SYSTEM FOR MONITORING CROPS AND SOIL CONDITIONS

• US 20180156770A1
• Filed: 10/12/2017
• Published: 06/07/2018
• Est. Priority Date: 10/12/2016
• Status: Active Grant

• Current Assignee: Aker Technologies, Inc. (Brightvolt, Inc.)
• Original Assignee: Aker Technologies, Inc. (Brightvolt, Inc.)
• Inventors: SAEZ, Orlando, GOLLY, Tim, GOLLY, Todd
• Granted Patent: US 10,627,386 B2
• Time in Patent Office: Days
• CPC Class Codes: A01B 79/005 Precision agriculture
• CPC Class Codes: B64D 47/00 Equipment not otherwise provided for
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2201/104 using satellite radio beacon positioning systems, e.g. GPS
• CPC Class Codes: B64U 30/20 Rotors; Rotor supports
• CPC Class Codes: G01N 33/0098 Plants or trees wood G01N33/46
• CPC Class Codes: G01N 33/02 Food
• CPC Class Codes: G01N 33/24 Earth materials G01N33/42 takes precedence
• CPC Class Codes: G01N 33/245 for agricultural purposes

Abstract

According to an aspect, a system for monitoring crops and soil conditions below a crop canopy includes a retractable boom assembly adapted to be coupled to an unmanned aerial vehicle. Further according to this aspect, the boom assembly includes an actuator and an elongate probe is coupled to the retractable boom assembly. Still further, the system includes a controller for maneuvering the elongate probe below the crop canopy while the boom assembly is extended by the actuator.

Claims

1. A system for monitoring crops and soil conditions below a crop canopy comprising:

a retractable boom assembly adapted to be coupled to an unmanned aerial vehicle, the boom assembly including an actuator;

an elongate probe coupled to the retractable boom assembly;

a controller for maneuvering the elongate probe below the crop canopy while the boom assembly is extended by the actuator.

2. The system of claim 1, further comprising:

a sensor package disposed within the elongate probe;

wherein the sensor package acquires data below the crop canopy.

3. The system of claim 2, wherein the retractable boom assembly further comprises:

a plurality of arms; and

a plurality of flexible hinges;

wherein the actuator operates on one of the plurality of arms; and

wherein in response to actuation the plurality of arms operate together to flex at the flexible hinges and retract the retractable boom assembly to a tucked position beneath the unmanned aerial vehicle.

4. The system of claim 3, further comprising:

one or more inertial measurement units for determining positions of at least one of the unmanned aerial vehicle, the elongate probe, and a combination of the unmanned aerial vehicle and the elongate probe.

5. The system of claim 4, wherein the one or more inertial measurement units further comprise:

a first inertial measurement unit disposed on the unmanned aerial vehicle and a second inertial measurement unit on the elongate probe;

wherein the first and second inertial measurement units operate together to adjust navigation of the unmanned aerial vehicle according to forces developed by in-flight movement of the retractable boom assembly and the elongate probe.

6. The system of claim 4, further comprising:

a communications connection between the one or more inertial measurement units, the sensor package, and the controller;

wherein the controller adjusts navigation of the unmanned aerial vehicle in response to both the one or more inertial measurement units and the sensor package.

7. The system of claim 6, wherein micro-positioning of the unmanned aerial vehicle occurs in response to observations of the sensor package;

wherein micro-positioning improves one or more parameters of the sensor package observations.

8. The system of claim 6, the sensor package further comprising:

a ground touch probe;

wherein navigation of the unmanned aerial vehicle is adjusted in response to the ground touch probe contacting ground.

9. The system of claim 2, wherein the sensor package further comprises one or more of:

at least one camera;

at least one LiDAR sensor; and

at least one luminous flux sensor.

10. The system of claim 1, wherein the retractable boom assembly has a retracted position and an extended position;

wherein the retractable boom assembly moves from the retracted position to the extended position to dispose the elongate probe distal from the unmanned aerial vehicle; and

wherein the unmanned aerial vehicle maneuvers the elongate probe below the crop canopy while the retractable boom assembly is in the extended position.

11. A system for aerial monitoring and sampling of crops and soil conditions, the system comprising:

an unmanned aerial vehicle;

a retractable boom assembly coupled to the unmanned aerial vehicle; and

an elongate probe having a sensor package configured to operatively couple to the retractable boom assembly and the unmanned aerial vehicle;

wherein the retractable boom assembly is coupled to an unmanned aerial vehicle;

wherein the retractable boom assembly retracts the elongate probe during launch and landing of the unmanned aerial vehicle; and

wherein the retractable boom assembly extends the elongate probe away from the unmanned aerial vehicle during flight such that the elongate probe enters a space below a crop canopy.

12. The system of claim 11, wherein the retractable boom assembly further comprises:

a plurality of arms;

a plurality of flexible hinges; and

an actuator;

wherein the plurality of arms and flexible hinges are arranged such that the actuator operates on one of the plurality of arms to retract and extend the retractable boom assembly.

13. The system of claim 12, wherein the flexible hinges of the retractable boom assembly are in a flexible state when the retractable boom assembly is extended.

14. The system of claim 12, wherein the flexible hinges of the retractable boom assembly are in a rigid state when the retractable boom assembly is retracted.

15. The system of claim 11, further comprising:

first and second inertial measurement units respectively disposed on the elongate probe and the unmanned aerial vehicle; and

a controller;

wherein the controller adjusts navigation of the unmanned aerial vehicle according to one or more observations of the first and second inertial measurement units and one or more observations of the sensor package.

16. The system of claim 15, wherein the controller micro-positions the unmanned aerial vehicle in response to the one or more observations of the sensor package, and wherein the one or more observations of the sensor package are improved by the micro-positioning.

17. The system of claim 15, further comprising:

a downward facing sensor disposed on a bottom portion of the unmanned aerial vehicle; and

a compressible ground touch probe disposed within the elongate probe.

18. The system of claim 17, wherein one or more observations of the downward facing sensor and the compressible ground touch probe are inputs to the controller;

and

wherein the controller operates the unmanned aerial vehicle to dip the sensor package below the crop canopy in response to the one or more observations of the downward facing sensor and the compressible ground touch probe.

19. The system of claim 18, wherein one or more observations of the ground touch probe, acquired in real time, results in the controller micro-positioning the unmanned aerial vehicle to maintain the sensor package at substantially a same height.

20. A method of monitoring crops and soil conditions, comprising:

operatively coupling a retractable boom assembly and elongate probe to an unmanned aerial system;

retaining the retractable boom assembly and the elongate probe in a first position retracted proximal a body of the unmanned aerial system during launch;

extending the retractable boom assembly and the elongate probe to a second position distal the body of the unmanned aerial system during flight;

dipping the elongate probe below a plant canopy while the elongate probe is in the second position;

acquiring data with one or more sensors disposed in the elongate probe during the dipping maneuver; and

retracting the retractable boom assembly and the elongate probe to the first position during landing.