DEVICE AND METHOD FOR DETERMINING A HEIGHT OF AN AGRICULTURAL PRODUCT

Abstract

The invention relates to a method and device for measuring a height of an agricultural product above ground using a mobile communications device. The method includes positioning the communications device above the agricultural product and determining a distance between the communications device and the agricultural product using a built-in sensor of the communications device. The height of the agricultural product is determined on the basis of the determined distance.

Claims

1-27. (canceled)

28. Method for measuring a height of an agricultural product above ground using a mobile communications device, including: positioning the communications device above the agricultural product; determining a distance between the communications device and the agricultural product using a built-in sensor of the communications device, wherein the built-in sensor is a camera; and determining the height of the agricultural product on the basis of the determined distance. characterized in that, the camera is configured to be automatically triggered on the basis of an angular orientation of the communications device and capture a first image when the communications device is in a first angular position and to capture a second image when the communications device is in a second angular position, the first and second images together forming a stereographic image, and in that the distance is determined from the stereographic image.

29. Method according to claim 28, wherein the height is determined on the basis of one or more of: focus distance information of an autofocus unit of the camera; light intensity of light, generated by an illumination unit of the communications device, reflected off the agricultural product; or distance information determined from a three dimensional image obtained by the camera.

30. Method according to claim 29, wherein the camera is a 3D-camera.

31. Method according to claim 28, wherein the built-in sensor is a microphone, and the height is determined on the basis of time-of-flight measurement of a sound generated by a speaker of the communications device.

32. Method according to claim 28, including mounting the mobile communications device to an object at a substantially constant distance from the ground, such as a stick, boot, or leg.

33. Method according to claim 28, including calibrating the height determination on bare ground.

34. Method according to claim 28, including storing a record including data representative of the determined height in a memory of the communications device and/or in a database in communication with the communications device.

35. Method according to claim 34, including determining a position of the communications device, using a built-in position determining unit, and storing data representative of the position in the record.

36. Method according to claim 34, including determining the height at a plurality of positions and storing a record for each of the positions.

37. Method according to claim 28, including storing in a memory of the communications device and/or in a database in communication with the communications device data representative of an area of land on which the height of the agricultural product is to be determined.

38. Method according to claim 36, including estimating a height of the agricultural product for any position within the area on the basis of the height determined at the plurality of positions, e.g. using interpolation and/or extrapolation.

39. Method according to claim 38, including estimating a quantity of agricultural product within the area.

40. Method according to claim 28, including estimating a nutritional status of the agricultural product on the basis of a first height determined at a first moment in time and a second height determined at a second moment in time.

41. Method according to claim 40, including supplying water and/or nutrients to the agricultural product on the basis of the estimated nutritional status.

42. Method according to claim 28, including estimating an optimum moment for harvesting and/or mowing of the agricultural product on the basis of a first height determined at a first moment in time and a second height determined at a second moment in time.

43. Method for measuring a quantity of an agricultural product including: determining the height of the agricultural product according to any one of the preceding claims; and calculating, using a processing unit of the communications device, a quantity of the agricultural product on the basis of the determined height.

44. Mobile communications device having a built-in sensor and a processing unit arranged for: determining a distance between the communications device and an agricultural product above which the communication device is held using the built-in sensor of the communications device; and determining the height of the agricultural product on the basis of the determined distance, wherein the built-in sensor is a camera, and characterized in that the camera is configured to be automatically triggered on the basis of an angular orientation of the communications device and capture a first image when the communications device is in a first angular position and to capture a second image when the communications device is in a second angular position, the first and second images together forming a stereographic image, distance information being determined from a stereographic image obtained by the camera.

45. Mobile communications device according to claim 44, and the processing unit is arranged for determining the height on the basis of one or more of: focus distance information of an autofocus unit of the camera; light intensity of light, generated by an illumination unit of the communications device, reflected off the agricultural product;or distance information determined from a three dimensional image obtained by the camera.

46. Mobile communications device according to claim 45, wherein the camera is a 3D-camera.

47. Mobile communications device according to claim 46, wherein the built-in sensor is a microphone, and the processing unit is arranged for determining the height on the basis of time-of-flight measurement of a sound generated by a speaker of the communications device.

48. Mobile communications device according to claim 44, including a memory and/or being arranged for being in communication with a database, wherein the processing unit is arranged for storing a record including data representative of the determined height in the memory and/or database.

49. Mobile communications device according to claim 48, including a position determining unit, wherein the processing unit is arranged for storing data representative of the position of the communications device in the record.

50. System including a mobile communications device according to claim 44, and a support for supporting the communications device at a predetermined distance above the ground.

51. Computer program product including software code portions, configured to automatically trigger a camera of a communications device on the basis of an angular orientation of the communications device and capture a first image when the communications device is in a first angular position and to capture a second image when the communications device is in a second angular position, the first and second images together forming a stereographic image, arranged for, when run on the processing unit of the mobile communications device: determining a distance between the communications device and an agricultural product above which the communication device is held using a built-in sensor of the communications device, wherein the distance is determined from the stereographic image; and determining the height of the agricultural product on the basis of the determined distance.

Description

BRIEF DESCRIPTION OF THE DRAWING

[0049] The invention will further be elucidated on the basis of exemplary embodiments which are represented in a drawing. The exemplary embodiments are given by way of non-limitative illustration. It is noted that the figures are only schematic representations of embodiments of the invention that are given by way of non-limiting example.

[0050] In the drawing:

[0051] FIG. 1 shows a schematic representation of a system for determining a height of an agricultural product;

[0052] FIG. 2 shows a schematic representation of a system for determining a height of an agricultural product;

[0053] FIGS. 3A and 3B show a schematic representation of a system for determining a height of an agricultural product;

[0054] FIG. 4 shows a schematic representation of a system for determining a height of an agricultural product;

[0055] FIG. 5 shows a schematic representation of a system for determining a height of an agricultural product;

[0056] FIG. 6 shows a schematic representation of a device; and

[0057] FIG. 7 shows a schematic representation of a device.

DETAILED DESCRIPTION

[0058] FIG. 1 shows a schematic representation of a system 1 for determining a height h.sub.c of an agricultural product 2. The system 1 includes a mobile communications device 4. In this example the mobile communications device 4 is a smartphone. The system 1 further includes a support 6. In this example, the support 6 is a hiking stick. The support 6 includes a handle 8 for holding the support 6 by hand. The support 6 includes a foot 10. The foot 10 is placed on the ground 12. In this example the support 6 includes a pole 14 extending from the foot 10 to the handle 8. The support 6 includes a mount 16. The mount 16 is arranged for mounting the mobile communications device 4 thereto. The mount 16 can e.g. include a resting surface 18 for resting the mobile communications device 4 thereon. The mount 16 can include a fastener 20, such as a hook-and-loop fastener, clamp, clip, elastic band, or the like, for fastening the mobile communications device 4 to the mount 16. In this example, the smartphone includes a built-in camera 22 (also see FIG. 6). The built-in camera here is a digital camera for obtaining visible images.

[0059] The system 1 as described in relation to FIG. 1 can be used as follows for measuring a height of the agricultural product 2 above the ground 12.

[0060] The mobile communications device 4 is mounted to the support 6 at a known position. In this known position the mobile communications device is positioned at a height h.sub.g from the bottom side of the foot 10. When holding the support 6 substantially upright the height of the mobile communications device 4 above the ground 12 will substantially correspond to the distance of the mobile communications device 4 to the bottom of the foot. In the upright position in this example the angle a between the ground 12 and the pole 14 is 90 degrees. It will be appreciated that the height of the mobile communications device 4 above the ground is differs by less than 1.5% from the distance between the mobile communications device 4 and the bottom of the foot 10 when the angle is between 80 and 100 degrees. A deviation of less than 10 degrees from perpendicular to the ground can easily be achieved. Hence, it normally suffices to position the support substantially upright, e.g. within 10 degrees from perpendicular to the ground.

[0061] The mobile communications device 4 mounted to the support 6 is positioned above the agricultural product 2. A distance d between the mobile communications device 4 and agricultural product 2, i.e. between the mobile communications device 4 and a top of the agricultural product, is determined.

[0062] In this example, the distance d is determined by taking an image of the agricultural product 2 within a field of view 24 of the built-in camera 22 of the communications device 4, using the camera 22. When taking the image, an autofocus unit 26 of the mobile communications device 4 causes the image to be sharp. In this example, the autofocus unit 26 determines image contrast and changes an internal position of a lens 28 of the camera 22 while finding optimum image contrast. A focal distance of the camera 22 is related to the position of the lens within the camera. Hence, when the position of the lens within the camera is known, the focal distance, and thus here the distance d from the mobile communications device to the agricultural product is known. For some smartphones the distance at which the camera presently focusses is readily accessible, e.g. at a predetermined memory location of the mobile communications device. For some smartphones a lens position, or data representative thereof, focusses is readily accessible, e.g. at a predetermined memory location of the mobile communications device. In the latter case, the focal distance may be determined e.g. from a relationship, e.g. a look-up table, determined during a calibration of the camera for two or more focal distances.

[0063] Having determined the distance d between the mobile communications device 4 and the agricultural product 2, and knowing the height h.sub.g of the mobile communications device 4 above the ground 12, the height h.sub.c of the agricultural product can easily be determined by subtraction: h.sub.c=h.sub.gd. It will be appreciated that a processor 30 of the smartphone 4 can be arranged for determining the distance d between the mobile communications device 4 and the agricultural product 2, and the height h.sub.e of the agricultural product. Thereto, the processor 30 may execute a dedicated piece of software, such as an app.

[0064] FIG. 2 shows a schematic representation of a system 1 for determining a height h.sub.c of an agricultural product 2, similar to the system described in relation to FIG. 1. In the example of FIG. 2 the smartphone 4 further includes a built-in flash light 32 (also see FIG. 6). The system 1 of FIG. 2 can be used as follows for measuring a height of the agricultural product 2 above the ground 12. The mobile communications device 4 mounted to the support 6 is positioned above the agricultural product 2. The mobile communications unit takes a first image and a second image of the agricultural product 2 using the built-in camera 22. The first image is taken while the flash light 32 illuminates the agricultural product 2. The second image is taken while the flash light 32 is switched off. By subtracting the second image from the first image to create a subtracted image, ambient lighting conditions are eliminated, and the effect of the illumination by the flash light 32 remains. It is noted that the intensity of the flash light decreases with the square of the distance to the flash light 32. Hence, the intensity with which the flash light 30 illuminates the agricultural product is inversely proportional to the square of the distance from the mobile communications device 4 to the agricultural product 2. Therefore, the distance can be determined on the basis of image intensity in the subtracted image, e.g. average image intensity. It will be appreciated that the image intensity may also depend on reflectivity of the agricultural product. Hence, calibration may be used for establishing a relationship between image intensity in the subtracted image and the distance d. An individual calibration may e.g. be performed for each individual agricultural product type. It will be appreciated that the processor 30 of the smartphone 4 can be arranged for determining the distance d between the mobile communications device 4 and the agricultural product 2, and the height h.sub.c of the agricultural product. Thereto, the processor 30 may execute a dedicated piece of software, such as an app.

[0065] FIGS. 3A and 3B show schematic representations of a system 1 for determining a height h.sub.c of an agricultural product 2, similar to the system described in relation to FIG. 1. The mobile communications device 4 includes a built-in camera 22, here a digital camera for obtaining two-dimensional visible images. The system 1 of FIG. 3 can be used as follows for measuring a height of the agricultural product 2 above the ground 12. The mobile communications device 4 mounted to the support 6 is positioned above the agricultural product 2. The mobile communications unit takes a first image and a second image of the agricultural product 2 using the built-in camera 22. The first image is taken while the support 6 is at a first angle 1 relative to the ground 12. The second image is taken while the support 6 is at a second angle 2 relative to the ground 12. In this example the first angle is approximately 100 degrees. In this example, the second angle is approximately 80 degrees. The first image and the second image together form a stereographic image from which distance information can be retrieved. Methods for estimating a distance from a stereographic image are known per se. Such methods can e.g. include disparity between the first and second image.

[0066] In the example, of FIGS. 3A and 3B the mobile communications device includes an inclinometer 34 (also see FIG. 6). The inclinometer 34 determines a tilt angle of the mobile communications device 4. Here, the processor 30 receives information representative of the inclination of the mobile communications device 4 from the inclinometer 34. The processor 30 monitors the inclination and instructs the camera 22 to obtain the first image when the inclination has a first value, or is within a first predetermined interval. The first inclination value or interval may correspond to the support 6 being at the first angle 1 relative to the ground 12. The processor 30 instructs the camera 22 to obtain the second image when the inclination has a second value, or is within a second predetermined interval. Thus, it is possible to obtain the first and second image while the camera is pointed at the agricultural product at two different angles. The second inclination value or interval may correspond to the support 6 being at the second angle 2 relative to the ground 12. Hence, the inclinometer 34 triggers the automatic taking of the first and second image, e.g. while walking.

[0067] It will be appreciated that the processor 30 of the smartphone 4 can be arranged for determining the distance d between the mobile communications device 4 and the agricultural product 2, and the height h.sub.c of the agricultural product. The processor can take the inclination of the support into account when determining the height h.sub.c of the agricultural product. Thereto, the processor 30 may execute a dedicated piece of software, such as an app.

[0068] FIG. 4 shows a schematic representation of a system 1 for determining a height h.sub.c of an agricultural product 2, similar to the system described in relation to FIG. 1. In the example of FIG. 4 the smartphone 4 includes a built-in three-dimensional, 3D, camera 36. The 3D camera 36 can include two lenses and two image receivers. Alternatively, or additionally, the 3D camera can include a structured light source, such as a structured light or laser. The system 1 of FIG. 4 can be used as follows for measuring a height of the agricultural product 2 above the ground 12. The mobile communications device 4 mounted to the support 6 is positioned above the agricultural product 2. The mobile communications unit takes a 3D image of the agricultural product 2 using the built-in 3D camera 36. The processor 30 determines the distance d between the mobile communications unit 4 and the agricultural product 2 from the 3D image. It will be appreciated that the processor 30 of the smartphone 4 can be arranged for determining the distance d between the mobile communications device 4 and the agricultural product 2, and the height h.sub.c of the agricultural product. Thereto, the processor 30 may execute a dedicated piece of software, such as an app.

[0069] FIG. 5 shows a schematic representation of a system 1 for determining a height h.sub.c of an agricultural product 2, similar to the system described in relation to FIG. 1. In the example of FIG. 5 the smartphone 4 includes a built-in speaker 38 and a built-in microphone 40. The system 1 of FIG. 5 can be used as follows for measuring a height of the agricultural product 2 above the ground 12. The mobile communications device 4 mounted to the support 6 is positioned above the agricultural product 2. The mobile communications unit 4 emits a sound, such as a sound pulse, using the speaker 38. The sound can be an ultrasound. The sound reflects off the agricultural product 2. The microphone 40 receives the reflected sound. The processor 30 determines the distance d between the mobile communications unit 4 and the agricultural product 2 from the delay time between emission and reception of the sound. It will be appreciated that a calibration may be used for establishing a relationship between the delay time and the distance d. It will be appreciated that the processor 30 of the smartphone 4 can be arranged for determining the distance d between the mobile communications device 4 and the agricultural product 2, and the height h.sub.c of the agricultural product. Thereto, the processor 30 may execute a dedicated piece of software, such as an app.

[0070] It will be appreciated that the mobile communications device 4 can include a memory 42. The determined height of the agricultural product, or data representative thereof, can be stored in the memory 42. Alternatively, or additionally, the determined height of the agricultural product, or data representative thereof, can be stored in a remote database. The mobile communications unit 4 can be in communication with the database via a communications unit 44 of the mobile communications device 4.

[0071] In the example of FIGS. 3A and 3B the mobile communications device 4 includes an inclinometer 34. It will be appreciated that the mobile communications device 4 in the examples of FIGS. 1, 2, 4 and 5 can also include the inclinometer 34. In those examples, the inclinometer 34 can also trigger the taking of the image(s) or emission/reception of sound. There, the processor may monitor the inclination and instruct the camera or 3D camera to obtain the image(s) or the speaker 38 to emit the sound when the inclination has a third value, or is within a third predetermined interval. The third inclination value or interval may correspond to the support being substantially upright.

[0072] The communications device 4 can include an accelerometer 35. The accelerometer can sense acceleration of the device 4. Hence, the accelerometer 35 can for instance sense the positioning of the support 6 on the ground 12. Hence, the accelerometer can also be used for triggering the taking of the image(s) or the emission of sound instead of, or in addition to, the inclinometer.

[0073] FIG. 7 shows an example of a mobile communications device 4. The device includes a display 46, in this example a touchscreen. The display is arranged for displaying a user interface 48. The user interface 48 includes one or more controls 50. The controls 50 can be activated to access functions of the device. One control may e.g. activate determining of a height h.sub.c, e.g. including taking of required image(s). One control may e.g. activate a calibration. One control may e.g. access a results screen.

[0074] In this example, the user interface 48 includes a graphical representation including a representation of an area of land 52 on which the height of the agricultural product 2 is to be determined or has been determined. The graphical representation may e.g. include landmarks such as roads 54. The representation of the area of land may e.g. be shown in overlay on a map or aerial photograph. The perimeter 56 of the area of land 52 may be entered by a user of the device 4. The entering can be performed by drawing a perimeter contour around the area of land, e.g. on the map or aerial photograph. Alternatively, or additionally, it can be possible to demarcate the area of land by physically moving the mobile communications device 4 along the perimeter of the area of land, and storing locations, such as GPS coordinates, of the perimeter. Thereto, the device 4 can include a position determination unit 58, such as a GPS unit. Alternatively, or additionally, data representative of the perimeter of the area of land can be download by or uploaded to the mobile communications device or the database. Hence it is possible to identify an area of land, e.g. a predetermined pasture, in which the height of the agricultural product is to be determined.

[0075] When the height h.sub.c of the agricultural product 2 is determined, the determined height, or data representative thereof, can be stored in the memory 42 or the database. It is possible that a position, such as GPS coordinates, of the location where the height was determined, or data representative thereof, is stored together with the height (data).

[0076] The determined height h.sub.c can be indicated on the user interface 48. For example, the height can be indicated in the graphical representation, e.g. in false colours. Hence the reresentation of the area of land 52 can include one or more representations of measured heights h.sub.c.

[0077] The mobile communications device 4 can be arranged for estimating a height of the agricultural product for any position within the area 52 on the basis of the height determined at one or more measurement locations 60. The estimating can include using interpolation and/or extrapolation. The height of the agricultural product can be interpolated between the height determined at the individual measurement locations 60. The height of the agricultural product between a measurement location 60 and the perimeter 56 of the area of land 52 can e.g. be estimated by extrapolation. Alternatively, or additionally, the height of the agricultural product 2 can be estimated by averaging of the individual determined heights at the measurement locations 60.

[0078] The processor 30 Can be arranged for estimating a quantity of agricultural product within the area. The quantity, e.g. in kg DM or kg DM/ha, can e.g. be determined by multiplying the determined height by an empirical factor.

[0079] When the height he of the agricultural product 2 is determined on at least two moments in time, the growth and/or growth rate of the agricultural product can be determined. From the growth and/or growth rate a nutritional status of the agricultural product can be determined.

[0080] Alternatively, or additionally, a nutritional status of the agricultural product can be determined from a leaf colour of the agricultural product. Since in the examples of FIGS. 1, 2, 3A, 3B and 4 already at least one image of the agricultural product is taken, leaf colour can be determined from that image. In the example of FIG. 5, additionally an image may be taken for determining the leaf colour.

[0081] The mobile communications device 4 may be in communication with an applicator system, such as a fertilizer system, irrigation system or the like. The nutritional status of the agricultural product 2 or a need for a particular nutrient and/or water, or data representative thereof, can be communicated to the applicator system. Hence the water and/or nutrients can be supplied to the agricultural product on the basis of the estimated nutritional status. It will be appreciated that the nutritional status can be determined in dependence of a position within an area of land 52, as described above for the height.

[0082] Herein, the invention is described with reference to specific examples of embodiments of the invention. It will, however, be evident that various modifications and changes may be made therein, without departing from the essence of the invention. For the purpose of clarity and a concise description features are described herein as part of the same or separate embodiments, however, alternative embodiments having combinations of all or some of the features described in these separate embodiments are also envisaged.

[0083] In the examples, the support is arranged such that the mobile communications device is positioned beneath the handle. It will be appreciated that it is also possible that the support is arranges such that the mobile communications device is positioned above the handle. This can be convenient for determining a height of agricultural products that exceed a height where a human hand is comfortably positioned during walking, e.g. at about 120 cm above the ground. Hence, e.g. a height of agricultural products having a height of more than 120 cm, e.g. more than 150 cm, e.g. more than 200 cm can be determined.

[0084] In the example of FIG. 1, the autofocus unit determines focus on the basis of image contrast. It is also possible that the autofocus units uses light, e.g. infrared light, e.g. emitted by one or more LEDs, for determining a distance from the camera to an object. The one or more LEDs can produce a pulse of, e.g. infrared, light and the camera can measure the amount of light that is reflected back and/or the time it takes for the light to reflect back to the camera. From such measurements the autofocus unit can determine the distance d.

[0085] It is possible that the support is arranged for mounting the mobile communications device thereto at a plurality of different positions, at different distances from the ground. Thereto, the support may include a plurality of mounts. The different mounting positions can be associated with different measurement ranges. A first measurement range can e.g. for agricultural product heights of from 0 to 2 cm. A second measurement range can e.g. for agricultural product heights of from 1 to 30 cm. A third measurement range can e.g. for agricultural product heights of from 20 to 200 cm. However, other measurement ranges are possible.

[0086] In any of the examples, an inclination of the mobile communications device can be taken into account when determining the height of the agricultural product.

[0087] However, other modifications, variations, and alternatives are also possible. The specifications, drawings and examples are, accordingly, to be regarded in an illustrative sense rather than in a restrictive sense.

[0088] For the purpose of clarity and a concise description features are described herein as part of the same or separate embodiments, however, it will be appreciated that the scope of the invention may include embodiments having combinations of all or some of the features described.

[0089] In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word comprising does not exclude the presence of other features or steps than those listed in a claim. Furthermore, the words a and an shall not be construed as limited to only one, but instead are used to mean at least one, and do not exclude a plurality. The mere fact that certain measures are recited in mutually different claims does not indicate that a combination of these measures cannot be used to an advantage.