WO2021061054A1

WO2021061054A1 - Levelling system for autonomous mosquito control

Info

Publication number: WO2021061054A1
Application number: PCT/SG2020/050546
Authority: WO
Inventors: Timothy Amyas HARTNOLL; Erich Johann Dollansky; Sumarni N.A.
Original assignee: Hartnoll Timothy Amyas; Erich Johann Dollansky; N A Sumarni
Priority date: 2019-09-27
Filing date: 2020-09-25
Publication date: 2021-04-01
Also published as: SG10201909050VA

Abstract

A system for the levelling of autonomous ovitraps, the system comprising: at least one autonomous ovitrap comprising a container arranged to hold a liquid and collect the eggs of a water-breeding insect; one or more vehicles; and an ovitrap management system configured to communicate with one or more vehicles to instruct a vehicle to perform one or more tasks to level one or more ovitraps. The autonomous ovitraps are configured to detect when they move out of level and request then being re-levelled to stay operational. The equipment required at each autonomous ovitrap is very cost sensitive while the more cost intense equipment required for proper levelling is located at the vehicle and as such is shared between autonomous ovitraps when required.

Description

LEVELLING SYSTEM FOR AUTONOMOUS MOSQUITO CONTROL

Description

Field of the Invention

The present invention relates to a system and method to align a device used for controlling of water-breeding insects such as mosquitoes.

Background of the Invention

Some 1.5 million people die every year as a result of a mosquito bite. The World Health Organization considers mosquito control as a critical element of any mosquito-bome disease prevention. The effectiveness of any method using chemical agents is dropping more and more. This is proven by the world-wide rise of mosquito-related fatalities. Some 1.5 million people die ev- ery year as a result of a mosquito bite. The World Health Organization con- siders mosquito control as a critical element of any mosquito-bome disease prevention. The effectiveness of any method using chemical agents is drop- ping more and more. This is proven by the world-wide rise of mosquito-re- lated fatalities.

One known method for managing the population of mosquitoes and other water-breeding insects in is the use of ovitraps. An ovitrap is a device in which water-breeding insects can lay their eggs. An ovitrap generally in- cludes a container containing water and optionally a substrate where in- sects can lay their eggs. An ovitrap is used to attract water breeding insects like mosquitoes to deposit their eggs into it. Depending on the insects, the eggs might be deposited on the walls of the ovitrap near the water surface or directly onto the water surface itself. Larvae will emerge after some time out of the eggs. The larvae will develop over time into pupae and finally into the adult insect. The presence of water is essential for the development of the insect. Emptying the ovitrap before the adult insect emerges disrupts the development cycle as the already developed larvae and/or pupae will be either removed together with the other content of the ovitrap or dry out and die. As such, the insect which deposited its eggs into the ovitrap dies with- out off-spring, thereby reducing the number of new adult insects which can spread diseases.

An ovitrap can be either a permanent ovitrap or a temporary ovitrap. A per- manent ovitrap is installed permanently at a location. A temporary ovitrap can easily be moved between locations. The concept of automatic lethal ovit- raps was introduced in PCT application PCT SG 2007000137 (WO 2007/142605 Al). Such traps may be permanently installed and have auto- mated functionality such that they can carry out certain tasks automati- cally, for example, filling the container with liquid to a desired level and emptying the container when required to destroy collected insect eggs. When permanently installed, this kind of ovitrap can only be used in moder- ate climate without sub-zero temperatures. Installing the ovitrap in a con- tainer overcomes this problem. The container is placed on its assigned destination with the beginning of the mosquito season and is removed when sub-zero temperatures are expected.

Further concepts for automated ovitraps are described in WO 2019/151946 A1 and WO 2019/182518 Al, each filed by the applicants of the present ap- plication. As ovitraps are water filled containers, the top of them has to be levelled as such the water is not able to flow out. The process of levelling requires ei- ther cost-intensive equipment or a substantial amount of man-power.

Thus, object of the present invention is the facilitation of levelling au- tonomously operated ovitraps and preferably thereby the reduction of costs for said levelling.

SUMMARY OF THE INVENTION The invention is defined by the claims. Claim 1 describes an apparatus for an automated management of a water-breeding insect population. Indepen- dent claim 13 describes an apparatus able to navigate in a predefined envi- ronment for a handling of containerised ovitraps. Claim 16 claims a method for keeping an ovitrap that is part of an autonomous ovitrap levelled. Fi- nally, claim 20 defines a method for aligning a containerised ovitrap when placed at a location. Preferred embodiments are subject matter of the de- pending claims.

According to one aspect of the invention an apparatus for an automated management of a water-breeding insect population is provided. The appara- tus comprises at least one autonomous ovitrap and at least one support structure for levelling at least one ovitrap being part of the autonomous ovit- rap. The autonomous ovitrap comprises at least one containerised ovitrap, at least one connection and at least one computing unit. A containerised ovitrap is an ovitrap which is placed in a container, the container having an opening on top and is able to hold said ovitrap. As described with relation to prior art, the ovitrap comprises at least one water container attracting the water-breeding insects. The support structures are provided for levelling the ovitrap(s) of the appa- ratus described before. Thus, an uneven underground, manufacturing toler- ances, changes in the location where the ovitrap is placed, e.g. after heavy rainfall, or sinking or lifting of parts of the apparatus in the course of time can be compensated by the support structures. Levelling of the ovitrap and keeping levelled the ovitrap is of great importance for the proper functioning of the ovitrap.

According to another aspect of the invention an apparatus able to navigate in a predefined environment for handling of containerised ovitraps is pro- vided. The apparatus able to navigate in a predefined environment com- prises a storage area, a handling tool and a terrain scanner. The handling tool is able to handle one or more elements of a support structure, the sup- port structure and the containerised ovitraps. In a preferred embodiment the before apparatus is a vehicle. Said vehicle is particularly able to function completely autonomously, without requiring any driver.

When in action, the apparatus able to navigate in a predefined environment for handling of containerised ovitraps navigates at the location intended or instructed, e.g. by an ovitrap management system. There it performs all steps necessary to either install newly an autonomous ovitrap thereby level- ling it, remove an already installed autonomous ovitrap, or re-level an au- tonomous ovitrap when it became unlevelled.

Further, there is provided a method for keeping an ovitrap that is part of an autonomous ovitrap levelled. A computing unit reads water level data from at least two water level sensors installed in the ovitrap. The computing unit calculates a difference between the water level data read from said water level sensors and sends a notification to an ovitrap management system when the calculated difference reaches a predefined threshold. The ovitrap management system triggers measures to level the ovitrap.

Various measures for levelling the ovitrap when it is out of level are fore- seen. One possibility is that a person is informed that a certain ovitrap is out of level so that the person could take measures by himself/herself for re-levelling an installed ovitrap, for example the person could go there and re-level the ovitrap or could send there another person for said purpose. In a preferred embodiment a vehicle is dispatched which is able to re-level the ovitrap autonomously.

Finally, a method for aligning a containerised ovitrap when placed at a loca- tion, is provided. As before, the containerised ovitrap is part of an autono- mous ovitrap. A first individual three dimensional model of the containerised ovitrap is stored in a computing unit. A second three dimen- sional model of the location for the containerised ovitrap is determined with a terrain scanner. An optimal number and lengths of support structures which are to be attached to the containerised ovitrap are calculated out of the first individual three dimensional model and of the second three dimen- sional model so that containerised ovitrap is levelled after being placed at said location.

Thus, there are provided methods for leveling an ovitrap which is comprised in an autonomously operated ovitrap for the individual installation, i.e. when it is firstly positioned at a certain location, and for the maintenance of ovitraps already installed.

By providing support structures which may be mounted to an autonomous ovitrap and by providing methods to control the levelling of the ovitraps be- ing part of an autonomous ovitrap, the functioning and reliability of such ovitraps is greatly enhanced. In its preferred embodiment the present inven- tion reduces the cost for the individual installation by sharing cost-intensive equipment between installations. According to a preferred embodiment of the present invention there is pro- vided a system for the automated level alignment of a mobile ovitrap, the system comprising: at least one autonomously operating ovitrap placed in- side a container; one or more support structures placed between the con- tainer and the surface to allow the even placement of the mobile ovitrap on an uneven surface; one or more water level sensors; a computer system to manage the system; a vehicle, an ovitrap handling system, a surface scan- ner and a network connection.

An ovitrap provides a water surface to attract the targeted insect species to deposit the eggs in it. The ovitraps have to be levelled to avoid water spillage. Manufacturing tolerances do not allow keep the top of the ovitraps in parallel with the bottom of the container. When the container is placed at its location, support structures are placed between the surface the con- tainer is placed on and the container's outside surface at its bottom. The in- dividual height of the support structures will be adjusted so that the top of the ovitraps, particularly the tops thereof, becomes level. Water level sensors in the ovitrap will monitor the water level inside the ovitrap. When the ovit- rap moves out of level, a notification will be send sent out requesting re-ad- justment of the device. When spilling would occur, the ovitrap is emptied and stops functioning until it is re-adjusted. Brief Description of the Drawings

Figure 1 illustrates an ovitrap installed inside a container in a view from top.

Figure 2 illustrates an ovitrap installed inside a container in a sectional side-view.

Figure 3 illustrates an alternative of an ovitrap installed inside a container in a sectional side-view.

Figure 4 illustrates an ovitrap installed inside a container in a sectional side-view being placed above a surface and being levelled with support structures.

Figure 5 illustrates the elements used to assemble a support structure in a sectional side-view.

Figure 6 illustrates a single element used to assemble a support structure in a sectional side-view in greater detail.

Figure 7 illustrates a single element used to assemble a support structure doubling as a leg in a sectional side-view in greater detail. Figure 8 illustrates an ovitrap installed inside a container in a sectional side-view with the dimensions crucial for proper levelling.

Figure 9 illustrates an ovitrap installed inside a container in a sectional side-view and the effects of manufacturing tolerances on levelling. Figure 10 illustrates an ovitrap installed inside a container in a sectional side-view being affected by manufacturing tolerances and how to correct them. Figure 11 illustrates the functional components of an autonomous ovitrap.

Figure 12 illustrates the functioned components of a grid of autonomous ovi- traps and the components required for placing and levelling the autono- mous ovitraps.

Figure 13 illustrates the crucial water levels defined for each container used by the autonomous ovitrap.

DETAILED DESCRIPTION

In the figures identical reference numbers are used for similar parts, al- though the embodiments described are not identical but each are different embodiments of the invention. Also, not each and every detail is described for each figure again. Instead, the description of any part mentioned before also applies to the same or similar part in any other figure, as long as tech- nically reasonable. The figures show preferred embodiments of the invention but do not restrict the invention to said embodiments.

Figure 1 Figure 1 illustrates a containerised ovitrap 100 consisting of an ovitrap 2000 inside a container 1000 in a view from top. When seen from top, the container 1000 is rectangularly shaped. The container 1000 has four side walls higher than the contained autonomously operated ovitrap 2000. The container 1000 has an opening on its top. The opening on top of the con- tainer 1000 is large enough to give water-breeding insects access to the au- tonomously operated ovitrap 2000. The opening on top of the container 1000 is large enough to allow the insertion of the ovitrap 2000 into the con- tainer 1000. The container 1000 is large enough to supply sufficient space for the ovitrap 2000. The outside corners of the container 1000 are rounded. The radius of the rounding will be adjusted to the requirements.

The ovitrap 2000 has four water containers 2010, 2011, 2012 and 2013 on its four corners. The water containers 2010, 2011, 2012 and 2013 are de- signed so that water-breeding insects can access the water stored in them from the top. The openings on top of the water containers 2010, 2011, 2012, and 2013, and particularly also that of the water containers 2014 and 2015, are designed so that all are at the same level.

The water container 2010 is equipped with a water level sensor 3000. The water container 2011 is equipped with a water level sensor 3001. The water container 2012 is equipped with a water level sensor 3002. The water con- tainer 2013 is equipped with a water level sensor 3003.

The ovitrap 2000 has a fresh water container 2014 between the containers 2010, 2011, 2012 and 2013. The ovitrap 2000 has a dirty water container 2015 between the water containers 2010, 2011, 2012 and 2013.

The fresh water container 2014 is equipped with a water level sensor 3004.

The dirty water container 2015 is equipped with a water level sensor 3005.

The water level sensors 3000, 3001, 3002, 3003, 3004 and 3005 provide in- formation regarding the current water level inside the container 2010, 2011, 2012, 2013, 2014 or 2015 they are installed in. The fresh water container 2014 is equipped with a pump 3010. The dirty water container 2015 is equipped with a pump 3011.

The container 1000 has a track 1001 installed at the bottom of it so that the ovitrap 2000 sits on the track 1001. The container 1000 has a track 1002 installed at the bottom of it so that the ovitrap 2000 sits on the track 1002. The track 1001 runs from one side wall of the container 1000 to the other side wall of the container so that it runs in parallel to the other two side walls of the container. The track 1002 runs from one side wall of the con- tainer 1000 to the other side wall of the container so that it runs in parallel to the other two side walls of the container 1000. The tracks 1001 and 1002 are arranged so that they run in parallel.

A socket 1010 is installed in the floor of the container 1000. A socket 1011 is installed in the floor of the container 1000. A socket 1012 is installed in the floor of the container 1000. A socket 1013 is installed in the floor of the container 1000. A socket 1014 is installed in the floor of the container 1000. A socket 1015 is installed in the floor of the container 1000. The sockets 1010, 1011, 1012, 1013, 1014 and 1015 are spread evenly over the floor of the container 1000 so that the weight of the container is evenly distributed between them. The number of sockets can be any number above three. The sockets 1010, 1011, 1012, 1013, 1014 and 1015 are spread to near the side-walls of the container 1000 so that the containers weight can be spread between them. Additional sockets can be installed on any other location in the bottom of the container 1000.

The container 1000 is equipped with a machine readable index 1050. The machine readable index is used as a reference point when handling the con- tainer 1000. After the ovitrap 2000 is placed inside the container 1000, the floor of the container 1000 is covered with gravel at least up to the level of the tracks 1001 and 1002. The remaining space in the container 1000 is then filled up with soil. Plants can later be planted in the soil. The plants will provide shel- ter and food for the targeted insect species.

Figure 2

Figure 2 illustrates the ovitrap 2000 inside of the container 1000 in a sec- tional side view. As mentioned before, the ovitrap 2000 of figure 2 is similar but not necessarily identical to the ovitrap 2000 of figure 1 (and of any other figure) despite the fact that the same reference number is used.

An opening 1101 near the bottom of a side wall of the container allows the draining of the container 1000. An opening 1102 near the bottom of a side wall of the container 1000 allows the draining of the container 1000. An opening 1103 near the bottom of a side wall of the container 1000 allows the draining of the container 1000.

The ovitrap 2000 sits on top of the track 1001 and the track 1002. The track 1001 is shaped so that it looks like an indentation on the outside of the container 1000. The track 1002 is shaped so that it looks like an inden- tation on the outside of the container 1000.

The water level sensor 3002 is installed in the container 2012 so that it can determine the level of any liquid contained in the container 2012. The water level sensor 3003 is installed in the container 2013 so that it can determine the level of any liquid contained in the container 2013. The water level sen- sors 3000 and 3001 are installed the same way in the containers 2010 and 2011.

The socket 1013 is installed in the floor of the container 1000 so that it forms an indentation able to receive an object from the outside of the con- tainer 1000. The socket 1014 is installed in the floor of the container 1000 so that it forms an indentation able to receive an object from the outside of the container 1000. The sockets 1010, 1011, 1012 and 1015 are installed the same way as the sockets 1013 and 1014 in the floor of the container 1000. The actual number of sockets 1010, 1011, 1012, 1013, 1014 and 1015 can be adjusted to the requirements. Preferably, the side walls of the container 1000 are higher than the openings of the containers 2010, 2011, 2012 and 2013.

As mentioned in the introductory part the water containers in an ovitrap needs to be emptied regularly to avoid that the eggs deposited by any water- breeding insects fully develop. According to one preferred embodiment, when the ovitrap 2000 is emptied, the water flows into the container 1000. The outflow of the water out of the ovitrap 2000 is arranged so that it has to pass through the gravel placed above the floor of the container 1000. The outflow of the water out of the ovitrap 2000 is arranged so that the water is not able to flow directly to any of the openings 1101, 1102 or 1103. The out- flow of the water out of the ovitrap 2000 can be channelled so that it first wets the soil filled into the container 1000. This can be used to water plants planted into the soil inside the container 1000. When water is channelled so that it wets first the soil it has to be made sure that the eggs contained in the water are not reaching the surface of the soil. Alternatively, the water leaving the container 1000 via any of the opening 1101, 1102 or 1103 is processed so that eggs, larvae or pupae which might be contained in the wa- ter, will not be able to develop into adult insects. Figure 3

Figure 3 illustrates an alternative implementation of the sockets 1013 and 1014. Instead of being shaped like an indentation of the floor of the con- tainer 1000, the sockets 1013 and 1014 arise out of the floor of the con- tainer 1000.

Figure 4

Figure 4 illustrates the positioning of the container 1000 above an uneven surface 4000 in a sectional side-view. The water containers 2012 and 2013 are used to demonstrate the concept. A support structure 5010 is placed with one end in the socket 1014 and with the other end on top of the sur- face 4000. A support structure 5011 is placed with one end in the socket 1013 and with the other end on top of the surface 4000. Both the length of the support structure 5010 and the length of the support structure 5011 are adjusted so that the top of the container 2013 and the top of the con- tainer 2012 are at the same level. Both lengths of both support structures 5010 and 5011 are kept as short as possible. Both the support structure 5010 and the support structure 5011 have to be able to support the weight of the container 1000 under all circumstances. More support structures 5010 or 5011 can be used to support the container 1000 as required.

Figure 5 Figure 5 illustrates the support structure 5010 as an example of any other support structure required to keep the container 1000 a certain distance off an uneven surface 4000 and the ovitrap 2000, preferably the water containers 2010, 2011, 2012 and 2013, in level, in greater detail. A group of elements is provided whereby every element alone may be used as a support structure 5010, 5011. Further, all elements of the group of elements may be freely combined to build a support structure 5010, 5011 of any length. As mentioned before, for levelling the ovitrap 2000 a support structure 5010, 5011 is provided the height of which is adjustable in a preferred embodiment. Height adjustment could be effected in that any of the elements 5100, 5101, 5102, 5103 is either used alone, if apt, or are combined with each other or with another element of the group of elements, with the same element or with one or more element 5104 so that the desired length of the support structure is assembled which is necessary for levelling the ovitrap 2000 on the surface the autonomous ovitrap is to be placed or was placed before. An element 5100 is shown in a sectional side view. An element 5101 is shown in a sectional side view. An element 5102 is shown in a sectional side view. An element 5103 is shown in a sectional side view. An element 5104 is shown in a sectional side view. The support structure 5010 consists out of one or more of the elements 5100, 5101, 5102, 5103 or 5104. The elements 5100, 5101, 5102 and 5103 are of the same shape but different height. The elemen 5104 is shaped so that the shape of its top mirrors the shape of its bottom.

Alternatively, the support structure 5010 or 5011 can be any device which length is adjustable. The energy required to adjust the length of the alternative device used as the support structure 5010 or 5011 will be provided externally. When no external energy is provided, the support structure 5010 or 5011 does not change its length. Figure 6

Figure 6 illustrates the element 5103 as an example for the elements 5100, 5101, 5102 and 5103 in a sectional side view in greater detail. A left top corner 6000 is connected horizontally with a corner 6001 right of the left corner 6000. The corner 6001 is connected with a corner 6002. The corner 6002 is above the corner 6001. The corner 6002 is connected with a corner 6003. The corner 6003 is at the same level as the corners 6000 and

6001. The corner 6003 is right of the corner 6002. The corner 6003 is horizontally connected with a corner 6004. The corners 6000, 6001, 6003 and 6004 are located at the same horizontal level arranged from left to right. The corner 6004 is connected vertically with a corner 6005. The corner 6005 is horizontally connected with a corner 6006. The corner 6006 is connected with a corner 6007. The corner 6007 is above the corner 6006. The corner 6007 is connected with a corner 6008. The corner 6008 is located at the same horizontal level as the corner 6006. The corner 6008 is horizontally connected with a corner 6009. The corners 6005, 6006, 6008 and 6009 are horizontally on the same level. The corner 6009 is vertically connected with the corner 6000. The vertical distance between the corner 6000 and the corner 6009 is the same as the vertical distance between the corner 6001 and the corner 6008. The vertical distance between the corner

6000 and the corner 6009 is the same as the vertical distance between the corner 6002 and the corner 6007. The vertical distance between the corner

6000 and the corner 6009 is the same as the vertical distance between the corner 6003 and the corner 6006. The vertical distance between the corner

6000 and the corner 6009 is the same as the vertical distance between the corner 6004 and the corner 6005.

The elements 5100, 5101, 5102 and 5103 differ only in the vertical difference between the corners 6000 and the corners 6009. The description for the relative vertical distances between the other corners applies.

The sockets 1010, 1011, 1012, 1013, 1014 and 1015 are shaped so that any of the elements 5100, 5101, 5102 or 5103 will fit the socket. The triangle and rectangle like shapes are used here only for demonstration pro- pose.

Figure 7 Figure 7 illustrates the element 5104 in a sectional side view in greater detail.

A left top corner 6100 is connected horizontally with the corner 6101 right of the corner 6100. The corner 6101 is connected with a corner 6102. The corner 6102 is above the corner 6101. The corner 6102 is connected with a corner 6103. The corner 6103 is at the same level as the corners 6100 and 6101. The corner 6103 is horizontally connected with a corner 6104. The corners 6100, 6101, 6103 and 6104 are located at the same horizontal level. The corner 6104 is connected vertically with the corner 6105. The corner 6105 is horizontally connected with the corner 6106. The corner 6106 is connected with the corner 6107. The corner 6107 is located below the corner 6106. The corner 6107 is connected with a corner 6108. The corner 6108 is located at the same horizontal level as the corner 6106. The corner 6108 is horizontally connected with a corner 6109. The corners 6105, 6106, 6108 and 6109 are horizontally on the same level. The corner 6109 is vertically connected with the corner 6100. The vertical distance between the corner 6100 and the corner 6109 is the same as the vertical distance between the corner 6101 and the corner 6108. The vertical distance between the corner 6100 and the corner 6109 is the same as the vertical distance between the corner 6102 and the corner 6107. The vertical distance between the corner 6100 and the corner 6109 is the same as the vertical distance between the corner 6103 and the corner 6106. The vertical distance between the corner 6100 and the corner 6109 is the same as the vertical distance between the corner 6104 and the corner 6105.

The function of the element 5104 is to be able to connect to an element

5100, 5101, 5102 or 5103 on both sides. As such one of the elements 5100,

5101, 5102 or 5103 can be used at both ends of one of the support structures 5010 or 5011. Figure 8

Figure 8 illustrates the reference points used to determine the level required to level out the containers 2010, 2011, 2012 and 2013, particularly to level out the tops of the before mentioned containers. The containers 2012 and 2013 are used as an example in a sectional side view. A distance 2113 is the distance between the top of the container 2013 and the outside bottom of the container 1000. A distance 2112 is the distance between the top of the container 2012 and the outside bottom of the container 1000.

Figure 9

Figure 9 illustrates the relative pitch between the top of the ovitrap 2000 and its containers 2012 and 2013. The containers 2012 and 2013 are used5 here as an example only. A manufacturing fault is used as an example as the cause for why the ovitrap 2000 is unlevelled. The track 1001 has a height above the inner bottom of the container 1000 which is higher than the height of track 1002 above the inner bottom of the container 1000. Figure 10

Figure 10 illustrates in a sectional side view how the height of the support structures 5010 and 5011 has to be adjusted so that the top of the containers 2012 and 2013 from the example in figure 9 when placed on an uneven surface 4000 becomes level. As can be seen in the figure the lengths of the support structures 5010 and 5011 are adjusted so that not only the uneven surface but also the manufacturing fault is compensated.

Figure 11 Figure 11 shows the autonomous ovitrap 300 consisting of the containerised ovitrap 100 connected via a connection 150 with a computing unit 200.

Figure 11 shows the autonomous ovitrap 300 consisting of the containerised 5 ovitrap 100 connected via a connection 150 with a computing unit 200.

The computing unit 200 coordinates the operation of the containerised ovitrap 100. The computing unit 200 stores the state of the containerised ovitrap 100. The computing unit 200 reads and stores the information0 provided by water level sensors 3000, 3001, 3002, 3003, 3004 and 3006. The computing unit 200 controls the pumps 3010 and 3011. The computing unit 200 stores the positions of the top of the water containers 2010, 2011, 2012, 2013, 2014 and 2015 relative to the index 1050. The computing unit 200 stores the position of the sockets 1010, 1011, 1012, 1013, 1014 and5 1015 relative to the index 1050. The computing unit 200 stores the first three dimensional model of the containerised ovitrap 100. The computing unit 200 calculates a second three dimensional model of the containerised ovitrap 100 out of the positions of the tops of the containers 2010, 2011, 2012 and 2013; the sockets 1010, 1011, 1012, 1013, 1014 and 1015; and the outside bottom of the container 1000 relative to the machine readable index 1050. The difference between the first three dimensional model of the containerised ovitrap 100 and second three dimensional model of the containerised ovitrap 100 is caused mainly by manufacturing tolerances. Figure 12

Figure 12 illustrates a system to eradicate a local water-breeding insect population. An autonomous ovitrap 301 is connected via a connection 310 with an ovitrap management system 400. An autonomous ovitrap 302 is0 connected via a connection 311 with an ovitrap management system 400. An autonomous ovitrap 303 is connected via a connection 312 with the ovitrap management system 400. The autonomous ovitraps 301, 302 and 303 are identical to the autonomous ovitrap 300. The ovitrap management system 400 is connected via a connection 410 with a vehicle 7000. The vehicle 7000 is a preferred embodiment of an inventive apparatus able to navigate in a predefined environment for a handling of containerised ovitraps. 0 The vehicle 7000 comprises a storage area consisting in the embodiment of figure 12 of a first store 7020 and of a second store 7030. The vehicle 7000 is equipped with a store 7020 for the elements 5100, 5101, 5102, 5103 and 5104 to form the support structures 5010 and 5011. The vehicle 7000 is equipped with a store 7030 for autonomous ovitraps 300. The store 7030 is5 able to hold a number of autonomous ovitraps 300.

The vehicle 7000 is equipped with a handling tool 7010. The handling tool 7010 is able to take an autonomous ovitrap 300 out of the store 7030, equip it with the number of required support structures 5010 and 5011 of the calculated lengths and places the autonomous ovitrap 300 at its designated location.

The vehicle 7000 is equipped with a terrain scanner 7040. The terrain scanner 7040 is able to scan the terrain of the designated location for an autonomous ovitrap 300 and create a three dimensional map of the location. After scanning the terrain of the designated location, the terrain scanner 7040 or the computing unit in the ovitrap management system or in the autonomous ovitrap calculates the optimal number of support structures 5010 and 5011 and the required lengths to place the autonomous ovitrap 300 at the designated location. The required length is calculated out of the terrain parameters and the information provided by the autonomous ovitrap 300 so that the water containers of the ovitrap, preferably the top openings of the water containers 2010, 2011, 2012 and 2013 of the ovitrap 2000, are at the same level.

The handling tool 7010 has preferably the following abilities. The handling tool 7010 assembles a support structure 5010 or 5011 in the required length out of the elements 5100, 5101, 5102, 5103 and 5104 and then equips the autonomous ovitrap 300 with the newly assembled support structure 5010 or 5011.

The handling tool 7010 is able to move an autonomous ovitrap 300 from the store 7030 to the newly designated location of the autonomous ovitrap 300. The handling tool 7010 is able to move an autonomous ovitrap 300 from its current location, detaches its supports structures 5010 and 5011, disassembles the support structures 5010 and 5011 and stores the elements 5100, 5101, 5102, 5103 and 5104 in the store 7020. The ovitrap 300 is then stored in the store 7030 by the handling tool 7010.

The terrain scanner 7040 has the following abilities. The terrain scanner 7040 can scan a terrain of at least the size of an autonomous ovitrap 300. The terrain scanner 7040 can calculate a map of the scanned terrain. The terrain scanner 7040 can calculate the height of support structures 5010 and 5011. The terrain scanner 7040 can scan the top of the autonomous ovitrap 300 and calculate the position of the containers 2010, 2011, 2012 and 2013 relative to the index 1050. The terrain scanner 7040 can calculate the required height of a support structure 5010 or 5011 to level the containers 2010, 2011, 2012 and 2013. The terrain scanner 7040 can calculate the required changes in the ght of the supports structures 5010 or 5011 when the autonomous ovitrap 300 is placed in its designated location after the autonomous ovitrap 300 changed its position. The terrain scanner 7040 can calculate the required length of a support structure when an ovitrap gets unlevelled after it is positioned at the designated location or after a certain while, in order to re-level the ovitrap.

While the handling tool 7010 places the autonomous ovitrap 300 at its designated location, the handling tool 7010 monitors the settling in of the autonomous ovitrap 300. The weight of the autonomous ovitrap 300 could sink some of the support structures 5010 and 5011 into the ground at the designated location. When the ground at the designated location is not able to support the support structures 5010 and 5011, the placing of the autonomous ovitrap 300 will be aborted and the autonomous ovitrap 300 will be moved out of the location, the support structures 5010 and 5011 will be detached, disassembled and the elements will be storesd them in the store 7020.

Figure 13 Figure 13 illustrate water levels inside the water containers 2010, 2011, 2012 or 2013.

A water level 3100 is defined as the maximum water level allowed in a container 2010, 2011, 2012 or 2013. A level 3101 is defined as the ideal water level found in the containers 2010, 2011, 2012 or 2013. A water level 3102 is defined as the minimum water level found in the containers 2010, 2011, 2012 or 2013. The water level 3102 is the lowest water level. The water level 3101 is between water level 3102 and the water level 3100. The water level 3100 is the highest water level. The water level sensors 3000, 3001, 3002 and 3003 report the water level in their respective containers 2010, 2011, 2012 and 2013 to the computing unit 200. When the autonomous ovitrap 300 is properly levelled all water level sensors 3000, 3001, 3002 and 3003 report the same values with some tolerance. When the autonomous ovitrap moves out of level, the water levels reported by the water level sensors 3000, 3001, 3002 and 3003 start to differ, the water level in any of the containers 2010, 2011, 2012 or 2013 reaches the level 3100, the computing unit 200 instructs the ovitrap 2000 to remove the water inside the container 2010, 2011, 2012 and 2013 until the water levels in the containers 2010, 2011, 2012 and 2013 are is not above the water level 3101.

When the difference between the water levels reported by the water level sensors 3000, 3001, 3002 and 3003 reaches a predefined threshold the computing unit 200 reports this event to the ovitrap management system 400. The ovitrap management system 400 dispatches a vehicle 7000 to the location of the autonomous ovitrap 300 which reported the difference in water levels in the containers 2010, 2011, 2012 and 2013. When the support structures 5010 and 5010 are assembled out of the elements 5100, 5101, 5102, 5103 or 5104, the vehicle 7000 replaces the existing support structures 5010 and 5011 with new support structures 5010 and 5011 with a length adjusted to the tilting of the ovitrap 2000 found at the arrival of the vehicle 7000. The level of the ovitrap 2000 respective of its containers 2010, 2011, 2012 and 2013 is controlled just like after a fresh installation of the ovitrap 2000. When the support structures 5010 and 5011 are adjustable in height, the vehicle 7000 supplies energy to the support structures 5010 and 5011 to adjust their respective length until the ovitrap 2000, particularly the tops of the containers 2010, 2011, 2012 and 2013, is levelled again. Summary The invention deals with the fast and cost sensitive installation and operation of a network of autonomously operating ovitraps. Autonomously operating ovitraps have to be installed so that the liquid used to attract water-breeding insects like mosquitoes is not able to leave the water containers 2010, 2011, 2012 and 2013 in a way not controlled by the computing unit 200. This is achieved by keeping the top of the containers

2010, 2011, 2012 and 2013 at the same level. The computing unit 200 is supplied with data representing the water levels in the containers 2010,

2011, 2012, 2013, 2014 and 2015 by the water level sensors 3000, 3001, 3002, 3003, 3004 and 3005.

During manufacturing of the containerised ovitrap 100, the relative location of the machine readable index 1050 and the tops of the containers 2010, 2011, 2012 and 2013 is determined, stored in the computing unit 200 and used to update the second three dimensional model of the containerised ovitrap 100. During manufacturing of the containerised ovitrap 100, the relative location of the machine readable index 1050 and the sockets 1010, 1011, 1012, 1013, 1014 and 1015 is determined, stored in the computing unit 200 and used to update the second three dimensional model of the containerised ovitrap 100. During manufacturing of the containerised ovitrap 100, the relative location of the machine readable index 1050 and the outside of the container's 1000 bottom is determined, stored in the computing unit 200 and used to update the second three dimensional model of the containerised ovitrap 100.

The second three dimensional model of the containerised ovitrap 100 reflects the real dimensions of each containerised ovitrap 100 while the first three dimensional model of the containerised ovitrap 100 shows the ideal dimensions of each containerised ovitrap 100. The vehicle 7000 is loaded with a number of autonomous ovitraps 300 and dispatched. After arriving at a predetermined location where an autonomous ovitrap 300 is supposed to be installed, the vehicle 7000 uses its terrain scanner 7040 to create a three dimensional model of the predetermined location. The autonomous ovitrap 300 which second three dimensional model matches best the three dimensional model of the predetermined location is taken out of the store 7030. A number of support structures 5010 or 5011 is then calculated and their length is adjusted so that the top of the containers 2010, 2011, 2012 and 2013 is are at level when the support structures 5010 and 5011 are installed. The handling tool 7010 attaches then the selected support structures 5010 and 5011 to the container 1000 of the autonomous ovitrap 300 and places the autonomous ovitrap 300 at the predetermined location. After the autonomous ovitrap 300 is placed at the predetermined location, the terrain scanner 7040 scans the tops of the containers 2010, 2011, 2012 and 2013 to verify that the tops of the containers 2010, 2011, 2012 and 2013 are at the same level. When the tops of the containers 2010, 2011, 2012 and 2013 are not at the same level, the vehicle 7000 can readjust the required length and numbers of support structures 5010 and 5011 so that the tops of the containers 2010, 2011, 2012 and 2013 become levelled. When the underground found at the predetermined location does not allow the proper placement the autonomous ovitrap 300, the procedure is abandoned.

During normal operation of the autonomous ovitrap 300, the computing unit receiveds data from the water level sensors 3000, 3001, 3002, 3003, 3004 and 3005. When the autonomous ovitrap 300 is properly levelled, the water levels reported by the water level sensors 3000, 3001, 3002 and 3003 are identical with a small tolerance. The water levels will fluctuate e.g. when rain falls, the water levels will rise and the water levels will fall during longer periods of sun shine. When the water levels reported by the water level sensors 3000, 3001, 3002 and 3003 rise or fall in parallel, the computing unit 200 will adjust the water level by activating one of the pumps 3010 or 3011. When the water level in one water container 2010, 2011, 2012 or 2013 reaches the level 3100 while the water level in one other container 2010, 2011, 2012 or 2013 falls to the level 3102, the computing unit 200 will send a notification to the ovitrap management system 400. In reaction thereof the ovitrap management system 400 triggers measures to re-level said ovitrap 2000. In a preferred embodiment of such measure the The ovitrap management system 400 will activate a vehicle 7000 which will move to the location of the autonomous ovitrap 300. After arrival at the location of the autonomous ovitrap 300, the terrain scanner 7040 will calculate a three dimensional model of the top of the containers 2010, 2011, 2012 and 2013 and determines the adjustments of the support structures 5010 and 5011 required to bring the top of the containers 2010, 2011, 2012 and 2013 back to level. When the support structures 5010 and 5011 consist of a certain number of the elements 5100, 5101, 5102, 5103, and 5104 and 5105, the elements 5100, 5101, 5102, 5103, or 5104 or 5105 are replaced with a new set of elements 5100, 5101, 5102, 5103, or 5104 or 5105 assembled so that the top of the containers 2010, 2011, 2012 and 2013 becomes levelled again. As mentioned before, any support structure may be any single element 5100, 5101, 5102, 5103 or may be assembled by any combination of some or all of the elements 5100, 5101, 5102, 5103, 5104.

Alternatively, the support structures 5010 and 5011 can be designed so that their length can be mechanically or hydraulically adjusted. In case of having its length mechanically adjusted, the drive for e.g. a spindle is preferably with the vehicle 7000. The drive will be attached to the support structure 5010 or 5011 only when required The drive will then be controlled by the vehicle 7000. In case of having its length hydraulically adjusted, only the connectors for the hydraulic system are kept with the autonomous ovitrap 300. When the length of the support structure 5010 or 5011 has to be adjusted, the support structure 5010 or 5011 is then connected to the vehicle 7000 and controlled by the vehicle 7000. In both cases, the support structures 5010 and 5011 will not change its length when the support structure 5010 or 5011 is disconnected from the vehicle 7000.

The number of support structures 5010 and 5011 can be adjusted to the requirements and the actual design of the support structures and the surface on which the support structures 5010 and 5011 are placed.

Claims

1. An apparatus for an automated management of a water-breeding insect population, the apparatus comprising: at least one autonomous ovitrap (300, 301, 302, 303) comprising at least one containerised ovitrap (100), at least one connection (150) and at least one computing unit (200), said at least one containerised ovitrap (300, 301, 302, 303) comprising at least one ovitrap (2000), wherein said at least one ovitrap comprises at least one water container (2010, 2011, 2012, 2013), and a container (1000) with an opening on top able to hold said ovitrap (2000); and at least one support structure (5010, 5011) for levelling said at least one ovitrap (2000).

2. The apparatus according to claim 1, wherein said support structure (5010, 5011) is height adjustable.

3. The apparatus according to any of claims 1 or 2, further comprising: one or more sockets (1010, 1011, 1012, 1013, 1014, 1015) installed in a bottom surface of said container (1000) so that said sockets (1010, 1011, 1012, 1013, 1014, 1015) are accessible from an outside of said container (1000).

4. The apparatus according to claim 3, wherein said support structure (5010, 5011) is placed with one end in the socket (1010, 1011, 1012, 1013, 1014, 1015) and with another end on a surface (4000) on which said containerised ovitrap (100) is positioned and wherein a length of said support structure (5010, 5011) is adjusted so that said ovitrap (2000) is levelled.

5. The apparatus according to any of the preceding claims, wherein said support structure (5010, 5011) comprises at least one element (5100, 5101, 5102, 5103, 5104) selected from a group of elements (5100, 5101, 5102, 5103, 5104), wherein said elements within said group of elements have a different height.

6. The apparatus according to claim 5, wherein said support structure (5010, 5011) is constructed from said elements (5100, 5101, 5102, 5103, 5104), wherein said elements are selected from said group of elements so that the length of said support structure (5010, 5011) matches the required length to level said ovit- rap (2000).

7. The apparatus according to claim 5 or 6, wherein said socket (1010, 1011, 1012, 1013, 1014, 1015) is shaped so that any of said elements (5100, 5101, 5102, 5103, 5104) fits with said socket (1010, 1011, 1012, 1013, 1014, 1015).

8. The apparatus according to any of the preceding claims further comprising: one or more water level sensors (3000, 3001, 3002, 3003) installed in said water containers (2010, 2011, 2012, 2013).

9. The apparatus according to any of the preceding claims further comprising: a connection (310, 311, 312) used to communicate with an ovitrap management system (400).

10. The apparatus according to any of the preceding claims, wherein said container (1000) is a mobile container.

11. The apparatus according to any of the preceding claims, wherein said container (1000) is equipped with a machine readable index (1050).

12. The apparatus according to any of the preceding claims, wherein said container (1000) is equipped with at least one track (1001, 1002) being part of a bottom of said container (1000) shaped so that said track (1001, 1002) raises from said bottom into an inside of said container (1000) while forming a negative track in an outside of said container (1000).

13. An apparatus (7000) able to navigate in a predefined environment for an handling of containerised ovitraps (100), the apparatus (7000) comprising: a storage area (7020, 7030); a handling tool (7010) able to handle one or more elements (5100, 5101, 5102, 5103) of a support structure (5010, 5011), said support structure (5010, 5011) and said containerised ovitraps (100); and a terrain scanner (7040).

14. The apparatus (7000) according to claim 13, further comprising: said storage area comprising a first store (7020) able to hold a number of said elements (5100, 5101, 5102, 5103); and a second store (7030) able to hold a number of said containerised ovitraps (100).

15. The apparatus (7000) according to claim 13 or 14, further comprising: a connection (410) used to communicate with an ovitrap management system (400).

16. A method for keeping an ovitrap (2000) that is part of an autonomous ovitrap (300, 301, 302, 303) levelled, the method comprising: a computing unit (200) reads water level data from at least two water level sensors (3000, 3001, 3002 and 3003) being part of said ovitrap (2000); said computing unit (200) calculates a difference between said water level data read from said water level sensors (3000, 3001, 3002, 3003); said computing unit (200) sends a notification to an ovitrap management system (400) when said calculated difference reaches a predefined threshold; and said ovitrap management system (400) triggers measures to level said ovitrap (2000).

17. The method according to claim 16, wherein: said ovitrap management system (400) dispatches a vehicle (7000) to a location of said autonomous ovitrap (300, 301, 302, 303) which has sent said notification.

18. The method according to claim 16 or 17, wherein after receiving said notification that said ovitrap (2000) is out of level, said ovitrap (2000) being part of a containerised ovitrap (100) which is positioned and which is part of said autonomous ovitrap (300, 301, 302, 303), the method further comprises: determining with a terrain scanner (7040) a three dimensional model of said positioned containerised ovitrap (100); calculating out of said three dimensional model a number and lengths of support structures (5010, 5011) required to bring said ovitrap (2000) back to level; replacing said support structures (5010, 5011) currently in use with the newly calculated support structures (5010, 5011).

19. The method according to claim 16, 17 or 18, further comprising: using a top of an ovitrap (2000) placed in a container (1000) as a reference in said three dimensional model.

20. A method for aligning a containerised ovitrap (100) when placed at a location, said containerised ovitrap (100) being part of an autonomous ovitrap (300, 301, 302, 303), the method comprising: storing a first individual three dimensional model of said containerised ovitrap (100) in a computing unit (200); determining a second three dimensional model of said location for said containerised ovitrap (100) with a terrain scanner (7040); and calculating an optimal number and lengths of support structures (5010, 5011) which are to be attached to said containerised ovitrap (100) out of said first individual three dimensional model of said containerised ovitrap (100) and of said second three dimensional model of said location so that said ovitrap (2000) is levelled after said con- tainerised ovitrap (100) is being placed at said location.

21. The method according to claim 20, further comprising: attaching said support structures (5010, 5011) to sockets (1010, 1011, 1012, 1013, 1014, 1015) located at a bottom of said containerised ovitrap (100).

22. The method according to claim 20 or 21, further comprising: after placing said containerised ovitrap (100) at said location determining a third three dimensional model of said placed containerised ovitrap (100) with said terrain scanner (7040); and determining a difference between a real position of said containerised ovitrap (100) and an ideal levelled position.

23. The method according to claim 22, further comprising: recalculating an optimal number and lengths of said support structures (5010, 5011) and replacing said support structures (5010, 5011) until said difference falls below a predetermined threshold.

24. The method according to claim 20, 21, 22 or 23, further comprising: using a top of an ovitrap (2000) placed in a container (1000) as a reference in said third three dimensional model.