Integrated remote aerial sensing system

• US 9,488,630 B2
• Filed: 11/06/2014
• Issued: 11/08/2016
• Est. Priority Date: 11/08/2013
• Status: Active Grant

• Current Assignee: Corteva Agriscience LLC (Corteva, Inc.)
• Original Assignee: Dow Agrosciences LLC (Corteva, Inc.)
• Inventors: Coram, Tristan, Yang, Yang, Wright, Terry R., Setlur, Pradeep, Haile, Fikru
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): NGUYEN, ROBERT T
• Application Number:
  US14/535,118
• Publication Number:
  US 20150134152A1
• Time in Patent Office: 733 Days
• Field of Search: 701/3, 244/33
• US Class Current: 1/1
• CPC Class Codes: B64B 1/44 adapted to maintain predetermined altitude
• CPC Class Codes: B64B 1/50 Captive balloons
• CPC Class Codes: B64B 1/66 Mooring attachments
• CPC Class Codes: B64C 39/022 Tethered aircraft
• CPC Class Codes: B64D 47/08 Arrangements of cameras
• CPC Class Codes: B64F 1/12 for anchoring aircraft
• CPC Class Codes: B64F 1/14 Towers or masts for mooring airships or balloons
• CPC Class Codes: B64U 10/60 Tethered aircraft
• CPC Class Codes: B64U 20/87 Mounting of imaging devices, e.g. mounting of gimbals
• CPC Class Codes: B64U 2201/202 using tethers for connecting to ground station
• CPC Class Codes: F03D 5/00 Other wind motors controlling thereof F03D7/00
• CPC Class Codes: G01N 33/0098 Plants or trees wood G01N33/46
• CPC Class Codes: G05D 1/00 Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots drive control systems specially adapted for autonomous road vehicles B60W60/00
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
• CPC Class Codes: G05D 1/0866 specially adapted to captive aircraft
• CPC Class Codes: Y02E 10/70 Wind energy

Abstract

A system for high temporal and high spatial resolution monitoring of a field of plants is disclosed. Illustratively, the system includes a plurality of ground based reference objects, a balloon adapted to be positioned above the field of plants, and a balloon positioning system coupled to the balloon and configured to position the balloon relative to the field of plants. An imaging system is supported by the balloon and includes a locations system, at least one camera, and at least one gimbal configured to orient the at least one camera. The imaging system captures at least one image of the field of plants including the plurality of ground based reference objects in the at least one image.

Claims

1. An aerial positioning system comprising:

a balloon;

a balloon positioning system coupled to the balloon and configured to position the balloon at a desired balloon elevation, a desired balloon latitude, and a desired balloon longitude, the balloon positioning system including a plurality of winches supported on the ground, and a plurality of tethers extending between the winches and the balloon;

a sensor system supported by the balloon, the sensor system including

a location system which determines a balloon elevation, a balloon latitude, and a balloon longitude,

at least one sensor directed to a ground based region of interest, and

at least one gimbal configured to orient the at least one sensor; and

a controller in communication with the balloon positioning system and the sensor system, wherein the at least one sensor provides to the controller a first set of data at a first time related to the region of interest, and a second set of data at a second time related to the region of interest, and the balloon positioning system positions the balloon at the desired balloon elevation, the desired balloon latitude, and the desired balloon longitude in response to input from the location system at both the first time and the second time.

2. The aerial positioning system of claim 1, further comprising a plurality of ground based reference objects, each located at a known reference elevation, a known reference latitude, and a known reference longitude, wherein the at least one sensor captures the plurality of ground based reference objects in at least one image.

3. The aerial positioning system of claim 2, wherein the plurality of ground based reference objects each include a position reference panel having a unique identifier, the unique identifier being visible to the at least one sensor to identify the position reference panel.

4. The aerial positioning system of claim 1, wherein the at least one sensor comprises a camera.

5. The aerial positioning system of claim 4, wherein the at least one camera includes a multispectral camera for acquiring at least one image in a plurality of channels of the electromagnetic spectrum.

6. The aerial positioning system of claim 5, wherein the at least one camera further includes a thermal imaging camera supported in parallel to the multispectral camera, the thermal imaging camera configured to receive at least one image in a desired thermal wavelength.

7. The aerial positioning system of claim 6, wherein the at least one camera further includes a digital camera providing a visual feedback for guidance and target aiming.

8. The aerial positioning system of claim 1, wherein the balloon positioning system includes four winches and tethers for lateral and longitudinal positioning of the balloon.

9. The aerial positioning system of claim 8, wherein the balloon positioning system includes a fifth winch and tether for elevational positioning of the balloon.

10. The aerial positioning system of claim 1, wherein the location system includes a global positioning system receiver for detecting at least the balloon latitude and the balloon longitude.

11. The aerial positioning system of claim 10, wherein the location system further includes an altimeter for detecting at least the balloon elevation.

12. The aerial positioning system of claim 1, wherein the at least one gimbal is configured to rotate the at least one sensor about three axes for pointing the at least one sensor in desired directions to acquire data from the region of interest.

13. The aerial positioning system of claim 12, wherein the at least one gimbal is configured to rotate the at least one sensor 360 degrees about a z-axis, at least 180 degrees about an x-axis, and at least 180 degrees about a y-axis.

14. The aerial positioning system of claim 12, wherein the sensor system includes a position sensor operably coupled to the at least one gimbal and configured to detect the angular orientation of the at least one gimbal and the direction of the at least one sensor.

15. An aerial sensing system comprising:

a plurality of ground based reference objects, each located at a known reference elevation, a known reference latitude, and a known reference longitude, wherein the plurality of ground based reference objects each include a position reference panel having a unique identifier;

an aerial platform adapted to be positioned above a focus area including objects of interest;

an aerial platform positioning system coupled to the aerial platform and configured to position the aerial platform at a desired aerial platform elevation, a desired aerial platform latitude, and a desired aerial platform longitude;

an imaging system supported by the aerial platform, the imaging system including

a location system which determines an aerial platform elevation, an aerial platform latitude, and an aerial platform longitude,

at least one camera for obtaining an aerial image of the objects of interest, the unique identifier being visible to the imaging system to identify the position reference panel,

at least one gimbal configured to orient the at least one camera, and

a position sensor operably coupled to the at least one gimbal for detecting the orientation of the at least one camera, wherein the imaging system captures at least one image of the focus area including the plurality of objects of interest and the plurality of ground based reference objects in the at least one image; and

a controller in communication with the aerial platform positioning system and the imaging system, wherein the controller includes a driving computer that controls the aerial platform positioning system in response to input from the location system, and an imaging computer that processes data from the at least one camera.

16. The aerial sensing system of claim 15, wherein the aerial platform includes a helium filled balloon.

17. The aerial sensing system of claim 16, wherein the aerial platform positioning system includes four winches and cables for lateral and longitudinal positioning of the balloon.

18. The aerial sensing system of claim 17, wherein the aerial platform positioning system includes a fifth winch and a cable for elevational positioning of the balloon.

19. The aerial sensing system of claim 15, wherein the location system includes a global positioning system receiver for detecting at least the aerial platform latitude and the aerial platform longitude.

20. The aerial sensing system of claim 18, wherein the location system further includes an altimeter for detecting at least the aerial platform elevation.

21. The aerial sensing system of claim 15, wherein the at least one camera includes a multispectral camera for acquiring at least one image in a plurality of channels of the electromagnetic spectrum.

22. The aerial sensing system of claim 21, wherein the at least one camera further includes a thermal imaging camera supported in parallel to the multispectral camera, the thermal imaging camera configured to receive at least one image in a desired thermal wavelength.

23. The aerial sensing system of claim 22, wherein the at least one camera further includes a digital camera for guidance and target aiming providing a visual feedback for guidance and target aiming.

24. The aerial sensing system of claim 15, wherein the at least one gimbal is configured to rotate the at least one camera about three axes for pointing the at least one camera in desired directions to acquire images in the field of study.

25. The aerial sensing system of claim 24, wherein the at least one gimbal is configured to rotate the at least one camera 360 degrees about a z-axis, at least 180 degrees about an x-axis, and at least 180 degrees about a y-axis.

26. The aerial sensing system of claim 15, wherein the imaging computer is configured to geo-rectify the images.

27. The aerial sensing system of claim 26, wherein the driving computer is configured to cause the aerial platform positioning system to reposition the aerial platform at the desired aerial platform elevation, the desired aerial platform latitude, and the desired aerial platform longitude in response to input from the location system.