Pheno-Copter: A Low-Altitude, Autonomous Remote-Sensing Robotic Helicopter for High-Throughput Field-Based Phenotyping
Pheno-Copter: A Low-Altitude, Autonomous Remote-Sensing Robotic Helicopter for High-Throughput Field-Based Phenotyping
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DOI：
10.3390/agronomy4020279
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发表时间：
2014-06-01
期刊：
影响因子：
3.7
通讯作者：
Jimenez-Berni, Jose
中科院分区：
文献类型：
--
作者：
Chapman, Scott C.;Merz, Torsten;Jimenez-Berni, Jose
植物育种试验是广泛的（100到1000个地块），用传统手段进行监测是困难和昂贵的，特别是在测量对时间敏感的地方。例如，在陆地测量冠层温度（手持式红外测温仪，每分钟测量2至10个点）时，大气条件在测量期间可能发生很大变化。这种传感器测量小点样本（2至50厘米(2)），而基于图像的方法允许采样整个地块（2至30米(2)）。从低空（10至40米）精确飞行的飞机上捕获图像，以获得每个地块的高地面分辨率数据，从而可以快速测量大量地块。本文概述了一种定制的机器人直升机（燃气动力，旋翼直径1.78米）的实现，具有自主飞行控制和软件，可以在0.5至3公顷的区域内规划飞行，然后从三台相机拍摄的图像中提取，拉直和表征多个试验场地块。该系统的载重能力为1.5公斤30分钟或1.1公斤60分钟，成功完成了bbb150次飞行，总持续时间为40小时。本文介绍的示例应用包括：高粱地面覆盖（早期季节）的变化估计；甘蔗的冠层温度（季节中期）；以及小麦（晚季）作物倒伏的三维测量。与这个硬件平台一起，改进的软件可以自动生成正形拼接和数字高程模型，并提取地块数据，这将进一步有利于高通量现场表型系统的发展。
Plant breeding trials are extensive (100s to 1000s of plots) and are difficult and expensive to monitor by conventional means, especially where measurements are time-sensitive. For example, in a land-based measure of canopy temperature (hand-held infrared thermometer at two to 10 plots per minute), the atmospheric conditions may change greatly during the time of measurement. Such sensors measure small spot samples (2 to 50 cm(2)), whereas image-based methods allow the sampling of entire plots (2 to 30 m(2)). Capturing images from an aircraft which is flown precisely at low altitude (10 to 40 m) to obtain high ground resolution data for every plot allows the rapid measurement of large numbers of plots. This paper outlines the implementation of a customized robotic helicopter (gas-powered, 1.78-m rotor diameter) with autonomous flight control and software to plan flights over experiments that were 0.5 to 3 ha in area and, then, to extract, straighten and characterize multiple experimental field plots from images taken by three cameras. With a capacity to carry 1.5 kg for 30 min or 1.1 kg for 60 min, the system successfully completed >150 flights for a total duration of 40 h. Example applications presented here are estimations of the variation in: ground cover in sorghum (early season); canopy temperature in sugarcane (mid-season); and three-dimensional measures of crop lodging in wheat (late season). Together with this hardware platform, improved software to automate the production of ortho-mosaics and digital elevation models and to extract plot data would further benefit the development of high-throughput field-based phenotyping systems.