Sensor and system for plant canopy measurement

• US 10,591,352 B2
• Filed: 01/10/2018
• Issued: 03/17/2020
• Est. Priority Date: 01/10/2018
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: X Development LLC (Alphabet Inc.)
• Inventors: Schillings, Benoit, Grant, Elliott
• Primary Examiner(s): Jo, Taeho
• Application Number:
  US15/867,158
• Publication Number:
  US 20190212191A1
• Time in Patent Office: 797 Days
• Field of Search: 2503381
• CPC Class Codes: A01B 79/005 Precision agriculture
• CPC Class Codes: G01J 1/0219 Electrical interface; User interface
• CPC Class Codes: G01J 1/0228 Control of working procedures; Failure detection; Spectral bandwidth calculation
• CPC Class Codes: G01J 1/0247 using a charging unit
• CPC Class Codes: G01J 1/0271 Housings; Attachments or accessories for photometers
• CPC Class Codes: G01J 1/0488 with spectral filtering
• CPC Class Codes: G01J 1/16 using electric radiation detectors G01J1/20 takes precedence
• CPC Class Codes: G01J 1/1626 Arrangements with two photodetectors, the signals of which are compared
• CPC Class Codes: G01J 1/4228 arrangements with two or more detectors, e.g. for sensitivity compensation
• CPC Class Codes: G01J 2001/1615 Computing a difference/sum ratio, i.e. (Im - Ir) / (Im + Ir)
• CPC Class Codes: G01J 2001/4266 for measuring solar light
• CPC Class Codes: G01N 2021/8466 Investigation of vegetal material, e.g. leaves, plants, fruits
• CPC Class Codes: G01N 21/84 Systems specially adapted for particular applications
• CPC Class Codes: G01V 8/10 Detecting, e.g. by using light barriers by reflection from the object G01S17/00

Abstract

A technique and apparatus for monitoring a plant canopy over a field is disclosed. The technique includes receiving first sensor values from a plurality of plant canopy sensors disposed in or on a ground of the field under the plant canopy. The first sensor values are indicative of near-infrared (IR) light reflected or reradiated from the plant canopy. Second sensor values are also received from the plant canopy sensors. The second sensor values are indicative of red light that is incident through the plant canopy. A map of the plant canopy may be generated based upon the first and second sensor values.

Claims

1. A sensor apparatus, comprising:

a housing having a first end shaped for placing on, or inserting into, a ground;

a first photo-sensor disposed at a second end, opposite the first end, of the housing and having a near-infrared (IR) bandpass filter, the first photo-sensor oriented to be sensitive to near-IR light received from above the sensor opposite the first end;

a second photo-sensor disposed at the second end of the housing and having a red light bandpass filter, the second photo-sensor oriented to be sensitive to red light received from above the sensor opposite the first end;

a third photo-sensor disposed at the second end of the housing, the third photo-sensor oriented to be sensitive to solar light incident from above the ground when the first end of the housing is placed in or on the ground, wherein the third photo-sensor is configured and oriented to measure broadband visible spectrum solar illumination for normalizing sensor values from the first and second photo-sensors;

a wireless transmitter disposed within the housing; and

a controller coupled to the first, second, and third sensors to acquire the sensor values from the first, second, and third photo-sensors and coupled to the wireless transmitter to wirelessly transmit the sensor values via the wireless transmitter,

wherein the sensor apparatus comprises a plant canopy sensor and the first, second, and third photo-sensors are orientated on the housing for collectively mapping a shape or tracking changes in the shape of a plant canopy from below the plant canopy.

2. The sensor apparatus of claim 1, wherein the first photo-sensor is oriented to be sensitive to the near-IR light reflected or reradiated from a plant canopy when the first end of the housing is placed in or on the ground beneath the plant canopy, and

wherein the second photo-sensor is oriented to be sensitive to the red light that encourages photosynthesis which is incident from the plant canopy when the first end of the housing is placed in or on the ground beneath the plant canopy.

3. The sensor apparatus of claim 1, further comprising memory disposed within the housing and coupled to the controller, wherein the controller includes logic that when executed by the controller causes the sensor apparatus to perform operations including:

periodically acquiring the sensor values;

storing the sensor values into the memory indexed to time of acquisition; and

periodically transmitting the sensor values via the wireless transmitter to a remote server.

4. The sensor apparatus of claim 1, further comprising:

a location sensor disposed in or on the housing and coupled to the controller, the location sensor for determining a location of the sensor apparatus, wherein the controller is configured to transmit the location via the wireless transmitter.

5. The sensor apparatus of claim 1, wherein the wireless transmitter is configured for communicating over a mesh network established by a plurality of instances of the sensor apparatus.

6. The sensor apparatus of claim 1, wherein:

the near-IR bandpass filter has a first bandpass that falls between approximately 800 nm and approximately 1000 nm,

the red light bandpass filter has a second bandpass that falls between approximately 680 nm and approximately 720 nm, and

the third photo-sensor includes a visible spectrum bandpass filter having a third bandpass that falls between approximately 400 nm and approximately 600 nm.

7. The sensor apparatus of claim 1, further comprising:

a compass disposed in or on the housing for determining a directional orientation of the sensor apparatus when placed on, or inserted into, the ground, wherein the controller is coupled to the compass to transmit the directional orientation of the sensor apparatus via the wireless transmitter.

8. The sensor apparatus of claim 1, further comprising:

an on-board illuminator disposed in or on the housing at the first end to illuminate an underside of a plant canopy, the on-board illuminator configured to emit the near-IR light and the red light.

9. The sensor apparatus of claim 8, wherein the controller includes logic that when executed by the controller causes the sensor apparatus to perform operations including:

transmitting an indication via the wireless transmitter of whether the sensor values were acquired using the on-board illuminator.

10. A method of monitoring changes in a plant canopy over a field, the method comprising:

receiving first sensor values from a plurality of plant canopy sensors disposed in or on a ground of the field under the plant canopy, the first sensor values indicative of near-infrared (IR) light reflected or reradiated from the plant canopy;

receiving second sensor values from the plant canopy sensors, the second sensor values indicative of red light, which encourages photosynthesis, that is incident through the plant canopy;

acquiring reference sensor values from a reference sensor positioned in or adjacent to the field at an open location having an unobstructed view of a sky above the field, wherein the reference sensor values represent a broadband visible spectrum measurement of solar illumination;

normalizing the first and second sensor values based upon the reference sensor values acquired approximately contemporaneously with the first and second sensor values; and

generating a map of the plant canopy based upon the first and second sensor values.

11. The method of claim 10, further comprising:

tracking changes in the plant canopy over time; and

identifying healthy or distressed areas of the field based upon the changes in the plant canopy.

12. The method of claim 11, further comprising:

issuing a notification when a threshold change in the plant canopy tracked over time indicates a plant distress condition; and

indicating on the map where in the field the plant distress condition is occurring.

13. The method of claim 10, wherein the first and second sensor values are indexed to dates and times of when the first and second sensor values were acquired by the plant canopy sensors and indexed to a field location of the plant canopy sensors, and wherein generating the map of the plant canopy comprises:

identifying sun path data based upon the dates and the field location of the plant canopy sensors, wherein the sun path data changes based upon the field location and a time of year; and

referencing the sun path data to increase a resolution of the map calculated based upon the sensor values.

14. The method of claim 10, wherein receiving the first and second sensor values includes receiving the first and second sensor values from a wireless mesh network that communicatively interconnects the plant canopy sensors to an egress gateway.

15. The method of claim 10, further comprising:

acquiring third sensor values indicative of broadband visible spectrum solar illumination incident through the plant canopy with the plant canopy sensors; and

transmitting the third sensor values over the wireless mesh network to the remote server for monitoring changes in the plant canopy over time.

16. The method of claim 15, further comprising:

analyzing the first, second, and third sensor values with a machine learning algorithm to identify one or more of a growing status, a dying status, a health status, or a distress status of plants within the field.

17. A machine-accessible storage medium that provides instructions that, when executed by a machine, will cause the machine to perform operations for monitoring changes in a plant canopy over a field, the operations comprising:

receiving first sensor values from a plurality of plant canopy sensors disposed in or on a ground of the field under the plant canopy, the first sensor values indicative of near-infrared (IR) light reflected or reradiated from the plant canopy;

receiving second sensor values from the plant canopy sensors, the second sensor values indicative of red light, which encourages photosynthesis, that is incident through the plant canopy;

indexing the first and second sensor values to dates and times of when the first and second sensor values were acquired by the plant canopy sensors;

associating the first and second sensor values to a field location of the plant canopy sensors; and

generating a map of the plant canopy based upon the first and second sensor values, wherein generating the map of the plant canopy comprises;

identifying sun path data based upon the dates and the field location of the plant canopy sensors, wherein the sun path data changes based upon the field location and a time of year; and

referencing the sun path data to increase a resolution of the map calculated based upon the sensor values.

18. A machine-accessible storage medium that provides instructions that, when executed by a machine, will cause the machine to perform operations for monitoring changes in a plant canopy over a field, the operations comprising:

receiving first sensor values from a plurality of plant canopy sensors disposed in or on a ground of the field under the plant canopy, the first sensor values indicative of near-infrared (IR) light reflected or reradiated from the plant canopy;

receiving second sensor values from the plant canopy sensors, the second sensor values indicative of red light, which encourages photosynthesis, that is incident through the plant canopy;

acquiring reference sensor values from a reference sensor, wherein the reference sensor values represent a broadband visible spectrum measurement of solar illumination;

normalizing the first and second sensor values based upon the reference sensor values acquired approximately contemporaneously with the first and second sensor values; and

generating a map of the plant canopy based upon the first and second sensor values.