1887

Abstract

Summary

A vision system able to give a punctual estimation of the canopy vigour (volume, leaves’ chlorophyll content) of an orchard is a key-system for implementing Precision Agriculture. Indeed, such a system, composed by Lidar and NDVI sensors, can give all the information necessary for performing some important field-operations (e.g., pruning, spraying) and, above all, for setting-up automatically and in realtime the relative machines. The first issues when implementing a vision system concern: which type and how many sensors using, how making this system move within an orchard.

As proved in some preliminary lab trials, the use of two Lidar sensors, vertically-aligned to give a sort of lateral-linear-stereoscopic vision, manages to avoid the presence of the large “projected shadows” (or “blind spots”) originating when using a single sensor to scan a target.

Then, this article presents a compact “mobile lab", based on an electric tracked bins-carrier, able to move off-road within the orchards and equipped with an ad-hoc developed adjustable tubular frame, designed to carry two Lidar sensors in the individuated configuration, together with other six (NDVI) sensors. This frame allows placing the sensors at different heights to ensure the complete scan of the canopy (even with high fruit trees).

Loading

Article metrics loading...

/content/papers/10.3997/2214-4609.201413852
2015-09-06
2021-09-20
Loading full text...

Full text loading...

References

  1. Andújar, D., Escolà, A., Rosell-Polo, J.R., Fernández-Quintanilla, C. and Dorado, J.
    [2013] Potential of a terrestrial LiDAR-based system to characterise weed vegetation in maize crops. Computers and Electronics in Agriculture, 92, 11–15
    [Google Scholar]
  2. BietresatoM., BoscariolP., GasparettoA., MazzettoF. and VidoniR.
    [2014] On the design of a mechatronic mobile system for laser scanner based crop monitoring.
    [Google Scholar]
  3. Lee, K.H. and Ehsani, R.
    [2009] A laser scanner based measurement system for quantification of citrus tree geometric characteristics. Applied Engineering in Agriculture, 25, 777–788
    [Google Scholar]
  4. Osterman, A., Godesa, T., Hočevar, M., Sirok, B. and Stopar, M.
    [2013] Real-time positioning algorithm for variable-geometry air-assisted orchard sprayer. Computers and Electronics in Agriculture, 98, 175–182
    [Google Scholar]
  5. Pallejà-Cabré, T., Tresanchez, M., Teixido, M., Sanz-Cortiella, R., Rosell-Polo, J.R. and Palacin-Roca, J.
    [2010] Sensitivity of tree volume measurement to trajectory errors from a terrestrial LIDAR scanner. Agricultural and Forest Meteorology, 150, 1420–1427
    [Google Scholar]
  6. Rosell-Polo, J.R., Llorens, J., Sanz-Cortiella, R., Arnó-Satorra, J., Ribes-Dasi, M., Masip, J., Escolä, A., Camp, F., Solanelles-Batlle, F., Gràcia, F., Gil, E., Val, L., Planas-Demarti, S. and Palacin-Roca, J.
    [2009a] Obtaining the three-dimensional structure of tree orchards from remote 2D terrestrial LIDAR scanning. Agricultural and Forest Meteorology, 149, 1505–1515
    [Google Scholar]
  7. Rosell-Polo, J.R. and Sanz-Cortiella, R.
    [2012] A review of methods and applications of the geometric characterization of tree crops in agricultural activities. Computers and Electronics in Agriculture, 81, 124–141
    [Google Scholar]
  8. Rosell-Polo, J.R., Sanz-Cortiella, R., Llorens, J., Arnó-Satorra, J., Escolà, A., Ribes-Dasi, M., Masip, J., Camp, F., Gràcia, F., Solanelles-Batlle, F., Pallejà-Cabré, T., Val, L., Planas-Demarti, S., Gil, E. and Palacin-Roca, J.
    [2009b] A tractor-mounted scanning LIDAR for the non-destructive measurement of vegetative volume and surface area of tree-row plantations: A comparison with conventional destructive measurements. Biosystems Engineering, 102, 128–134
    [Google Scholar]
  9. Saeys, W., Lenaerts, B., Craessaerts, G. and De BaerdemaekerJ.
    [2009] Estimation of the crop density of small grains using LiDAR sensors. Biosystems Engineering, 102, 22–30
    [Google Scholar]
  10. Sanz-Cortiella, R., Llorens-Calveras, J., Llorens-Calveras, A., Arnó-Satorra, J., Ribes-Dasi, M., Masip-Vilalta, J., Camp, F., Gràcia-Aguilá, F., Solanelles-Batlle, F., Planas-Demarti, S., Pallejà-Cabré, T., Palacin-Roca, J., Gregorio-Lopez, E., Del-Moral-Martinez, I. and Rosell-Polo, J.R.
    [2011] Innovative LIDAR 3D dynamic measurement system to estimate fruit-tree leaf area. Sensors, 11, 5769–5791
    [Google Scholar]
  11. Sanz-Cortiella, R., Rosell-Polo, J.R., Llorens, J., Gil, E. and Planas-Demarti, S.
    [2013] Relationship between tree row LIDAR-volume and leaf area density for fruit orchards and vineyards obtained with a LIDAR 3D Dynamic Measurement System. Agricultural and Forest Meteorology, 171–172, 153162.
    [Google Scholar]
  12. Van der Zande, D., Hoet, W., Jonckheere, I., van Aardt, J. and Coppin, P.
    [2006] Influence of measurement set-up of ground-based LiDAR for derivation of tree structure. Agricultural and Forest Meteorology, 141, 147–160
    [Google Scholar]
http://instance.metastore.ingenta.com/content/papers/10.3997/2214-4609.201413852
Loading
/content/papers/10.3997/2214-4609.201413852
Loading

Data & Media loading...

This is a required field
Please enter a valid email address
Approval was a Success
Invalid data
An Error Occurred
Approval was partially successful, following selected items could not be processed due to error