WO2024083729A1 - Dispositif aérien pour mesures d'humidité de sol, système et procédé - Google Patents

Dispositif aérien pour mesures d'humidité de sol, système et procédé Download PDF

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Publication number
WO2024083729A1
WO2024083729A1 PCT/EP2023/078650 EP2023078650W WO2024083729A1 WO 2024083729 A1 WO2024083729 A1 WO 2024083729A1 EP 2023078650 W EP2023078650 W EP 2023078650W WO 2024083729 A1 WO2024083729 A1 WO 2024083729A1
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WO
WIPO (PCT)
Prior art keywords
sensor
arial
soil
sun
spectral
Prior art date
Application number
PCT/EP2023/078650
Other languages
English (en)
Inventor
Giuliano Manzi
Alexander Gaiduk
Original Assignee
ams Sensors Germany GmbH
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 ams Sensors Germany GmbH filed Critical ams Sensors Germany GmbH
Publication of WO2024083729A1 publication Critical patent/WO2024083729A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
    • G01N21/31—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
    • G01N21/35—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light
    • G01N21/3554—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light for determining moisture content
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
    • G01N21/27—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands using photo-electric detection ; circuits for computing concentration
    • G01N21/274—Calibration, base line adjustment, drift correction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
    • G01N21/31—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
    • G01N21/35—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light
    • G01N21/3563—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light for analysing solids; Preparation of samples therefor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/24—Earth materials
    • G01N33/246—Earth materials for water content
    • 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
    • A01B47/00—Soil-working with electric potential applied between tools and soil
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J1/00—Photometry, e.g. photographic exposure meter
    • G01J1/42—Photometry, e.g. photographic exposure meter using electric radiation detectors
    • G01J2001/4266—Photometry, e.g. photographic exposure meter using electric radiation detectors for measuring solar light
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N2021/1793—Remote sensing
    • G01N2021/1797—Remote sensing in landscape, e.g. crops
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/47—Scattering, i.e. diffuse reflection
    • G01N2021/4735—Solid samples, e.g. paper, glass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
    • G01N21/31—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
    • G01N21/35—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light
    • G01N21/359—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light using near infrared light
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/47—Scattering, i.e. diffuse reflection
    • G01N21/4738—Diffuse reflection, e.g. also for testing fluids, fibrous materials
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2201/00—Features of devices classified in G01N21/00
    • G01N2201/02—Mechanical
    • G01N2201/021—Special mounting in general
    • G01N2201/0214—Airborne
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2201/00—Features of devices classified in G01N21/00
    • G01N2201/06—Illumination; Optics
    • G01N2201/061—Sources
    • G01N2201/0616—Ambient light is used

Definitions

  • Arial device for moisture measurements of soil system and method
  • the invention relates to an arial device for moisture measurements in soil . It further relates to a corresponding system and method .
  • Water is especially detectable in frequency or wavelength regions which correspond to water absorption bands .
  • a low signal of reflected light indicates the presence of water in the soil .
  • a typical scenario is as follows .
  • a farmer wants to know the moisture level on the surface of the soil and uses a flying drone to scan a field .
  • the drone is equipped with an ACS (Augmented Camera Sensor ) module and digitali zes a field using direct or di f fuse sunlight .
  • the farmer then analyses the multispectral results to see how much moisture is on the surface of the soil .
  • the document US 11 , 290 , 623 B2 discloses a device for simultaneously sensing irradiance with multiple photo sensors having di f ferent orientations , and determining direct and scattered components of the irradiance .
  • the device includes an aerial vehicle and an irradiance sensing device .
  • the irradiance sensing device includes a base structure mounted to the aerial vehicle , and the base structure including a plurality of surfaces .
  • a plurality of photo sensors are arranged on respective surfaces of the base structure , with each photo sensor having a di f ferent orientation .
  • irradiance such as the direct and scattered components and the incidence angle , can be determined .
  • These determined irradiance components may be used to compensate or normali ze images of a target that are acquired at the same time by an imaging device .
  • the obj ect of the invention is therefore to provide an arial device or vehicle which enables more accurate moisture detection in soil . Further obj ects of the invention are to provide a corresponding system and method for moisture detection .
  • the obj ect is solved by an arial device according to claim 1 .
  • the arial device comprises at least one spectral soil sensor arranged facing at least partially downward in the regular flying position of said arial device and at least one spectral sun sensor arranged facing at least partially upward in the regular flying position of said arial device .
  • the invention is based on the consideration that accurate moisture level predictions of moisture in the soil will become of increasing importance in earth observation . Especially due to the altering weather conditions due to climate change leading to increasing extreme phases of draughts and heavy rainfall , accurate information on the moisture level of the soil is of great importance .
  • Current device and methods suf fer from uncertainties caused by varying weather and daytime conditions of the sun radiation being reflected back from the soil . Even j ust a cloud in front of the sun can alter the spectral properties of the sun radiation considerably .
  • Applicant has found that a strong enhancement in the accuracy of moisture detection can be achieved by locally directly measuring the current atmospheric influence on the sun light directed towards the soil . As has been recogni zed, such a measurement can be performed directly by an additional sensor on the arial vehicle which senses sun light . The concrete absorption of sun light in the atmosphere as a function of the wavelength can in this way directly be taken into account for the analysis of the radiation reflected from the soil .
  • the regular flying position denotes the orientation of the arial device during regular flight operations .
  • the spectral sensor preferably is built a multi-miniaturi zed spectrometer that enable spectral identi fication, reflection and absorption measurements of light ( spectral radiation) .
  • the spectral response is defined by individual channels covering the spectral range defined by design . In the case of SWIR spectral sensor ( depending by the technology) , it covers preferably approximately the range 1000 nm to 2200 nm with multiple channels .
  • a possible solution that can help to detect moisture / water is therefore to use in combination with SWIR ( short wave infrared) camera " single point SWIR sensor" facing the sun mounted on the arial device .
  • SWIR short wave infrared
  • a value of the sun radiation spectrum picked directly from the drone can be used as reference value for the detection algorithm .
  • analytical model data is replaced by real data .
  • the measured data are used to correct propagation model (with real weather condition) . In order to obtain live and real data it is therefore not necessary to go on the field with a spectrometer at the same time the drone is performing the measurements .
  • Each of the wo sensors can comprise multiple sensors itsel f , i . e . , it can be built as a sensor array .
  • the various sensors are preferably oriented in di f ferent detection such that a speci fic solid angle downwards ( in case of the soil sensor ) or upwards ( in case of the sun sensor ) is reali zed in which impinging radiation can be detected .
  • the soil sensor and/or the sun sensor comprises at least one camera .
  • the spectral data can be overlapped with normal images .
  • the soil sensor and/or the sun sensor is a SWIR ( short wave infrared) sensor .
  • the soil sensor and/or the sun sensor comprises micro-optics .
  • the detection angle of the soil sensor advantageously lies between 5 ° and 30 ° .
  • the detection angle is the maximal angle of the solid angle in which the sensor can detect radiation .
  • the detection angle of the sun sensor advantageously lies between 2 ° and 10 ° .
  • the detection angle is the maximal angle of the solid angle in which the sensor can detect radiation .
  • the arial device is built as a drone .
  • the arial device also comprises an altitude sensor .
  • the measured altitude can be taken into account in the correction of the measured reflected radiation from the soil .
  • the system comprises an arial device described above and a processing and/or analyzing unit for processing and/or analyzing the sensor data of the sensors , i . e . , of the soil sensor and of the sun sensor .
  • the processing and/or analyzing sensor can be reali zed by hardware and/or software .
  • processing and/or analyzing unit is configured to correct the spectral data of the soil sensor by employing the sensor data of said sun sensor . In this way, a more precise and reliable information on the moisture content of the soil can be obtained .
  • the arial device is connected and/or connectable to said processing and/or analyzing unit by a wireless data connection .
  • the obj ect is solved by a method according to claim 12 .
  • This method comprises the steps of flying an arial device over a region of soil , with a spectral sensor measuring the sun radiation reflected from the soil towards said arial device , with another spectral sensor simultaneously measuring the sun radiation reaching directly said arial device .
  • the measurements of the direct sun radiation are employed to correct the radiation measurements of radiation reflected from said soil .
  • a sensor the altitude of said arial device is measured, and whereby the measured altitude is incorporated into the corrections .
  • the arial device is flying at a height between 5 m and 50 m above the soil .
  • the advantages of the invention are essentially as follows .
  • the SNR level in measurements is improved and more accurate moisture detection is enabled .
  • the accuracy in the SWIR band subj ect to high propagation attenuation in atmosphere is improved .
  • the precision of the moisture detection can be improved to a large extent .
  • the spectral sensor mounted on top of the arial vehicle/drone facing the Sun is able to measure the intensity and the spectral content of the Sun radiation in the spectral region of interest for the measurements . This allows to have an instantaneously map of the sun radiation function of the wavelengths . This information can be used to properly correct ref lected/ scattered light from the soil and improve the signal to noise ratio ( SNR) .
  • SNR signal to noise ratio
  • FIG . 1 shows a drone for moisture according to the prior art
  • FIG . 2 the reflection and detection properties of irradiation from the sun
  • FIG . 3 reflection characteristics of soils in dependence of the water percentage at 1420 nm wavelength
  • FIG . 4 spectral engine counts for di f ferent days
  • FIG . 5 an arial vehicle for moisture detection according to the invention .
  • FIG . 1 schematically an outdoor environment is depicted with soil 2 , cloud 6 and sun 10 .
  • a drone 10 which is an aerial device 12 or arial vehicle is hovering above the ground constituted of soil 2 .
  • Light of the sun 8 is reaching the soil 2 by sun beams 14 which is partly reflected as reflected radiation 18 .
  • the drone 10 on its bottom side comprises a spectral soil sensor 20 for detecting the reflected radiation 18 i f , as shown in the FIG . 1 , the angles between sun, reflection point at the soil and reflection point at the soil and drone 10 are essentially equal .
  • the soil sensor 20 can detect the reflected radiation 18 . Radiation reflection properties at the earth surface / soil are typically given by theoretical models or ground measurements .
  • the radiation scenario is further shown in FIG . 2 with a di f ferent spatial relation of drone 10 and a sub beam 14 of sun 8 compared to FIG . 1 .
  • the sun beam 14 is partly reflected in a straight way leading to reflected radiation 18 which is not detected by drone 10 .
  • the sun beam 14 is reflected in multiply directions leading to scattered radiation 26 which is not detectable by done 10 .
  • the scattered part of the total reflected radiation from sun beam 14 is approximately between 5%-50% .
  • the sun beam 14 passes through the atmosphere 30 between hitting the soil 2 and being reflected .
  • the height 34 in which a drone 10 flies above the ground to conduct moisture measurements is typically 5m-50m .
  • FIG . 3 a diagram is shown in which on an x-axis 40 the water wt (weight percent ) percentage of soil and on an y-axis the light reflectance percentage is shown with sample measurements and a fitted curve 50 for the wavelength 1420 nm . As can be inferred from the diagram, the light reflectance decreases with increasing water wt of the soil .
  • FIG . 4 in a diagram on an x-axis the wavelength of light in the unit [nm] (nanometres ] is shown, while on the y-axis exemplary spectral engine counts are displayed .
  • the counts are detected basically by a "photon counter” .
  • the observation time is configured and a counter count ( in terms of photons ) the amount of energy detected by the photodetector into a speci fic spectral band .
  • a vertical line 56 is drawn at the wavelength of 1420 nm, cf .
  • FIG . 3 The various curves correspond to di f ferent dates and daytimes .
  • a vertical line 56 is drawn at the wavelength of 1420 nm, cf .
  • FIG . 3 The various curves correspond to di f ferent dates and daytimes .
  • the number of counts at a speci fic wavelength depend to a great extent on the actual time and weather situation .
  • a speci fic signal count at a speci fic wavelength can therefore have , also simultaneously, at least two causes .
  • the count number can be related to the actual moisture level and/or the amount of radiation reaching the soil due to atmospheric conditions .
  • a low signal count at a speci fic wavelength could therefore b erroneously interpreted as a high moisture level , while to at least a large extent it can be caused by a large absorption of light at this wavelength in the atmosphere .
  • the moisture detection comprises uncertainties .
  • the present invention provides an improved arial vehicle for moisture measurements .
  • the drone 10 which is an arial vehicle or device 12 in addition to the soil sensor 20 facing towards the soil , the drone 10 comprises a sun sensor 64 which is built to measure the sun radiation reaching the sensor through the atmosphere 30 .
  • a sun beam 60 This is depicted in FIG . 5 by a sun beam 60 .
  • the ef fect of the atmosphere on the sun radiation can be locally and in real time be measured . It can therefore be employed for the interpretation and analysis of the measured reflected radiation from the soil 2 .
  • the spectral sun sensor 64 mounted on top of drone 10 and facing the sun is able to measure the intensity and the spectral content of the sun radiation in the spectral region of interest for the measurements . This allows to obtain an instant map of the sun radiation as a function of the wavelengths . This information can be used to properly correct ref lected/ scattered light from the soil and at the same time to improve the SNR .
  • the precision of these corrections is largest when the path length or travel distance of the sun beam 14 through the atmosphere 30 is essentially as long as the travel distance of the sun beam 60 reaching the sun sensor 64 of drone 10 . This condition is achieved when the drone 10 does fly close to the ground or soil 2 which is reali zed for heights especially between 5m to 50 m .
  • FIG . 5 schematically is also shown a processing and/or analyzing unit 70 which is configured to correct the spectral sensor data of the soil sensor 20 by employing the spectral data of the sun sensor 64 .
  • the processing and/or analyzing unit 70 can be built as a separate component or can be integrated into the arial device 12 .
  • Arial device 12 and processing unit 70 are a system 74 for moisture detection in soil . LIST OF REFERENCE SIGNS

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  • Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Spectroscopy & Molecular Physics (AREA)
  • Health & Medical Sciences (AREA)
  • Chemical & Material Sciences (AREA)
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  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
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  • Analytical Chemistry (AREA)
  • Engineering & Computer Science (AREA)
  • Environmental & Geological Engineering (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Remote Sensing (AREA)
  • Food Science & Technology (AREA)
  • Medicinal Chemistry (AREA)
  • Mathematical Physics (AREA)
  • Theoretical Computer Science (AREA)
  • Investigating Or Analysing Materials By Optical Means (AREA)

Abstract

L'invention concerne un dispositif antagoniste (12) pour des mesures d'humidité dans le sol (2), comprenant au moins un capteur de sol spectral (20) orienté au moins partiellement vers le bas dans la position de vol normale dudit dispositif aérien (12) et au moins un capteur solaire spectral (64) orienté au moins partiellement vers le haut dans la position de vol normale dudit dispositif aérien (12).
PCT/EP2023/078650 2022-10-17 2023-10-16 Dispositif aérien pour mesures d'humidité de sol, système et procédé WO2024083729A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102022127108.0 2022-10-17
DE102022127108 2022-10-17

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WO2024083729A1 true WO2024083729A1 (fr) 2024-04-25

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160069741A1 (en) * 2014-09-08 2016-03-10 SlantRange, Inc. System and method for calibrating imaging measurements taken from aerial vehicles.
US20160232650A1 (en) * 2013-09-26 2016-08-11 Konica Minolta Laboratory U.S.A., Inc. Method and system of calibrating a multispectral camera on an aerial vehicle
US11290623B2 (en) 2017-01-17 2022-03-29 Micasense, Inc. Multi-sensor irradiance estimation
US20220174202A1 (en) * 2019-03-18 2022-06-02 Climate Llc System and method for automatic control of exposure time in an imaging instrument

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160232650A1 (en) * 2013-09-26 2016-08-11 Konica Minolta Laboratory U.S.A., Inc. Method and system of calibrating a multispectral camera on an aerial vehicle
US20160069741A1 (en) * 2014-09-08 2016-03-10 SlantRange, Inc. System and method for calibrating imaging measurements taken from aerial vehicles.
US11290623B2 (en) 2017-01-17 2022-03-29 Micasense, Inc. Multi-sensor irradiance estimation
US20220174202A1 (en) * 2019-03-18 2022-06-02 Climate Llc System and method for automatic control of exposure time in an imaging instrument

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