System for monitoring crops and soil conditions

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.

We claim: 
     
         1 . A system for monitoring crop conditions below a crop canopy, the monitoring system comprising:
 an unmanned aerial vehicle having a first inertial measurement unit;   a probe coupled to the unmanned aerial vehicle, the probe including a sensor package and a second inertial measurement unit;   a controller coupled to the unmanned aerial vehicle; and   wherein the controller, the first inertial measurement unit, and the second inertial measurement unit operate together to position the probe between a ground surface in which the crops are planted and an upper level of the crop canopy for collection of crop data by the sensor package.   
     
     
         2 . The system of  claim 1 , further comprising a connection component that operably couples the probe to the unmanned aerial vehicle, wherein the connection component is at least one of the following: (i) a boom assembly, (ii) a reel and cable assembly, (iii) a combination of a boom assembly and a cable, and (iv) a cable. 
     
     
         3 . The system of  claim 2 , wherein the unmanned aerial vehicle has at least one propeller, and wherein the connection component is sufficiently dimensioned to reduce a downwardly directed force created by the propeller and applied to the probe during flight of the unmanned aerial vehicle. 
     
     
         4 . The system of  claim 1 , wherein the sensor package includes at least one sensor that is orientated substantially perpendicular to a longitudinal axis of the probe, wherein the sensor is one of the following: a camera, a LiDAR, or a luminous flux sensor. 
     
     
         5 . The system of  claim 1 , further comprising a downward facing sensor operably coupled to the unmanned aerial vehicle and configured to determine the upper level of the crop canopy, and
 wherein the controller utilizes one or more observations from the downward facing sensor to adjust an altitude of the unmanned aerial vehicle in order to position the probe between the ground surface and the upper level of the crop canopy.   
     
     
         6 . The system of  claim 1 , wherein the sensor package further includes a sensor that is configured to aid in positioning the probe between the ground surface and the upper level of the crop canopy. 
     
     
         7 . The system of  claim 1 , further comprising a memory unit that is operably coupled to the unmanned aerial vehicle, said memory unit being configured to store a crop data collection pattern. 
     
     
         8 . The system of  claim 1 , wherein the controller provides autonomous control for at least an extent of a flight path of the unmanned aerial vehicle. 
     
     
         9 . The system of  claim 1 , wherein the second inertial measurement unit of the probe is configured to capture information that is used by the controller to adjust the location of the unmanned aerial vehicle to account for forces that are developed by in-flight movement of the probe. 
     
     
         10 . The system of  claim 1 , wherein the unmanned aerial vehicle is not configured to plant seeds or spray pesticides. 
     
     
         11 . A system for aerial monitoring of crops, the system comprising:
 an unmanned aerial vehicle (UAV) having at least one rotor arm that includes at least one propeller;   a housing assembly operably coupled to the UAV and having: (i) a controller, (ii) a first inertial measurement unit, and (iii) a memory unit;   a probe having a sensor package, the probe being operably connected to the UAV by a flexible connector having a length that minimizes unwanted displacement of crops being monitored from a downwardly directed force created by the propeller during flight of the UAV;   wherein the controller, the first inertial measurement unit, and the memory unit operate together to:
 (i) provide autonomous control for at least an extent of a flight path of the UAV; and 
 (ii) position the probe between a ground surface in which the crops are planted and an upper level of a crop canopy for collection of crop data by the sensor package. 
   
     
     
         12 . The system of  claim 11 , wherein the flexible connector comprises at least one of the following: (i) a boom assembly, (ii) a reel and cable assembly, (iii) a combination of a boom assembly and a cable, and (iv) a cable. 
     
     
         13 . The system of  claim 11 , wherein the probe includes a second inertial measurement unit is configured to aid in positioning the probe between the ground surface in which the crops are planted and the upper level of the crop canopy for collection of crop data by the sensor package. 
     
     
         14 . The system of  claim 13 , wherein the second inertial measurement unit is configured to aid in the reposition the UAV to account for forces that are developed by in-flight movement of the probe. 
     
     
         15 . The system of  claim 11 , further comprising a downward facing sensor configured to determine the upper level of the crop canopy, and
 wherein the controller utilizes one or more observations from the downward facing sensor to adjust an altitude of the UAV in order to position the probe between the ground surface and the upper level of the crop canopy.   
     
     
         16 . The system of  claim 11 , wherein the sensor package includes:
 three cameras that are positioned approximately 120 degrees from one another; and   at least three pairs of light emitting diodes, wherein each pair of the light emitting diodes is positioned between each pair of cameras.   
     
     
         17 . The system of  claim 11 , wherein the sensor package includes at least one sensor orientated substantially perpendicular to a longitudinal axis of the probe, wherein the sensor is: a camera, a LiDAR, or a luminous flux sensor. 
     
     
         18 . The system of  claim 11 , wherein the sensor package further includes a sensor that is configured to aid in positioning the probe between the ground surface and the upper level of the crop canopy. 
     
     
         19 . The system of  claim 11 , wherein the UAV is not configured to plant seeds or spray pesticides. 
     
     
         20 . The system of  claim 11 , wherein the memory unit is configured to store data captured by the sensor package, wherein said data includes image data, locational data, and temperature data.