or can also be arranged to move relative to it. In order to densify if necessary the returned material returned to the ground, and to renature the ground, it is possible to provide a compactor which presses from the top on the released material in order to push it deeper into the ground or to compact it. The gripper itself can also be used as a compactor, for example with horizontally spread fingers.

According to another embodiment of the invention, the control mechanism can assume several of the aforementioned functions and, for this purpose, accommodate different tools simultaneously or successively. For example, the control mechanism could comprise an adapter at its lower end facing the ground, with which one of the aforementioned tools is optionally coupleable. For example, different engagement means (milling cutter, gripper, screw element, worm elements, etc.) or preprocessing elements (shovel, pusher, flow element, cutting means, etc.) or even a mechanism extermination could optionally be coupled to the adapter, depending on the intended processing step. The individual elements, which can be coupled with the adapter, are preferably kept ready in a magazine of the device, so that the change of the individual elements can be carried out manually or, preferably, automatically. Driving forces for the respective tool can be initiated in the respectively coupled element using a rotating shaft of the struggle mechanism.

In an alternative embodiment, the struggle mechanism comprises a rotating turret of the revolver type on which the various elements are pre-installed in a fixed manner and can be pivoted into a working or resting position according to the rotational position of the rotating turret of revolver type.

In a preferred embodiment, the combat device according to the invention is distinguished by its particularly compact and stable design. For this purpose, provision is made for the engagement means to be located between the wheels or tracks of the vehicle, by means of which it moves over the terrain. More specifically, this means that the axis of rotation of the engagement means (or its imaginary extension or its center of mass or central point) is included in an envelope lying parallel to the terrain or projected perpendicular to the terrain. This envelope runs around the drive wheels or tracks of the control device. By such a structural arrangement, the control device benefits from a particular stability, in particular also during the fight, because the center of gravity of the whole of the control device is then as close as possible to the axis of rotation ( or center of mass or center point) of the engaging means, and the total weight of the struggle device can be well used as a preload for the penetration of the engaging means into the ground. If, on the other hand, the axis of rotation, the center of mass or the central point were outside the aforementioned curve, that is to say for example laterally outside, or even in front of or at side, wheels or tracks of the vehicle (outside the envelope curve), then the distance between the axis of rotation, the center of gravity or central point of the means of engagement and the center of gravity of the device of struggle would be greater and the total weight of the struggle device would be less usable as a preload for the means of engagement due to unfavorable leverage effects.

According to another advantageous embodiment of the invention, the combat device comprises at least one recognition sensor (hereinafter also "sensor") and associated data processing means, in particular image recognition means , in order to self-identify the plants that can be considered for control. The sensor preferably operates multispectrally and is configured as a camera. By means of the sensor and the data processing means, environmental data, in particular image data of the terrain or of the vegetation therein, can be generated, and verified as to the presence of certain plants using identification algorithms, which data may be logged, using suitable model data or identifying characteristics derived therefrom, for data comparison. By this, it becomes possible to automatically recognize disturbing plants in the field ("identification") and to create and process associated data (e.g. concerning the approximate size of the plant).

Model data can also be or contain threshold values. In particular in the case of images acquired with thermal means, such threshold values can delimit or predetermine the size of the object which can be considered, the intensity of the image or of the spectral lines relevant for the exploitation. The model data also includes threshold values and weights in neural networks.

Further, a position recognition system preferably provided, which is configured to acquire the current position in the field of the control device or a plant identified by it as a target position associated with the plant and store it in a memory. By this, it becomes possible to acquire the associated target position in the field for each plant identified in order to be able to automatically approach this target position for the purposes of control or even for later verification. The position recognition system can, for example, be configured to communicate with a “Global Navigation Satellite System” (GNSS, or in English “Global Navigation Satellite System”) supported by satellites, such as for example the “Global Positioning System” (GPS, or in English “Global Positioning System”) American. Positioning systems common to those skilled in the art, or associated, other or complementary components may also be used, such as "Realtime Kinematic Positioning" (RTK) or Simultaneous Localization and Mapping (SLAM) The resolution of the position recognition is chosen appropriately such that the target position of a plant in the field can be described accurately enough to be able to undertake the fight with the necessary precision at the location of the plant .

Assisted by image recognition and position recognition, the control device according to the invention is able to move autonomously over a predetermined terrain and thus to identify certain plants, predetermined by model data, and to record their position on the field (target position). Furthermore, the control device according to the invention is able to automatically traverse all or a predeterminable selection of target points successively in order to control local plants at the respective target position and, if necessary, to renature the ground at the same time. using the preprocessing element. The fight can therefore take place immediately after an identification, or only after the ground has been covered and all the target points have been determined. In particular, a struggle with a certain time lag is thereby also possible. The advantage here is that the reconnaissance can be carried out, for example, in good weather conditions, while the fight only takes place the next day.

By acquiring the target points, the success of the weed control can be checked particularly well, because in the time interval following the control, the control device according to the invention can visit the associated target point again and check for the presence of newly formed plants and control them again if necessary. This allows in particular a learning process of recognition algorithms (AI learning) and the method of fight.

An alternative embodiment of the invention provides that the plants against which it is to be controlled and their respective target position are acquired with external means provided separately from the control device as "external sensors" in order to then transmit associated data to the control device. In particular, it is possible to fly over the land with one or more drones and then to analyze with suitable sensors in order to identify the plants against which must be fought by using suitable image recognition algorithms and to acquire their respective position on the field. Such data can be recorded in a control adapted to the drones or in a remote control and communication unit which communicates with them, in order to then be transmitted to a control unit of the combat device (for example, without wire by radio, using a USB key or by other means of storage and transmission familiar to those skilled in the art). If necessary, the data transmission can also be transmitted to the response device by the drone(s) or the remote control and communication unit immediately after their generation and without delay (in real time) in order to be able to immediately initiate the fight.

In addition to transmitting target positions to be steered by the control device, the transmitted data may also include path planning to specify to the control device a time-optimized path in the field, for example, along which plants against which it must be fought are located as densely as possible one after the other. Such route planning is preferably generated by the remote control and communication unit. To this end, it can also admit and exploit the data of one or more drones as well as supply one or more response devices with a route planning based on these data and individual for each response device. By this, the ground to be worked can be traversed in an energy- and/or time-optimized manner with a predeterminable number of control devices according to the invention in order to fight in an optimized manner against a selection of plants which can be predetermined by place or number. The remote control and communication unit may also include historical position data of plants to be combated in route planning. This can, for example, occur in order to prevent attempts at re-germination of plants against which it is to be controlled at an early stage or to serve the purpose of checking the last treatment.

With this external data supply, the function of the control device can be limited to simple control of the plant, while the recognition of plants and the determination of their position is carried out by the drones mentioned by way of example. Of course, other suitable means can also be used instead of drones to identify plants and their position. Basically, it can also be considered that a worker walks through the field on foot and, having found a plant to be fought against, to document his position in the field (acquired semi- or fully automatically, for example by GPS data logging of current positioning location). Alternatively, the control device can itself be equipped with a corresponding sensor(s) system in order to readjust position data of the plants against which it is to be controlled, predetermined by the remote data supply, before the actual fight does not take place.

The fight device according to the invention preferably comprises at least one control unit which is configured for the control of some, or all, of the components of the fight device or for wireless communication with a control unit. and remote communication or one or more drones. In particular, the control unit can be used for the purpose of controlling one or more drives of the vehicle in order to move the latter along a predetermined route or to certain target positions. With it, the control of the pre-treatment element and the control mechanism is also possible. The control unit can also be configured for the exchange of data with the position recognition system, with at least one recognition sensor such as for example a camera or its image recognition means. The control unit may comprise all the data processing means necessary for the operation of the combat device. For all electrically operated components of the fighting device, this can include a battery as power supply, which can preferably be charged with photovoltaic means even during operation in the field.

The essential function of the control device according to the invention is to automatically reach a target position on a predetermined terrain, to clear vegetation or a layer of soil there and then to control a plant identified at the target position. This method can be extended by automatically driving the vehicle along a predetermined route over the terrain and acquiring the terrain using the sensor with optically generated image data.

This image data can be checked using image recognition means for correspondence with predeterminable model data of certain plants (Identification). Accordingly, plants of this type can be automatically found in the field, the respective position in the field for one or more of such identified plants being acquired as a target position and stored in association with the respective plant. This process allows the completely autonomous elimination of troublesome plants from a predetermined area, without an operator having to be present during it. As already explained above, the acquisition of the land can also be carried out using external means, for example drones.

According to one embodiment of the method, the control device may first traverse the terrain in order to acquire the individual plants and their target points, without immediately controlling them. This may be adequate to initially analyze the data thus acquired and modify it if necessary. After the transmission of the data, in a second step, the control device can automatically run through one, several or all of the target points in order to undertake the pre-treatment there by means of a pre-treatment element and the subsequent control against the corresponding plant. . Of course, according to a declined form of the method, this can also be done immediately after identification of a plant at the associated target position. In this case, the elimination of the plant is carried out in a time-optimized way, since a repeated passage to the same target position until the fight becomes unnecessary.

If the acquisition of the plants against which it is to be controlled is carried out by external means (for example drones), the position data determined by the external means can then be transmitted to one or more control devices mobilized simultaneously or to a remote control and communication unit connected between them. Using suitable external algorithms, an individual path, along which the associated target points are to be traversed, can be calculated for each individual combat device by means of the identified target points and the number and position of deployment of the control device and transmitted to the respective control device. Route planning can be carried out by one or more drones, by one or more remote control and communication units or by one or more control units of the combat device itself and the result can be transmitted to other other control measures possibly implemented at the same time.

The individual work steps to be performed (eg identification of target points, pretreatment, control, renaturation) can also be distributed among several control devices according to the invention implemented successively or simultaneously in the field. A preceding device could thus identify the target points, another device traversing these target points could pre-treat the target points by removing the surface vegetation, while another control device undertakes the actual control against the plant with the means of commitment. The control devices are preferably located in exchange of data with each other and/or with a higher level control unit.

According to another advantageous embodiment of the invention, it is conceivable that a sowing element on board the control device automatically takes seeds, in particular grass seeds, from a seed reservoir at least at one instant during of the process, preferably before depositing a layer of soil at the target position, and spreads them in the region of the target position. By this, a desired vegetation on the location of the control of the unwanted plant is additionally promoted and a new germination of the plant against which it is to be controlled is complicated.

Other characteristics, details and advantages of the invention will appear on reading the detailed description below, and on analyzing the appended drawings, in which:

Fig. 1

is a vehicle according to the invention in a simplified representation;

Fig. 2a

is a partial view of the vehicle in a first implementation;

Fig. 2b

is another partial view of the vehicle in a second embodiment;

Fig. 2c

another partial view of the vehicle in a third implementation;

Fig. 2d

another partial view of the vehicle in a fourth implementation.

There shows a simplified perspective representation of a BV combat device according to the invention, embodied in the exemplary embodiments by a vehicle F. The vehicle F comprises a chassis C as a frame structure, which accommodates four wheels, each with an associated drive, on an underside facing the terrain G. By appropriate piloting of the individual drives, the vehicle F can be moved on the terrain G, for example in the direction of the arrow shown.

A struggle mechanism M is arranged approximately in the center of the frame C and comprises an engagement means E which is movable along a path of movement V in the direction of a vertical axis Z (see to 2d). A sensor K configured as a camera is also arranged on the frame C, with which the environment in front of the vehicle F and the terrain G can be acquired. Via image processing means, not represented in more detail, of the combat device, the data acquired with the camera can be exploited and compared with predeterminable model data. In addition, the combat device according to the invention comprises position recognition means D which communicate with a global positioning system (for example GPS-RTK) in order to be able to determine, or verify, precisely the current position of the vehicle F on terrain G, so that it can also steer automatically to a predeterminable target position on the terrain. A battery B, also chargeable by solar cells, supplies electricity to all the electrically operating components of the combat device.

A control unit S is provided for controlling the wheel drives, the camera K, the engagement means E and the position recognition means D as well as other components, via which the required exchange of signals takes place. The control unit S is furthermore also configured for wireless communication with a remote control and communication unit S*. This remote control and communication unit S* can itself be arranged fixed or mobile and be used for the purpose of transmitting data to the vehicle S or of receiving data from the latter. This may include, in particular, status or control data (current position, battery charge status, number and designation of target positions already traversed or to be traversed, route along certain target positions, operating time, etc. .).

There shows a dotted envelope curve H, projected on the ground, which encircles the wheels and thus approximately circumscribes the grip on the ground of the vehicle F. The extension of the axis Z (and the means of engagement E rotating around that -ci) stands inside the envelope curve H, so that the engagement means E can be lowered onto or into the terrain G between the wheels and thus close to the center of gravity of the vehicle. Therefore, the engagement means can use a large part of the total weight of the vehicle as a pushing force in order to be able to penetrate the ground.

THE in 2d show a representation of the control mechanism M in cutaway view in perspective laterally from above or laterally from below (for the sake of readability, the repetition of reference signs has been largely dispensed with). Two transverse guides Q oriented parallel to each other, which are fixed to the frame C, not shown here, allow the horizontal displacement of the control mechanism M relative to the frame in the direction shown by the double arrow. For this purpose, a linear drive, not identified in more detail, is controlled by the control unit S as required.

The grappling mechanism M comprises the engagement means E and a seed reservoir W, by means of which seeds can be placed in the region of a target position P after successful grappling, in order to produce the vegetation there. desired, for example with fodder grass.

There further shows a pretreatment element A configured in the form of a shovel, which is arranged at the lower end of the struggle mechanism M and preferably just above the upper edge of the pitch. The pretreatment element A can be tilted from a raised rest position to a lowered working position in which it can, for example, lift or dig a layer of earth above a target position. For this purpose, the vehicle F could be moved slightly in the direction of the front edge L of the excavator with the pre-treatment element A lowered, so that the layer of soil to be cleared is separated from the ground by the front edge L and pushed onto the upper side of the shovel. (Alternatively, the shovel could also be transferable back and forth relative to the C frame via a lifting cylinder or similar mechanism). The front edge L of the shovel is configured in the shape of a serration so that it can penetrate the ground more easily. A driven or passively working cutting mechanism, by means of which grass or other vegetation above a target position P can be removed, could also be arranged on the front edge of the shovel. Material removed with the shovel may temporarily remain on the shovel.

As seen in , the engagement means E comprises a propeller-shaped screw comprising three blades, surrounded by a cylindrical protective coat. This can rotate around the axis of rotation Z and at the same time be driven downwards into the ground to shred there a plant against which it is to be fought or its roots or to free it from the ground. The screw can be operated via a feed or rotation drive, not further identified, of the grapple mechanism. Depending on the direction of rotation of the auger, its blades loosen or compact the soil. The shredding of plant roots (rotation of the engagement means in the "direction of rotation of struggle") is facilitated by the loosened soil, while the renaturation is facilitated by the compression of the previously loosened soil (opposite rotation of the engagement, i.e. in the direction of release rotation).

There shows in simplified representation another embodiment of the control device according to the invention. In addition to the shovel already described above, this device additionally comprises another pretreatment element, namely a compressor N1 and an associated blower nozzle N2. The compressor supplies the air nozzle with air sucked in from the environment and compressed. To this end, the blow nozzle is arranged and positioned so as to be directed towards the engagement region of the engagement means E when the latter penetrates the ground. Any vegetation therein, in particular grasses, is thus blown laterally, so that the engaging element can penetrate the ground unhindered and fight against the plant root. Instead of the compressor or in addition to it, a pressure accumulator can also be provided, which makes available or can accommodate sufficient air for the impending combat cycles.

There shows the struggle mechanism M of a struggle device BV according to the invention with an engagement means configured as a gripper EG, which is provided instead of the engagement means E shown in , configured as a propeller-shaped screw. The EG gripper is movable with the help of a lifting mechanism not described in more detail up and down like the screw according to the . The EG gripper or other engagement means, as desired, can preferably be coupled to the same lifting mechanism, for example by means of an adapter.

The gripper EG comprises several gripping arms, not shown in more detail, which are pivotable towards and from the other in order to grab and grip a plant T in the ground. For this purpose, the gripper can be lowered into the ground along the Z axis to a target position P. By actuating the gripper arms, the plant can be gripped in the ground and released upwards along the Z axis using the lifting mechanism.

The embodiment shown in further comprises an extermination mechanism J, which is configured here as a grinder and which is driven by a motor not described in more detail. The mulcher has an upper opening, not visible in this illustration, through which the plant released by the gripper EG can be introduced or dropped into the mulcher. For this purpose, the gripper EG and the crusher J can be configured to be movable relative to each other. The shredder may include rotating knives or other cutting means to finely shred the plant and possibly any soil adhering to it. The grinder is also open on its underside, so that finely ground plant parts can fall out of it downwards. Preferably and if necessary, the control mechanism M carrying the grinder J is moved so that the lower opening of the grinder is located above the target position P of the previously cleared plant in order to be able to replenish the soil with crushed plant parts. A compactor, not shown here, can compress the ground.

A use according to the invention of the fighting device with a shovel as a pretreatment element is described as follows with reference to the :

The vehicle F is driven on the terrain G by the control unit S along a predetermined route. The position recognition system D constantly acquires and monitors the current position using the control unit. The ground G lying in front in the direction of travel is optically acquired via the camera K and the associated image recognition means, then it is examined whether particular types of plants T are there. (Alternatively or in addition, this examination could also be carried out using external K* sensors, for example drones). If the system recognizes such a plant, for example the dock plant T2 represented at the bottom right in FIG. 2, it then determines at the same time the position on the ground of this plant using the position recognition means D, and assigns this position of the plant as a target position P. A target position P1, P2.. .is indicated in by a small three-dimensional coordinate system to indicate a position within a GNSS global positioning system. The T2 plant of the would be associated with the target position P2 accordingly. Other plants T1, T3, T4 as well as afferent target positions are shown in for exemple. Of course, there is no need for a plant to be at every target position. In particular, other path points with positions on the predetermined route can also be predetermined. A non-detailed example could include target positions for obstacle avoidance.

In order to combat a previously identified T1 plant at its associated target position, the vehicle is first moved so that the pretreatment element A can be lowered laterally next to the target position to a working position so that you can reach the ground from below. Then, the pre-treatment element A is transferred above the target position P1 in order to pick up and clear away a layer of soil above the plant T1 against which it is necessary to control. The relative movement can take place by transferring the pre-treatment element A relative to the frame C or by moving the entire combat device BV with the pre-treatment element A positioned rigidly on it.

In reverse motion, the pre-treatment element A is then moved laterally away from the target position Z1 with the layer of earth resting on it. Then, the engagement means E of the struggle mechanism M is disposed above the target position and lowered onto the sole T1 in the vertical direction. By rotating the screw during its simultaneous advance into the ground, the plant is caught by its roots and crushed to such an extent that a new germination of the plant parts is prevented. The cylindrical protective mantle configured around the auger ensures that the surrounding soil is not contaminated with shredded parts of the plant or its roots. By subsequent reversal of the direction of rotation of the screw, the earth is again compressed to the desired target compactness. Advantageously, the reseeding mechanism is actuated at this stage at the latest in order to optimally mix the mixture of seeds with the loosened and recompacted soil.

Immediately afterwards, the pre-treatment element is then again positioned above the target position and, by piloting, is caused to deposit the layer of earth resting on it on the ground at the target position. As a result, the working position is optically embellished on the one hand, and on the other hand the subsoil is darkened at the target position in order to prevent the regermination of remaining shoots of the T1 plant against which it was previously fought. . In the same way, other plants T2, T3, T4... can then be fought at their corresponding target positions P2, P3, P4...

At a later time (for example after four weeks), the control device can be piloted again towards the target positions previously visited in order to check with the camera and the image recognition means whether the control which has been undertaken there has respectively been complete, or successful, or if residual parts of the unearthed plant remain in the ground and have been able to germinate again. In this case, the struggle can be repeated there.

Claims (19)

Mobile control device (BV) for the targeted control of a plant (T1, T2, T3, T4) previously growing and identified in the soil of open ground (G), in particular dock or ragwort, the control device ( BV) being a wheeled or tracked vehicle (F) equipped with at least one drive, automatically movable in open terrain (G) and having a chassis (C),
the control device (BV) further comprising:
a) a struggle mechanism (M) with an engagement means (E, EG) arranged along an axis (Z) which, starting from a rest position above the plant (T1, T2, T3, T4) along a path of travel (V) in the direction of the axis (Z) can be lowered onto the plant (T1, T2, T3, T4) to come into mechanical engagement with the plant (T1 , T2, T3, T4) for its elimination (Fight)
a1) the plant (T1, T2, T3, T4) being dug out of the ground for further destruction and/or disposal, and/or
a2) the root system of the plant being destroyed in the soil.
characterized in that
b) that in addition to the engagement means (E, EG), a pre-treatment element (A) is provided for the preparation of the fight, the pre-treatment element being capable of subjecting the vegetation to a target position (P ) above the root of the plant (T1, T2, T3, T4) to a pretreatment facilitating control before the engaging means (E, EG) comes into engagement with the plant (T1, T2, T3 , T4). Fighting device (BV) according to Claim 1, characterized in that the pretreatment element (A)
a) is a shovel which is movable with respect to the axis (Z), preferably orthogonal thereto, in order to reach vegetation or a layer of earth containing it from below and lift it from the target position (P) with complete separation from adjacent vegetation, and/or
b) comprises at least one flow element (N2) suitable for directing a flow of gas, in particular an air flow, onto movable or flexible parts of vegetation and thereby pushing them back laterally by blowing from the target position (P), and/or
c) comprises a pusher, which is movable orthogonally to the axis (Z) in order to push the vegetation or a layer of soil containing it out of the target position (P) in a forward lateral movement without complete separation of the vegetation adjacent, and/or
d) comprises cutting means with which the vegetation above the target position (P) can be cut in order to prevent the engaging means (E, EG) from being enveloped with parts of the vegetation during the fight . Fighting device (BV) according to the preceding claim, in which the pretreatment element (A) is movable into and out of the path of movement (V) of the engagement means (E, EG). Fighting device (BV) according to one of the preceding claims, characterized in that the engagement means (E, EG) is movable relative to the frame (C) in at least one, preferably in two directions orthogonal to one to each other and horizontal, in order to be able to move the engagement means (E) exactly above a plant (T1, T2, T3, T4) or a target position (P) without the device of struggle (BV) is set in motion. Fighting device (BV) according to one of the preceding claims, characterized in that the engagement means (E) for the fight comprise a milling head movable in rotation about the axis (Z) and which breaks the system root of the plant (T1, T2, T3, T4) in the soil. Control device (BV) according to one of the preceding claims, characterized in that the engagement means (EG) for the control comprises a gripper which is configured to grip the plant in the ground in order to then release it from the ground . Fighting device (BV) according to one of the preceding claims, characterized in that the axis (Z) or its virtual extension lies inside an envelope curve (H) lying parallel to the terrain and which runs externally around the drive wheels or tracks of the combat device (BV) taken together. Control device (BV) according to one of the preceding claims, further comprising
a) at least one sensor (K), preferably a camera, and data processing means, preferably image recognition means, with which acquired environmental data are then verifiable to see if they correspond to predeterminable model data (identification), in order to be able to automatically search for certain plants (T) in the field, and/or
b) a position recognition system (D) adapted to acquire the current position on the ground of the control device (BV) or of a plant (T1, T2, T3, T4) identified by the latter as a position target (P) associated with the plant (T1, T2, T3, T4) and storing it in a memory. Fighting device (BV) according to one of the preceding claims, characterized in that the fighting device (BV) is configured for the purpose of automatically approaching a predetermined target position (P) on the ground in order to acquire at the target position (P) image data of the local terrain, in particular of a local plant (T1, T2, T3, T4), and/or of fighting against a local plant (T1, T2, T3, T4) . Fighting device (BV) according to one of the preceding claims, characterized in that at least one control unit (S) is provided, which is configured to control, via transmission, reception or corresponding signal processing:
- at least one drive and/or
- a position recognition system (D) and/or
- at least one sensor (K), preferably with image recognition means, and/or
- the means of entry (E, EG) and/or
- the pretreatment element (A)
and for storing process data or reading it from memory. Fighting device (BV) according to the preceding claim, characterized in that the at least one control unit (S) is configured to carry out wireless communication with at least one remote control and communication unit (S*) , to which may belong in particular:
- one or more GPS transmitters,
- one or more external sensors (K*), in particular drones,
- a fixed or mobile control unit for controlling or supplying data to the response system (BV), and
- a data processing and/or storage unit for receiving and securing the data transferred by the control unit (S). Method for the targeted control of a plant (T1, T2, T3, T4) previously growing in the soil of a field (G), in particular rumex or ragwort, by means of at least one control device (BV) according to one of the preceding device claims, comprising at least one of the following method steps:
10) Displacement of the control device (BV) on the ground (G) towards a predetermined target position (P1, P2...);
20) Preparation of the control by pretreating the vegetation at the target position (P) above the root of the plant (T1, T2, T3, T4) with the pretreating element (A);
30) Fight against the plant (T1, T2, T3, T4) with the engagement means (E, EG), in which the engagement means (E, EG) is lowered onto it, starting from a resting position above the plant (T1, T2, T3, T4), along a path of movement (V), and placed in functional interaction with it. Method according to the preceding claim, in which the following additional method step is carried out before method step 10):
05) Successive acquisition of environmental data along a predeterminable route and respective verification of the environmental data using identification algorithms, in particular image recognition means, as to the matching with predeterminable model data or identification characteristics based on model data (Identification), in order thereby to automatically search for plants in the terrain, in which, for one or more identified plants (T1, T2, T3, T4) , the respective position in the terrain is acquired as a target position (P1, P2...) and stored in association with the respective plant (T1, T2, T3, T4). Method according to the preceding claim, in which the acquisition and verification of the environmental data is carried out
a) using at least one sensor (K) on board the combat device (BV), in particular a camera, and a control unit (S) using this sensor (K) and/or
b) using at least one external sensor (K*) remote from the response device (BV), in particular a drone, and using a control unit (S*) using this external sensor (K*), preferably also at a distance from the combat device (BV). Method according to claim 12, the movement of the combat device (BV) being carried out during step 10) of the method via at least one external sensor (K*) comprising a data interface, in particular a drone, whose data interface is configured for the purpose of, when approaching the target position (P1, P2...), signaling data relating to the target position (P1, P2...) and/or at the position of the combat device (BV) at the control unit (S) of the combat device (BV). Method according to one of Claims 12 to 15, in which at least one screw element, in particular a blade, inclined with respect to the axis (Z) and which can be rotated around the latter is provided on the means of engagement (E), such that the engagement means (E) introduced into the ground, depending on the direction of rotation, exerts a pulling or driving force on the ground, and wherein a further further step is executed after process step 30):
40) Rotation of the engagement means (E) around the axis (Z) in such a way that the screwing element pushes down the soil previously loosened upwards in the context of the fight, in order to thus consolidate and renaturing the soil at the target location. Method according to one of the preceding method claims, characterized in that a sowing element (Q) carried by the control device (BV) automatically spreads seeds, in particular grass seeds, in the region of the target position ( P) at least at one instant during the process, preferably before the deposition of a layer of earth or renaturation according to the preceding claim. Method according to one of the preceding method claims, characterized in that several combat devices (BV) according to one of Claims 1 to 11 are used simultaneously in order to follow different or identical routes or target points and to accomplish a or more of the method steps according to one of the preceding method claims. Method according to one of the preceding method claims, characterized in that the consultation of target points and/or the self-positioning of one or more combat devices (BV) takes place by means of cooperative positioning, in which
a) some or all of the control units (S) of the individual combat devices (BV) and/or
b) one or more remote control units (S*), in particular controls by drones or fixed servers,
exchange data between them, which relates to a target position or to the position of a control device (BV).