# US 11,442,144 B2 · System and method for automatically determining crop characteristics using unmanned aerial vehicle (UAV)

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- Number: US 11,442,144 B2
- Document ID: US11442144B2
- Status: Granted
- Kind: B2
- Application number: 16/145,897
- Filed: 2018-09-28
- Published: 2019-06-06
- Granted: 2022-09-13
- Earliest claimed: 2017-09-29
- Assignees: Biotique Systems, Inc.
- Applicants: Biotique Systems, Inc.
- Inventors: John Burke; Michael Rogoff; Stephen Sanders
- Web page: https://patentgrep.com/patent/US11442144B2

## CPC

- G01S 7/4808: {Evaluating distance, position or velocity data}
- A01B 79/005: {Precision agriculture}
- G01S 15/02: using reflection of acoustic waves (G01S15/66 takes precedence)
- G01S 15/04: Systems determining presence of a target
- G01S 15/86: Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
- G01S 15/88: Sonar systems specially adapted for specific applications (seismic or acoustic prospecting or detecting G01V1/00)
- G05D 1/0646: {to follow the profile of undulating ground}
- G06F 16/909: using geographical or spatial information, e.g. location (spatiotemporally dependent retrieval from the web G06F16/9537)
- B64U 2101/30: for imaging, photography or videography
- B64U 2101/35: for science, e.g. meteorology
- B64U 2101/40: for agriculture or forestry operations
- B64U 2201/10: autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
- G06Q 50/02: Agriculture; Fishing; Forestry; Mining
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- A01B: SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL (making or covering furrows or holes for sowing, planting or manuring A01C5/00; mowers convertible to soil working apparatus or capable of soil working A01D42/04; mowers combined with soil working implements A01D43/12; soil working for engineering purposes E01, E02, E21)
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)
- B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- G06Q: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR

## Abstract

A method and apparatus for automatically determining a characteristic of a crop using an unmanned aerial vehicle (UAV) includes operating the UAV at an elevation above a ground surface of a field and collecting first data that indicates an elevation of the UAV with a barometric pressure based altimeter of the UAV. Second data is collected with a SONAR sensor of the UAV that indicates a distance to a nearest object on the ground surface. The SONAR sensor has a SONAR sensor range and the elevation above the ground surface is less than the SONAR sensor range. The method further includes receiving the first data and the second data on a processor, and determining a height of the nearest object above the ground surface with the processor based on the first data and second data. Output data that indicates the height of the nearest object is presented on a display.

## Claims

### Claim 1

A method comprising:
operating an unmanned aerial vehicle (UAV) at an elevation above a ground surface of a field;
collecting, with a barometric pressure based altimeter of the UAV, first data that indicates an elevation of the UAV above the ground surface;
collecting, with a SONAR sensor of the UAV, second data that indicates a distance from the UAV to a nearest object on the ground surface;
collecting, with a wind sensor, third data that indicates a wind speed at the ground surface;
receiving, on a processor, the first data, the second data and the third data;
determining, on the processor, a height of the nearest object above the ground surface based on the first data, the second data and the third data; and
presenting on a display device output data that indicates the height of the nearest object,
wherein the SONAR sensor has a SONAR sensor range and the elevation above the ground surface is less than the SONAR sensor range.

### Claim 2 (depends on 1)

A method as recited in claim 1, wherein the determining the height of the nearest object above the ground surface is based on a difference between the elevation and the distance to the nearest object.

### Claim 3 (depends on 1)

A method as recited in claim 1,
wherein the collecting the first data is performed at a first plurality of time increments as the UAV is operated to translate above the ground to indicate the elevation above a second plurality of locations of the ground surface;
wherein the collecting the second data is performed at the first plurality of time increments;
wherein the height of the nearest object above the second plurality of locations of the ground surface is determined based on the first data and the second data at the first plurality of time increments.

### Claim 4 (depends on 3)

A method as recited in claim 3, wherein the determining the height of the nearest object above each location of the second plurality of locations of the ground surface is based on an average of a third plurality of heights of the nearest object at a subset of the first plurality of time increments.

### Claim 5 (depends on 1)

A method as recited in claim 1, further comprising:
receiving, on the processor, field data indicating one or more characteristics of the field;
determining, on the processor, object data regarding objects on the ground surface of the field based on the field data; and
determining, on the processor, a flight path of the UAV over the field based on the object data.

### Claim 6 (depends on 5)

A method as recited in claim 5,
wherein the field data is image data of the field;
wherein the objects are crops and the object data comprises an alignment of the crops over the ground surface of the field; and
wherein the flight path is determined based on an offset angle between the flight path and the alignment of the crops, wherein the offset angle is greater than zero degrees.

### Claim 7 (depends on 5)

A method as recited in claim 5, further comprising uploading the flight path to a controller of the UAV;
wherein the operating the UAV comprises flying the UAV along the flight path;
wherein the collecting the first data comprises collecting the first data along the flight path; and
wherein the collecting the second data comprises collecting the second data along the flight path.

### Claim 8 (depends on 5)

A method as recited in claim 5, wherein the determining the flight path ensures that a minimum percentage of the field is covered by the flight path.

### Claim 9 (depends on 8)

A method as recited in claim 8, wherein the minimum percentage is about 80%.

### Claim 10 (depends on 5)

A method as recited in claim 5, wherein the determining the flight path of the UAV further comprises:
determining, with the processor, one or more sections of the field with a non-uniform density of objects based on the object data;
determining, with the processor, a first rate for the collecting the first data over the one or more sections, said first rate based on the non-uniform density; and
determining, with the processor, a second rate for the collecting the second data over the one or more sections, said second rate based on the non-uniform density.

### Claim 11 (depends on 1)

A method as recited in claim 1, wherein the operating the UAV is performed such that the elevation is about 20 meters.

### Claim 12 (depends on 1)

A method as recited in claim 1, wherein the object is a crop and wherein the method further comprises:
comparing, on the processor, the height of the crop above the ground surface with a target height of a target crop above the ground surface;
wherein the target height is based on at least one of a type of the target crop, a growth stage of the target crop, and historical weather data at the ground surface during growth of the target crop.

### Claim 13 (depends on 12)

A method as recited in claim 12, wherein the comparing step further comprises comparing at least one of a type of the crop with the type of the target crop, a growth stage of the crop with the growth stage of the target crop, and weather data at the ground surface during growth of the crop with the historical weather data.

### Claim 14 (depends on 1)

A method as recited in claim 1, further comprising:
receiving, on the processor, a known height of the nearest object above the ground surface;
comparing, on the processor, the determined height of the nearest object above the ground surface with the known height of the nearest object above the ground surface; and
determining, on the processor, a density of the nearest object above the ground surface based on the comparing step.

### Claim 15 (depends on 1)

A method as recited in claim 1, wherein the sonar sensor and barometric pressure based altimeter are standard equipment on the UAV.

### Claim 16

A method comprising:
operating an unmanned aerial vehicle (UAV) at an elevation above a ground surface of a field;
collecting, with a barometric pressure based altimeter of the UAV, first data that indicates an elevation of the UAV above the ground surface;
collecting, with a SONAR sensor of the UAV, second data that indicates a distance from the UAV to a nearest object on the ground surface;
receiving, on a processor, the first data and the second data;
determining, on the processor, a height of the nearest object above the ground surface based on the first data and the second data; and
presenting on a display device output data that indicates the height of the nearest object,
wherein the SONAR sensor has a SONAR sensor range and the elevation above the ground surface is less than the SONAR sensor range; and
wherein the determining the height of the nearest object is further based on ground level correction data that indicates a difference in an elevation of the ground surface at the nearest object from the elevation of the ground surface where the collecting of the first data is initiated.

### Claim 17 (depends on 16)

A method as recited in claim 16, wherein the ground level correction data is topographic height data stored on a geospatial database and wherein the method further includes receiving, on the processor, the topographic height data from the geospatial database.

### Claim 18 (depends on 16)

A method as recited in claim 16, wherein the object is a crop and wherein the ground level correction data is survey data obtained by performing a survey of the field before the crop emerges from the ground.

### Claim 19

A non-transitory computer-readable medium carrying one or more sequences of instructions, wherein execution of the one or more sequences of instructions by one or more processors causes the one or more processors to perform the steps of:
receiving first data from a barometric pressure based altimeter of an unmanned aerial vehicle (UAV) that indicates an elevation of the UAV above a ground surface of a field;
receiving second data from a SONAR sensor of the UAV that indicates a distance from the UAV to a nearest object on the ground surface;
receiving third data from a wind sensor that indicates a wind speed at the ground surface;
determining a height of the nearest object above the ground surface based on the first data, the second data and the third data; and presenting on a display device output data that indicates the height of the nearest object,
wherein the SONAR sensor has a SONAR sensor range and the elevation above the ground surface is less than the SONAR sensor range.

### Claim 20

An apparatus comprising:
at least one processor; and
at least one memory including one or more sequences of instructions,
the at least one memory and the one or more sequences of instructions configured to, with the at least one processor, cause the apparatus to perform at least the following:
receive first data from a barometric pressure based altimeter of an unmanned aerial vehicle (UAV) that indicates an elevation of the UAV above a ground surface of a field;
receive second data from a SONAR sensor of the UAV that indicates a distance from the UAV to a nearest object on the ground surface;
receive third data from a wind sensor that indicates a wind speed at the ground surface;
determine a height of the nearest object above the ground surface based on the first data, the second data and the third data; and
present on a display device output data that indicates the height of the nearest object,
wherein the SONAR sensor has a SONAR sensor range and the elevation above the ground surface is less than the SONAR sensor range.

### Claim 21

A system comprising:
an unmanned aerial vehicle (UAV) comprising:
a barometric pressure based altimeter configured to measure first data that indicates an elevation of the UAV above a ground surface, and
a SONAR sensor configured to measure second data that indicates a distance from the UAV to a nearest object on the ground surface,
a wind sensor configured to measure third data that indicates a wind speed at the ground surface;
at least one processor; and at least one memory including one or more sequences of instructions,
the at least one memory and the one or more sequences of instructions configured to, with the at least one processor, cause the system to perform at least the following:
receive the first data and the second data from the UAV;
determine a height of the nearest object above the ground surface based on the first data, the second data and the third data; and
present on a display device output data that indicates the height of the nearest object,
wherein the SONAR sensor has a SONAR sensor range and the elevation above the ground surface is less than the SONAR sensor range.

### Claim 22

Anon-transitory computer-readable medium carrying one or more sequences of instructions, wherein execution of the one or more sequences of instructions by one or more processors causes the one or more processors to perform the steps of:
receiving first data from a barometric pressure based altimeter of an unmanned aerial vehicle (UAV) that indicates an elevation of the UAV above a ground surface of a field;
receiving second data from a SONAR sensor of the UAV that indicates a distance from the UAV to a nearest object on the ground surface;
determining a height of the nearest object above the ground surface based on the first data and the second data; and
presenting on a display device output data that indicates the height of the nearest object,
wherein the SONAR sensor has a SONAR sensor range and the elevation above the ground surface is less than the SONAR sensor range;
wherein the determining the height of the nearest object is further based on ground level correction data that indicates a difference in an elevation of the ground surface at the nearest object from the elevation of the ground surface where the collecting of the first data is initiated;
wherein the UAV is configured to be operated above the ground surface of the field;
wherein the barometric pressure based altimeter of the UAV is configured to collect the first data; and
wherein the SONAR sensor of the UAV is configured to collect the second data.

### Claim 23

An apparatus comprising:
at least one processor; and
at least one memory including one or more sequences of instructions,
the at least one memory and the one or more sequences of instructions configured to, with the at least one processor, cause the apparatus to perform at least the following:
receive first data from a barometric pressure based altimeter of an unmanned aerial vehicle (UAV) that indicates an elevation of the UAV above a ground surface of a field;
receive second data from a SONAR sensor of the UAV that indicates a distance from the UAV to a nearest object on the ground surface;
determine a height of the nearest object above the ground surface based on the first data and the second data; and
present on a display device output data that indicates the height of the nearest object,
wherein the SONAR sensor has a SONAR sensor range and the elevation above the ground surface is less than the SONAR sensor range;
wherein the determination of the height of the nearest object is further based on ground level correction data that indicates a difference in an elevation of the ground surface at the nearest object from the elevation of the ground surface where collection of the first data is initiated;
wherein the UAV is configured to be operated above the ground surface of the field;
wherein the barometric pressure based altimeter of the UAV is configured to collect the first data; and
wherein the SONAR sensor of the UAV is configured to collect the second data.

### Claim 24

A system comprising:
an unmanned aerial vehicle (UAV) comprising:
a barometric pressure based altimeter configured to measure first data that indicates an elevation of the UAV above a ground surface, and
a SONAR sensor configured to measure second data that indicates a distance from the UAV to a nearest object on the ground surface,
at least one processor; and
at least one memory including one or more sequences of instructions,
the at least one memory and the one or more sequences of instructions configured to, with the at least one processor, cause the system to perform at least the following:
receive the first data and the second data from the UAV;
determine a height of the nearest object above the ground surface based on the first data and the second data; and
present on a display device output data that indicates the height of the nearest object,
wherein the SONAR sensor has a SONAR sensor range and the elevation above the ground surface is less than the SONAR sensor range;
wherein the determination of the height of the nearest object is further based on ground level correction data that indicates a difference in an elevation of the ground surface at the nearest object from the elevation of the ground surface where collection of the first data is initiated;
wherein the UAV is configured to be operated above the ground surface of the field;
wherein the barometric pressure based altimeter of the UAV is configured to collect the first data; and
wherein the SONAR sensor of the UAV is configured to collect the second data.