WO2015193822A1 - Procédé et dispositif pour mesurer la couverture végétale sur une terre agricole - Google Patents

Procédé et dispositif pour mesurer la couverture végétale sur une terre agricole Download PDF

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Publication number
WO2015193822A1
WO2015193822A1 PCT/IB2015/054561 IB2015054561W WO2015193822A1 WO 2015193822 A1 WO2015193822 A1 WO 2015193822A1 IB 2015054561 W IB2015054561 W IB 2015054561W WO 2015193822 A1 WO2015193822 A1 WO 2015193822A1
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WO
WIPO (PCT)
Prior art keywords
sensor
image
sectors
coordinates
area
Prior art date
Application number
PCT/IB2015/054561
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English (en)
Inventor
Giancarlo Bertuzzi
Paolo DOSSO
Bonfiglio PLATE'
Original Assignee
Casella Macchine Agricole S.R.L.
Studio Di Ingegneria Terradat Di Paolo Dosso
Appleby Italiana S.R.L.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Casella Macchine Agricole S.R.L., Studio Di Ingegneria Terradat Di Paolo Dosso, Appleby Italiana S.R.L. filed Critical Casella Macchine Agricole S.R.L.
Publication of WO2015193822A1 publication Critical patent/WO2015193822A1/fr

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G06V20/188—Vegetation
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B79/00—Methods for working soil
    • A01B79/005—Precision agriculture

Definitions

  • the invention relates to a method for measuring or estimating vegetation cover on land, in particular on farmland, and the related device for performing this measurement.
  • the wavelengths useful for this purpose are typically those in the red (spectral range around 690 nm) and near infrared (spectral range from around 780 nm to around 1000 nm) spectrum.
  • NDVI Normalised Difference Vegetation Index
  • the NDVI is based on variations in the optical reflectivity of plants and ground at different wavelengths.
  • the NDVI is calculated as:
  • NDVI ((NIR)-(RED))/((NIR+RED))
  • the ground reflects more light in the red spectrum (RED) than in the near infrared spectrum (NIR), while plants reflect more NIR than RED, as the chlorophyll in plants absorbs a great deal of visible red light.
  • RED red spectrum
  • NIR near infrared spectrum
  • NDVI measurements can be obtained with specific sensors using various methods.
  • One of these sensors is, for example, the sensor “GreenSeeker”, marketed by the company Trimble Navigation.
  • GreenSeeker is a system of active sensors provided with its own light source, the reflected fraction of which is scanned at a distance of around one metre from the vegetation cover.
  • Crop Circle is provided with an active lighting system that only partly solves the aforesaid problems.
  • this device is still affected by problems related to the different angles with which the plants are framed during movement of the vehicle.
  • this sensor is also influenced both by the position of the sun with respect to the sensor and to the area of land to be analysed and by weather conditions.
  • the object of the present invention is to propose a device for measuring vegetation cover on land that overcomes the problems of the prior art described above.
  • an object of the present invention is to propose a method for measuring vegetation cover, in particular on farmland, which is not particularly sensitive to light conditions, to weather conditions and to the relative position between the sensor and the plants to be analysed.
  • an object of the invention is to propose a method, and a device, for measuring vegetation cover in which for a same portion of vegetation cover several images taken from different angles are compared.
  • Another object of the present invention is to propose a method for measuring vegetation cover that provides a vegetation cover index in real time, while the image sensor is moved inside the land to be analysed.
  • a further object of the present invention is to provide a device for measuring vegetation cover that enables further environmental parameters to be acquired, in order to correct, in real time, the vegetation cover values obtained through the image sensor.
  • another object of the present invention is also to produce an inexpensive device made with consumer electronics.
  • Each image is in turn sub-divided into several sectors for which a vegetation cover index is calculated based on the chromatic components of the pixels.
  • the previously calculated cover indices are compared and a correct cover index of the corresponding area of land is determined.
  • the index is no longer determined by a reading taken with a specific angle between sensor and area of vegetation cover, but is obtained by comparing images taken from different angles during movement of the sensor.
  • the method for measuring vegetation cover on farmland comprises the following steps:
  • the senor is moved in a straight line direction at a speed of between 3 km/h and 15 km/h and the images (In) are acquired at a frequency of between lHz and 5Hz.
  • the optical axis of the sensor is inclined at an angle (a) of around 45° with respect to a horizontal plane, and at an angle ( ⁇ ) of around 90° with respect to a vertical plane parallel to the direction (X) of movement of the sensor.
  • the area of the image (An) has a trapezoidal shape with the larger base further from the trajectory of movement of the sensor with respect to the smaller base.
  • the image (In) is divided into a number of sectors (Sn-i) equal to 10. This number can clearly vary depending on the size of the corresponding area on the ground (An) or based on the precision required in determination of the cover index.
  • the point (BSn-i) that identifies each sector is in the centre of gravity of the corresponding area on the ground.
  • the maximum distance (DSi) between the respective coordinates of the identifying points (BSn-i) of the group of sectors (Sk-i) is less than a pre-set value calculated based on the geometric positioning parameters of the sensor with respect to the ground.
  • a device for measuring the vegetation cover of an area of farmland comprising:
  • At least one image sensor At least one image sensor
  • control unit connected to said sensor
  • control unit in which the control unit is configured to perform the steps of the method from a) to i) listed above.
  • control unit comprises a local unit and a central unit, where the local unit is configured to perform the steps of the method a), b), d) f), g) and to send the vegetation cover values (Cn-i) for the sectors (Sn-i) to the central unit, while the central unit is configured to perform the remaining steps c), e), h), i).
  • the device is also provided with one or more of the following sensors:
  • FIG. 1 is a schematic front view of a vehicle on which the device of the invention is mounted;
  • Fig. 2 is a top view of the vehicle of Fig. 1 ;
  • - Fig. 3 is a schematic view of the area framed by the sensor
  • Fig. 4 is a schematic view that represents several areas framed in subsequent samplings
  • FIG. 5 schematically represents the device according to a variant of the invention.
  • a pair of sensors Tl, T2 each positioned in such a manner as to frame, from above, an area A to the side of the vehicle V.
  • Said sensors Tl, T2 are preferably frame digital image sensors of RGB type.
  • the device can also have a single image sensor facing only one side of the vehicle V or even more than two sensors.
  • vehicle V is intended as any vehicle or any means capable of moving the sensors through land in at least one direction.
  • the sensors Tl, T2 are connected to each other rigidly and inclined at an angle a of around 45° with respect to a horizontal plane passing through the axis Y that connects the centres of focus C of the two sensors Tl, T2 (Fig. 1).
  • optical axes O of the two sensors Tl, T2 are also orthogonal to the horizontal axis X parallel to the direction of movement M of the vehicle V.
  • the optical axis O of the sensors is oriented at an angle ⁇ of around 90° with respect to a vertical plane passing through said axis X.
  • the sensors Tl, T2 are installed at a height H from the ground of between 2 m and 4 m.
  • each sensor its height from the ground and its FOV (Field Of View), appropriately combined, allow framing of an area A of around 10 m in width to the side of the vehicle.
  • the ground projection of the sensitive area of the sensor Tl, T2 is represented by a trapezium having the smaller base b with a length of around 2 m on the side closest to the vehicle and the larger base B with a length of around 10 m on the opposite side.
  • the device also comprises a control unit P to store and process the images taken by the sensors Tl, T2.
  • Said control unit P can be included, for example, in a computer or in a mobile device, such as a Smartphone or a tablet, suitably programmed.
  • the control unit P is preferably positioned on the vehicle but, if provided with wireless transmission means (Wi-Fi or Bluetooth®, or other equivalent technology), it can be positioned elsewhere.
  • wireless transmission means Wi-Fi or Bluetooth®, or other equivalent technology
  • the device also comprises a GPS device R positioned on the vehicle V and connected to the control unit P.
  • the antenna of the GPS device R is arranged so that its position with respect to the sensors Tl, T2 is known and defined.
  • the control unit is configured to acquire images In of the ground framed by the sensors Tl, T2, with a constant frequency preferably between 1 Hz and 5 Hz, while the sensors are moved on the ground in the direction X.
  • these sampling frequencies are sufficient when the speed of movement of the sensor is between 3 km/h and 15 km/h.
  • the direction X is parallel to the direction of movement M.
  • control unit P calculates and attributes a "Vegetation" value (V) or "Other” value (O) to each pixel in the image In depending on the chromatic parameters detected in the image.
  • sub-division into the two categories is based on analysis of the chromatic components related to each pixel, calculated starting from the R, G, B values of each pixel.
  • pixels marked with "Other” correspond to the ground, branches of the plants or degraded leaf parts.
  • the threshold for recognition of the vegetation value can be varied and determined according to needs, such as type of plant, characteristic colour of the leaves, etc.
  • Typical methods for performing this distinction use supervised and unsupervised classification algorithms combined with histogram slicing and histogram stretching techniques by searching for values corresponding to the "Jenks Natural Breaks" within the values of the chromatic components.
  • the control unit P stores and associates the coordinate of the GPS antenna R and, knowing the distance between this and the sensors, calculates the coordinate (Xn, Yn, Zn) of the centre of focus C of the sensor.
  • the control unit P then processes the image In, sub-dividing it into a number I of sectors Sn-i, where i is the index of the i-th sector of an area An.
  • the number I of sectors is preferably equal to 10.
  • Fig. 3 schematically represents sub-division of the images into 10 sectors Sn-i.
  • control unit P is configured to sub-divide the area AN so that all the sectors Sn-i have an area Asn-i corresponding to an area of equal surface on the ground.
  • the sub-division into the sectors Sn-i is performed so as to overcome image distortion caused by the perspective of the image.
  • control unit P starting from the coordinates (Xn, Yn, Zn) of the sensors Tl, T2, calculates the coordinates (XBn-i, YBn-i) of an identifying point BSn-i of each sector Sn-i, at a height equal to the ground.
  • the identifying point BSn-i corresponds to the centre of gravity of the corresponding area on the ground of each sector Sn-i (Fig.3).
  • the control unit P therefore calculates for each sector Sn-i a vegetation cover index Cn-i based on the number of pixels that were marked with the Vegetation value with respect to the total number of pixels in the sector Sn-i.
  • control unit P compares the cover index Cn-i of an i-th sector with other cover indices obtained from previous image samplings.
  • the steps described above are in fact repeated a number N of times, where N is equal to or greater than 2, while the sensors Tl, T2 are moved on the ground, for example during movement of the vehicle V.
  • the sensors are moved in the direction X.
  • a characteristic of the invention is therefore that of comparing the vegetation cover values Cn-i of a same area on the ground, obtained by images taken in different instants in different spatial positions (Xn, Yn, Zn) and therefore with different angles of the sensor with respect to a given area of land.
  • control unit P compares the coordinates (XBn-i, YBn-i) of the identifying points BSn-i of several sectors Sn-i and determines a group of sectors comparable when the distance of the respective coordinates is below a maximum distance DSi.
  • control unit establishes when the sectors Sn-i are sufficiently overlapped to compare the related cover indices Cn-i.
  • a method for determining the maximum distance Dsi between the respective coordinates of the identifying points BSn-i of the group of sectors Sk-i can be calculated from the geometric positioning parameters of the system on the vehicle and therefore from the average distance of the identifying points from those closest to them, within the scope of analysis of a single frame.
  • Fig. 4 schematically shows a sequence of areas An taken in several samplings in which the identifying points BSn-i are more or less close to one another.
  • the control unit P performing statistical analysis of the vegetation cover index Cn-i values calculated for the single sectors belonging to the aforesaid group, attributes the estimate of a vegetation cover index Cn-i to an area on the ground deriving from the envelop of the areas corresponding to the areas on the ground previously calculated for each of the sectors belonging to the single group of sectors to which the estimate Cn-i refers.
  • the number of sectors Sn-i increases as they move away from the axis of movement of the vehicle. This is because, as the measurements of sectors Sn-i closer to the sensor (i.e. closer to the axis of the vehicle) are more nadiral, they are typically affected less by the aforesaid disturbances.
  • the value can be used to calculate, using further algorithms, the substances, such as fertilisers, plant protection products or also water, and the quantities of these substances, required by the plants in a given area of land.
  • these calculations can be performed by the control unit P in real time, so as to be able to directly control distribution means of these substances mounted on the vehicle.
  • control unit P comprises a local unit L connected directly to each sensor and a central unit H.
  • the local unit L is capable of performing the following steps:
  • a vegetation cover index Cn-i based on the relation between the number of pixels classed as Vegetation and the total number of pixels contained in the sector Sn-i;
  • the central unit H is connected to the GPS antenna.
  • the central unit H can then perform the subsequent steps of the method:
  • the central unit H is connected to “Memory” storage media to store all the information and the values calculated, and preferably, it is provided with “Bluetooth®” wireless communication means and with a “Wi-Fi” Internet connection to communicate with other devices, such as the means for distribution of the substances or other remote electronic appliances.
  • “Memory” storage media to store all the information and the values calculated, and preferably, it is provided with “Bluetooth®” wireless communication means and with a “Wi-Fi” Internet connection to communicate with other devices, such as the means for distribution of the substances or other remote electronic appliances.
  • all the information and the parameters can be managed by an operator interface, such as a touch screen or the same display of a Smartphone or of a tablet, in the case in which the control unit P, or at least the central unit H, makes use of the CPU of these devices.
  • an operator interface such as a touch screen or the same display of a Smartphone or of a tablet, in the case in which the control unit P, or at least the central unit H, makes use of the CPU of these devices.
  • the device is also provided with further sensors whose parameters are used to perform further corrections in the calculation of the quantity of substances to supply to a given vegetation area.
  • These sensors can comprise, for example, an ambient temperature sensor, a soil (or plant) temperature sensor, a humidity sensor or an ultrasound sensor.
  • Variants of the invention can provide for the use of one or more of the sensors listed above.

Abstract

L'invention concerne un procédé pour mesurer la couverture végétale dans laquelle, au moyen d'un capteur d'image subissant une translation au moins dans une direction au-dessus de ladite terre analysée, plusieurs images d'une partie de ladite terre sont acquises. Chaque image est à son tour subdivisée en plusieurs secteurs pour lesquels un indice de couverture végétale est calculé sur la base des composantes chromatiques des pixels. Grâce à la surveillance de la position du capteur au moyen d'un système mondial de localisation (GPS) et à la connaissance des paramètres géométriques de l'image, la position sur la terre des différentes zones auxquelles les secteurs de chaque image correspondent est calculée. Pour un nombre donné de secteurs dont les zones sur le sol se chevauchent suffisamment, les indices de couverture précédemment calculés sont comparés et un indice de couverture correct de la zone correspondante sur la terre est déterminé. L'invention concerne également un dispositif configuré pour mettre en œuvre le procédé mentionné ci-dessus.
PCT/IB2015/054561 2014-06-17 2015-06-17 Procédé et dispositif pour mesurer la couverture végétale sur une terre agricole WO2015193822A1 (fr)

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ITPC2014A000014 2014-06-17
ITPC20140014 2014-06-17

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WO2018050580A1 (fr) * 2016-09-16 2018-03-22 Bayer Cropscience Aktiengesellschaft Détermination du besoin en produit phytosanitaire
WO2018073060A1 (fr) 2016-10-18 2018-04-26 Bayer Cropscience Aktiengesellschaft Planification et mise en oeuvre de mesures agricoles
CN111868566A (zh) * 2019-10-11 2020-10-30 安徽中科智能感知产业技术研究院有限责任公司 一种基于定位漂移测算模型的农机作业面积测算方法
CN114543638A (zh) * 2022-01-12 2022-05-27 四川恒得复生态科技有限公司 一种可以快速测定草本覆盖度的工具
US11723298B2 (en) 2016-09-16 2023-08-15 Basf Agro Trademarks Gmbh Efficient use of plant protection agents, nutrients, and the like in the growing of cultivated plants
CN117131441A (zh) * 2023-10-25 2023-11-28 北京大学深圳研究生院 夜间光污染监测方法、装置、计算机设备和存储介质

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Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11723298B2 (en) 2016-09-16 2023-08-15 Basf Agro Trademarks Gmbh Efficient use of plant protection agents, nutrients, and the like in the growing of cultivated plants
CN109788750A (zh) * 2016-09-16 2019-05-21 巴斯夫农化商标有限公司 对植物保护剂的需求的确定
WO2018050580A1 (fr) * 2016-09-16 2018-03-22 Bayer Cropscience Aktiengesellschaft Détermination du besoin en produit phytosanitaire
US10893669B2 (en) 2016-09-16 2021-01-19 Basf Agro Trademarks Gmbh Determination of the requirements on plant protection agents
US11825835B2 (en) 2016-09-16 2023-11-28 Basf Agro Trademarks Gmbh Determination of the requirements of plant protection agents
WO2018073060A1 (fr) 2016-10-18 2018-04-26 Bayer Cropscience Aktiengesellschaft Planification et mise en oeuvre de mesures agricoles
US11818975B2 (en) 2016-10-18 2023-11-21 Basf Agro Trademarks Gmbh Planning and implementing agricultural measures
CN111868566A (zh) * 2019-10-11 2020-10-30 安徽中科智能感知产业技术研究院有限责任公司 一种基于定位漂移测算模型的农机作业面积测算方法
CN111868566B (zh) * 2019-10-11 2023-10-03 安徽中科智能感知科技股份有限公司 一种基于定位漂移测算模型的农机作业面积测算方法
WO2021068177A1 (fr) * 2019-10-11 2021-04-15 安徽中科智能感知产业技术研究院有限责任公司 Procédé de calcul de zone de manœuvre de machine agricole fondé sur un modèle de calcul de dérive de positionnement
CN114543638A (zh) * 2022-01-12 2022-05-27 四川恒得复生态科技有限公司 一种可以快速测定草本覆盖度的工具
CN117131441A (zh) * 2023-10-25 2023-11-28 北京大学深圳研究生院 夜间光污染监测方法、装置、计算机设备和存储介质
CN117131441B (zh) * 2023-10-25 2024-02-13 北京大学深圳研究生院 夜间光污染监测方法、装置、计算机设备和存储介质

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