forest management system and method for managing a site

专利摘要:
INSTALLATION OF FOREST SENSOR AND MONITORING SYSTEM. The present invention relates to a method and apparatus for managing a location (1006). Ground sensor units (1028) are installed on site (1006) in a forest (1002) of a group of aerial vehicles. Information (1004) is generated about various soil conditions (1017) at the site (1006) in the forest (1002) using the soil sensor units (1028) at the site (1006). Information (1004) is transmitted from the ground sensor units (1028) to a remote location (1006) for analysis.
公开号:BR102013031250B1
申请号:R102013031250-9
申请日:2013-12-05
公开日:2021-06-22
发明作者:John Lyle Vian；Charles B. Spinelli；Brian J. Tillotson；George Michael Roe；Joshua Przybylko
申请人:The Boeing Company；
IPC主号:

专利说明:

Field of Technique
[0001] The present invention relates to forest management and, in particular, forest management operations. Even more particularly, the present disclosure relates to a method and apparatus for performing forest management operations. Background
[0002] Forest management is a branch of forest engineering that includes many different aspects. These aspects can include environmental, economic, administrative, legal and social aspects of managing a forest. Forest management can consist of various techniques such as harvesting native cut timber, planting trees, replanting trees, clearing roads and pathways through forests, preventing fires in a forest, maintaining forest health, and other suitable activities.
[0003] While performing these and other operations in relation to forest management, gathering information about the forest may be desired. For example, collecting forest information provides an ability to analyze the state of the forest as well as identity operations that can be performed.
[0004] The tools used to generate information to assess the state of a forest may include, for example, without limitation, a clinometer, a data logger, a Pressler probe, a wedge-shaped prism, a measuring tape in diameter, a measuring device. global positioning system, a count meter, a laptop computer and other suitable tools. These tools are used by forest management workers to perform various operations such as estimating numbers of trees present in an area, identifying the health of trees, identifying the age of trees, identifying the spacing of trees, identifying the composition of soil samples and other suitable operations.
[0005] With this information, an analysis of the information can be done to identify a forest state. This forest state can be a forest inventory. This forest inventory can provide results such as the value of harvested native wood, expected cash flows from harvested native wood, the amount of existing harvested native wood land, recreational use impact, fire risks, enhancements to increase growth, and forest value, the length of time the cut native wood must be harvested, and other appropriate results.
[0006] Currently, the process for collecting information to assess the state of a forest is very complex and time consuming. For example, gathering information can require tens of thousands or hundreds of thousands of sensor readings or observations made by forest management officials for a particular location in the forest. With additional locations, even more information is collected. Furthermore, collecting this information in the desired time periods and as often as desired increases the time and effort required.
[0007] Additionally, current processes also often rely on sampling when collecting information. Sampling can be performed at selected locations rather than the entire forest. This type of information gathering can be used while gathering information across the entire forest and is more time consuming than desired. Additionally, during sampling, errors can occur due to a lack of proper information collection and analysis.
[0008] Information collection is performed by forest management officials using tools that may often require interpretation by forest management officials. As a result, different human operators may have different interpretations when taking measurements. Lack of consistency in interpretations can lead to undesired results.
[0009] For example, two different people can decide which different types of sampling to use based on two different measurements of tree spacing. As another example, when using an inclinometer, measuring the height of a tree using two different inclinometers can produce different results. These differences can provide results that may not be as accurate as desired.
[00010] Additionally, information can be inconsistent depending on the ability of forest management officials to reach different portions of the forest. For example, access to certain locations within the forest may be unfeasible for forest management personnel. In these inaccessible regions, information may be unavailable and, as a result, the state of the forest may not be identified as accurately as desired.
[00011] Additionally, the availability of forest management officials to collect information may not be as good as desired in order to obtain a desired amount of information to perform an analysis. Additionally, this analysis may not be performed with a desired level of accuracy or using as up-to-date information as desired.
[00012] As a result, collecting the information needed to analyze the state of the forest is often much more complex and difficult than desired. With the number of pieces of information needed and the frequency with which the information is needed, the number of forest management employees required to obtain this information can be unaffordable due to the number of employees available or the costs associated with using those employees. Additionally, with the use of human operators to make measurements and observations, the information collected may not be as uniform or accurate as desired.
[00013] Therefore, it is desirable to have a method and apparatus that takes into account at least some of the above issues, as well as other possible issues. summary
[00014] In an illustrative modality, a forest management system comprises a forest manager. The Forest Manager is configured to receive information related to various ground conditions for a location in a forest from a sensor system installed by a group of air vehicles and identify a mission based on the various ground conditions.
[00015] In another illustrative modality, a forest management system comprises sensor units and a group of aerial vehicles. Sensor units are configured to be installed in one location, generate information about various ground conditions at the location, and transmit the information using wireless communications links. The air vehicle group is configured to load the sensor units and install the sensor units on site.
[00016] In yet another illustrative modality, a method for managing a location is presented. Ground sensor units are installed on site in a forest from a group of aerial vehicles. Information is generated about various on-site soil conditions in the forest using the on-site soil sensor units. Information is transmitted from transmitters in the ground sensor units to a remote location for analysis.
[00017] The attributes and functions can be achieved independently in various embodiments of the present disclosure or can be combined in still other embodiments where additional details can be seen with reference to the following description and drawings. Brief Description of Drawings
[00018] It is believed that the innovative attributes characteristic of the illustrative modalities are presented in the attached claims. The illustrative embodiments, however, as well as a preferred mode of use, purposes and additional attributes thereof, will be better understood with reference to the following detailed description of an illustrative embodiment of the present disclosure when read in conjunction with the attached drawings, in that: Figure 1 is an illustration of a forest management environment according to an illustrative modality; Figure 2 is an illustration of a block diagram of a forest management environment according to an illustrative modality; Figure 3 is a illustration of data flow in a forest manager according to an illustrative embodiment; Figure 4 is an illustration of a block diagram of mission types according to an illustrative embodiment; Figure 5 is an illustration of a block diagram of missions a task according to an illustrative embodiment; Figure 6 is an illustration of a block diagram of an autonomous vehicle according to an il embodiment. Figure 7 is an illustration of a block diagram of a map construction and positioning sensor module according to an illustrative embodiment; Figure 8 is an illustration of a block diagram of a sensor module according to an illustrative embodiment; Figure 9 is an illustration of a block diagram of a support system according to an illustrative embodiment; Figure 10 is an illustration of a block diagram of a forest management environment according to an illustrative embodiment; Figure 11 is an illustration of a ground sensor unit block diagram according to an illustrative embodiment; Figure 12 is an illustration of an installation of a sensor system for obtaining ground information according to an illustrative embodiment; Figure 13 is an illustration of a ground sensor unit according to an illustrative embodiment; Figure 14 is an illustration of a sensor unit of soil according to an illustrative embodiment; Figure 15 is an illustration of a forest area according to an illustrative embodiment; Figure 16 is an illustration of an installation unit therein. soil sensor area according to an illustrative embodiment; Figure 17 is an illustration of a decision making model for plantation trees according to an illustrative embodiment; Figure 18 is an illustration of a decision making model for filling newly planted areas of a forest according to an illustrative embodiment; Figure 19 is an illustration of a flowchart of a process for managing a forest according to an illustrative embodiment; Figure 20 is an illustration of a process flowchart for process information received from assets according to an illustrative embodiment; Figure 21 is an illustration of a flowchart of a process for coordinating the operation of assets according to an illustrative embodiment; Figure 22 is an illustration of a flowchart of a process for manage a location according to an illustrative modality; Figure 23 is an illustration of a flowchart of a process to obtain information about various conditions. soil edits at a location in a forest according to an illustrative embodiment; Figure 24 is an illustration of a flowchart of a process for generating a mission according to an illustrative embodiment; Figure 25 is an illustration of a flowchart of an decision making process for generating and executing a mission according to an illustrative modality; Figure 26 is an illustration of a flowchart of a decision making process for generating and executing forest operations in a mission according to an illustrative modality; and Figure 27 is an illustration of a block diagram of a data processing system in accordance with an illustrative embodiment. Detailed Description
[00019] The illustrative modalities recognize and take into account one or more different considerations. For example, the illustrative modalities recognize and take into account that the systems currently used to collect information about a forest may not provide as much information or information as accurate as for carrying out forest management.
[00020] Thus, the illustrative modalities provide a method and apparatus for managing a forest. In an illustrative modality, a forest manager is configured to receive information about a forest from a group of autonomous vehicles. The forest manager analyzes the information to generate a result about a forest state. The forest manager also coordinates the operation of the group of autonomous vehicles using the result.
[00021] With reference now to the Figures and, in particular, with reference to Figure 1, an illustration of a forest management environment is represented according to an illustrative modality. As depicted, forest management environment 100 includes assets 102.
[00022] Assets 102 generate information about locations in forest 104 such as location 106. In this illustrative example, assets 102 include unmanned vehicles such as unmanned aerial vehicle 108, unmanned aerial vehicle 110, unmanned aerial vehicle 112, satellite 114, unmanned land vehicle 116, and unmanned land vehicle 118. Additionally, assets 102 may also include sensor systems such as land sensor unit 120, land sensor unit 122, land sensor unit 124, and unit of ground sensor 127. Support system 126 may also be present to support unmanned vehicles.
[00023] As shown, the unmanned aerial vehicle 108 and the unmanned aerial vehicle 110 may operate at lower altitudes compared to the unmanned aerial vehicle 112. For example, the unmanned aerial vehicle 108 and the unmanned aerial vehicle 110 can operate from terrain 128 of forest 104 to altitudes of about 6,096 meters (2,000 feet) in these illustrative examples. Unmanned aerial vehicle 112 may operate at higher altitudes such as altitudes above 9,144 meters (30,000 feet) depending on the particular deployment.
[00024] As shown, unmanned aerial vehicle 108, unmanned aerial vehicle 110 and unmanned aerial vehicle 112 use onboard sensors to generate information about location 106 in forest 104. Satellite 114 can also use onboard sensors to generate information about location 106 in forest 104.
[00025] In these illustrative examples, unmanned land vehicle 116 and unmanned land vehicle 118 may move on terrain 128 of forest 104. Unmanned land vehicle 116 and unmanned land vehicle 118 may also generate location information 106 in the forest 104 using sensors on board.
[00026] Additionally, the terrestrial sensor unit 120, the terrestrial sensor unit 122, the terrestrial sensor unit 124 and the terrestrial sensor unit 127 are present at the location 106 in the forest 104 and also generate information about location 106 in the forest 104 In these illustrative examples, the terrestrial sensor unit 120 and the terrestrial sensor unit 122 may be placed in trees 130. The terrestrial sensor unit 124 may be located on the terrain 128 in the forest 104.
[00027] In some illustrative examples, terrestrial sensors can be operated near water. In these illustrative examples, the terrestrial sensor unit 127 can be close to the water body 129. In these illustrative examples, the terrestrial sensor unit 127 can be used to measure the water quality of the water body 129.
[00028] In these illustrative examples, the support system 126 can be a stationary structure or a mobile structure. For example, support system 126 may be a base, station, van, or other structure that supports at least one of unmanned aerial vehicle 108, unmanned aerial vehicle 110, unmanned aerial vehicle 116, and unmanned land vehicle 118 to recharge batteries, exchange batteries, or otherwise obtain power to operate.
[00029] As used herein, the phrase “at least one of” when used with a list of items means that different combinations of one or more of the items listed may be used and only one of each item may be required. For example, "at least one of item A, item B, and item C" may include, without limitation, item A or item A and item B. This example may also include item A, item B, and item C or item B and item C.
[00030] Additionally, support system 126 can also provide shelter from the environment, repair facilities and provide other services to one or more of the unmanned aerial vehicles or unmanned land vehicles. In this illustrative example, support system 126 can operate in an automated manner without the need for human intervention. In some cases, support system 126 may also store information that may be generated by unmanned aerial vehicle 108, unmanned aerial vehicle 110, unmanned land vehicle 116, or unmanned land vehicle 118.
[00031] Information generated by assets 102 can be sent over wireless communications links 132 to control station 134. Forest manager 136 at control station 134 is configured to process information generated by assets 102.
[00032] Additionally, forest manager 136 can also coordinate the operation of assets 102 in these illustrative examples. This coordination may include directing the movement of assets 102, identifying locations in forest 104 for monitoring, and other suitable operations that can be performed by assets 102. In some illustrative examples, forest manager 136 and components in forest manager 136 may be distributed among the control station 134 and other components in the forest management environment 100.
[00033] For example, the forest manager 136 may be distributed between the control station 134 and the support system 126. For example, a portion of the forest manager 136 may be in the support system 126 while another portion of the forest manager 136 can be found in control station 134. In this case, the components in forest manager 136 can be in communication with each other on wireless communication links 132.
[00034] In other illustrative examples, the forest manager 136 can be distributed on computers at assets 102. For example, the forest manager 136 can be distributed on the control station 134, on the unmanned aerial vehicle 112 and on the unmanned land vehicle 116 .
[00035] In some illustrative examples, assets 102 may also include employees 138 and manned vehicles 140. Employees 138 and manned vehicles 140 may supplement operations performed by unmanned assets in these illustrative examples. Additionally, the forest manager 136 can also provide directions to at least one of the employees 138 and the manned vehicles 140 to coordinate the operation of these assets. In this way, the operation of different assets, both unmanned assets and manned assets, is coordinated by forest manager 136 at control station 134.
[00036] Referring now to Figure 2, an illustration of a block diagram of a forest management environment is represented according to an illustrative modality. Forest management environment 100 in Figure 1 is an example of a deployment for forest management environment 200 in Figure 2.
[00037] In this illustrative example, forest management environment 200 includes forest manager 202 and assets 204. Forest manager 202 and assets 204 are configured to manage forest 206.
[00038] In particular, the forest manager 202 can be configured to manage multiple locations 208 in forest 206. As used herein, “multiple” when used with reference to items means one or more items. For example, multiple locations 208 is one or more locations. Multiple locations 208 may be a portion of forest 206 or may include the entire forest 206.
[00039] In this illustrative example, the forest manager 202 can be deployed using hardware, software or a combination of the two. When the software is used, the operations performed by the forest manager 202 can be implemented in program code configured to execute a processor unit. When hardware is employed, the hardware may include circuits that operate to perform operations in the forest manager 202.
[00040] For example, hardware can take the form of a system circuit, an integrated circuit, an application-specific integrated circuit (ASIC), a programmable logic device, or some other type of hardware configured to perform various operations. With a programmable logic device, the device is configured to perform the various operations. The device can be reconfigured at a later time or it can be permanently configured to perform various operations. Examples of programmable logic devices include, for example, a programmable logic array, a programmable array logic, a field programmable logic array, a field programmable gate array, and other suitable hardware devices. Additionally, processes can be implemented in organic components integrated with inorganic components and/or can be comprised entirely of organic components with the exception of a human being. For example, processes can be deployed as circuits in organic semiconductors.
[00041] As depicted, the forest manager 202 may be deployed in computer system 210. Computer system 210 is one or more computers. When more than one computer is present in computer system 210, those computers may be in communication with each other over a communication medium such as a network.
[00042] These computers can be in the same geographic location or separate geographic locations depending on the particular deployment. Additionally, in some illustrative examples, a portion or all of computer system 210 may be mobile. For example, one or more computers in computer system 210 may be located on or carried by a platform such as a truck, aircraft, ship, human operator, or some other suitable platform.
[00043] In these illustrative examples, forest manager 202 may have intelligence level 211. Intelligence level 211 may vary depending on the deployment of forest manager 202. In some cases, forest manager 202 may be a computer program that receives input from a human operator and provides output to a human operator.
[00044] In other illustrative examples, intelligence level 211 may be higher so input from a human operator may be unnecessary. For example, an artificial intelligence system and other suitable types of processors can provide a desirable intelligence level for intelligence level 211 in forest manager 202. In particular, the artificial intelligence system can include an expert system, a neural network, simple heuristics, fuzzy logic, bayesian networks, or some other suitable type of system that provides a desirable intelligence level for intelligence level 211 in the forest manager 202.
[00045] As depicted, assets 204 include at least one of vehicles 212, support systems 213, sensor systems 214 and employees 216. In these illustrative examples, assets 204 can communicate with forest manager 202 and with each other. with the use of communication links 218.
[00046] For example, assets 204 can generate information 220. Information 220 can be sent to forest manager 202 on communication links 218. Additionally, information 220 can be exchanged between assets 204 on communication links 218. illustratively, information 220 may include, for example, information about at least one of vegetation, soil conditions, wildlife, air quality, pollution, temperature, rainfall, and other suitable types of information.
[00047] As shown, vehicles 212 may include unmanned vehicles 222 and manned vehicles 224. Vehicles 212 may generate information 220 such as the path of vehicles 212 through or near various locations 208 in forest 206. remotely controlled by employees 216 or may be self-employed. Unmanned vehicles 222 may be selected from at least one of an unmanned aerial vehicle, an unmanned land vehicle, an unmanned watercraft and other suitable types of unmanned vehicles. When unmanned vehicles 222 are unmanned watercraft, the unmanned watercraft may be used in a lake, pond, river or some other suitable type of water body close to the forest. The 224 manned vehicles are vehicles that can carry 216 employees and are operated by 216 employees.
[00048] Additionally, unmanned vehicles 222 may include autonomous vehicle group 226. An autonomous vehicle is a vehicle that operates without the intervention of a human operator. In these illustrative examples, an autonomous vehicle can be remotely controlled or it can have a desired level of intelligence. As used in this document, a “group” when used with reference to items means one or more items. For example, autonomous vehicle group 226 is one or more autonomous vehicles. Autonomous Vehicle Group 226 can be configured to operate as Crowd 228 or Crowd Group 230 in these illustrative examples.
[00049] Support systems 213 are hardware systems configured to provide support for vehicles 212. In particular, support systems 213 may provide support for unmanned vehicles 222. For example, support systems 213 may provide shelter, power, maintenance and other types of support for unmanned vehicles 222.
[00050] Sensor systems 214 are also configured to generate information 220. In these illustrative examples, sensor systems 214 are at fixed locations at multiple locations 208 or near multiple locations 208 in forest 206.
[00051] 216 employees may perform operations that include generating 220 information. For example, 216 employees may carry sensors, operate manned vehicles 224, or operate unmanned vehicles 222 that are not in the autonomous vehicle group 226.
[00052] In this illustrative example, the forest manager 202 is configured to coordinate operations 232 performed by assets 204. Coordinating autonomous vehicle group operation 226 to perform information collection 220 may include information collection 220 in at least one within a selected area of the forest, over a period of time, and with a selected level of detail.
[00053] Coordination of 232 operations also involves directing assets 204 to perform multiple missions 234. Coordination of assets 204 to perform multiple missions 234 can reduce redundancy or overlap in the operation of assets 204 when redundancy and overlap is undesirable.
[00054] Additionally, coordinating assets 204 to perform multiple missions 234 may include directing assets 204 by, for example, without limitation, sending at least one of a command, message, mission, task, data, and others information that directs and/or provides guidance in the execution of multiple missions 234. This coordination can occur in a way that operations 232 are carried out so that some or all of the assets 204 can work together, as a single group, or in multiple groups to perform multiple missions 234.
[00055] For example, forest manager 202 can coordinate crowd 228 by sending commands to each of the autonomous vehicles in crowd 228. In these illustrative examples, crowd 228 is a plurality of autonomous vehicles, such as a group of autonomous vehicles 226, which coordinate the performance of 232 operations with each other.
[00056] In still other illustrative examples, the forest manager 202 can send tasks to each of the autonomous vehicles in the crowd 228. Thus, the autonomous vehicle group 226 can use tasks and perform operations based on the tasks sent to each of the vehicles in the group of autonomous vehicles 226.
[00057] In yet another illustrative example, forest manager 202 can send tasks to manned vehicles 224 in addition to crowd 228 of autonomous vehicle group 226. When commands are sent to manned vehicles 224, these commands can be viewed by employees 216 in vehicles manned 224 in these illustrative examples. Additionally, personnel 216 in manned vehicles 224 may use these commands as input to control manned vehicles 224. In other illustrative examples, personnel 216 may use these commands to perform operations on foot.
[00058] As shown, forest manager 202 can direct crowd 228 to a particular location at multiple locations 208 and direct crowd 228 to generate information 220 at the particular location. In another example, forest manager 202 may direct crowd 228 to traverse a selected path.
[00059] In a similar manner, forest manager 202 can send information for different missions in multiple missions 234 to mob group 230. Thus, a mob in mob group 230 can perform the same missions or different missions from other mobs in the group of 230 crowds.
[00060] By using the forest manager 202 and the unmanned vehicles 222, the number of employees 216 can be reduced compared to currently used systems. Additionally, when employees 216 are limited, the use of unmanned vehicles 222 and, in particular, autonomous vehicle group 226, can enhance the ability to collect a desired amount of information 220 along with a desired accuracy and consistency of information 220 compared to systems currently used to collect information from multiple locations 208 in forest 206.
[00061] Turning now to Figure 3, an illustration of data flow in a forest manager is represented according to an illustrative modality. In this depicted example, forest manager 202 analyzes information 220 received from assets 204 in Figure 2. In particular, forest manager 202 performs analysis 300 using information 220.
[00062] In these illustrative examples, analyzer 306 performs analysis 300 to generate result 302. Result 302 includes state 304 for forest 206 in Figure 2. State 304 can be, for example, without limitation, the health state of forest, forest inventory, security risks, illegal activity and other types of forest states 206.
[00063] In these illustrative examples, the analysis 300 of information 220 can be performed in several different ways to obtain the result 302. The analysis 300 can include inspection, cleaning, transformation, modeling and other operations in relation to the information 220.
[00064] As depicted, analysis 300 can be performed using any analysis technique currently available for data. For example, without limitation, analyzer 306 can perform analysis 300 of information 220 using image processing systems, light detection and range systems, geographic information systems, visual inspection systems, or other suitable types of systems. In particular, analyzer 306 can perform analysis 300 to obtain result 302 through the use of data grouping and correlation, anomaly detection, prognostic and statistical methods, and other suitable types of data analysis techniques. In some cases, analysis 300 may also include simulations using forest models 206.
[00065] In other illustrative examples, the result 302 can be obtained using a cloud detection system with trajectory generation methods and aerial laser scanning instruments to provide complete and timely coverage of the forest 206. Specifically, the forest manager 202 can perform the analysis 300 of information 220 using this cloud detection system to obtain the result 302 in a large area of forest 206 that may be feasible using currently available systems.
[00066] With the 302 result, the 308 mission generator identifies 310 missions. Additionally, the 308 mission generator can also identify 310 missions without the 302 result. mission 308 can generate one or more missions 310 to obtain information 220 for analysis 300 by parser 306. In this illustrative example, a mission is a goal or objective. In other words, a mission in 310 missions can be one or more goals or objectives.
[00067] For example, the mission generator 308 identifies several tasks 312 for mission 314 in missions 310. A task is a piece of work that is performed to achieve a mission. A task can be comprised of 316 operations that are performed for the work part.
[00068] Multiple tasks 312 are one or more tasks to be performed by assets 204 in Figure 2. Each task in multiple tasks 312 can include one or more operations in operations 316. Mission generator 308 can also identify operations 316 for multiple 312 tasks in the 314 generation mission.
[00069] For example, a mission might be to gather more 220 information about forest 206. Task in multiple tasks 312 might be to monitor a particular location at multiple locations 208 in forest 206. Operations 316 for tasks might be to fly in one selected path over the location at various locations 208 in the forest 206 and generate images of the location.
[00070] In these illustrative examples, mission generator 308 assigns at least one of mission 314, multiple tasks 312, and operations 316 to assets 204. In other words, mission generator 308 can send different levels of mission 318 information to the assets 204 depending on the intelligence of assets 204 that are to perform mission 314. This mission 318 information may be the same information as mission 318 sent to each of assets 204. In other illustrative examples, mission 318 information may be different for each of the assets in assets 204. In this way, the forest manager can coordinate the performance of missions 310 by sending mission information 318.
[00071] For example, the 308 mission generator can generate 314 mission with multiple 312 tasks. The 308 mission generator assigns multiple 312 tasks to the autonomous vehicle group 226 in Figure 2. With the 312 multiple task assignment, the 312 generator mission 308 sends mission 318 information to autonomous vehicle group 226 to perform various 312 tasks in mission 314.
[00072] In this way, the autonomous vehicle group 226 can perform multiple tasks 312 to complete all or a portion of mission 314. In some illustrative examples, the mission generator 308 can assign a portion of multiple tasks 312 to the autonomous vehicle group 226 and another portion of various tasks 312 to manned vehicles 224 in Figure 2. In this case, both autonomous vehicle group 226 in unmanned vehicles 222 and manned vehicles 224 use mission information 318 to complete a portion of mission 314.
[00073] For example, when coordinating the response to an offender, mission 314 may be to assist law enforcement. The 308 mission generator can send 318 mission information to unmanned aerial vehicle 108 to track an intruder, to unmanned aerial vehicle 110 to take video footage of a crime scene, and to manned vehicle 140 to take employees 138 into the Figure 1 to the location of the transgression event. In this way, each of assets 102 performs a portion of various tasks 312 to complete mission 314 using mission 318 information sent by mission generator 308.
[00074] Mission 318 information can take many forms. For example, mission information 318 may include commands, tasks, data, and other appropriate information. As an example, multiple tasks 312 can be sent in mission 318 information to autonomous vehicle group 226 so that autonomous vehicle group 226 performs 316 operations necessary to achieve various tasks 312 in mission 314. In other cases, information 318 missions may include commands needed to perform 316 operations to complete various tasks 312 to 310 missions.
[00075] In some cases, a mission ID 314 in mission information 318 may be sufficient for assets 204 to carry out mission 314. In other cases, multiple tasks 312 may be assigned to assets 204.
[00076] For example, the assignment may involve assigning multiple 312 tasks to one or more among autonomous vehicle group 226. In other cases, multiple 312 tasks may be assigned by submitting 312 tasks to autonomous vehicle group 226. Autonomous vehicle group 226 can coordinate and make its own assignments after being assigned various tasks 312.
[00077] In other words, task assignment 312 can be for autonomous vehicle group 226 as all or for individual autonomous vehicles in autonomous vehicle group 226. When multiple task assignment 312 is for autonomous vehicle group 226 as a whole, specific tasks in various tasks 312 can be assigned to autonomous vehicles in the autonomous vehicle group 226 based on the location of the autonomous vehicles, the capacity of the autonomous vehicles, the response time of the autonomous vehicles, or some other suitable parameters.
[00078] In another illustrative example, the mission generator 308 can send an identification of operations 316 to be performed by different assets on assets 204. These different assets can be, for example, unmanned vehicles 222 and sensor systems 214. 316 operations can be at multiple levels and can be as detailed as particular commands about the direction of movement, when collecting information and other operations.
[00079] Referring now to Figure 4, an illustration of a block diagram of mission types is depicted according to an illustrative modality. In this pictured example, mission types 400 are examples of mission 310 in Figure 3.
[00080] Mission types 400 can comprise at least one of information gathering 402 and state changes 404. Information gathering 402 comprises missions to obtain information 220 in Figure 2. State changes 404 comprise missions to cause a change at state 304 in Figure 3 identified by forest 206 by forest manager 202 in Figure 2. In these illustrative examples, information gathering 402 may include at least one of forest health mission 406, forest inventory mission 408, identification mission of security risk 410, illegal activity mission 412 and natural event damage mission 413.
[00081] In this illustrative example, forest health mission 406 is configured to generate information 220 that can be used to identify the health of a location within forest 206. Forest health mission 406 can, for example, obtain information on trees at a location in the forest 206. In particular, the forest health mission 406 can identify a biodiversity of trees and other vegetation in the forest 206.
[00082] Additionally, forest health mission 406 can be used to generate 220 tree spacing information. This 406 forest health mission can identify a presence of exotic species in relation to trees. In other words, types of tree species that are not normally present in the forest 206 can be identified using the forest health mission 406. Additionally, pests, infection and other information about trees in the forest 206 can be identified through the information 220 generated from the forest health mission 406.
[00083] Forest health mission 406 may also collect information 220 that identifies the impact of human activity on forest 206. For example, forest health mission 406 may identify information about unmanaged local agriculture, hunting, and recreation activities in the forest 206.
[00084] Additionally, the forest health mission 406 can also generate information 220 used to identify the impact of natural events in the forest 206. These natural events can include storms, fires, and other events that may occur naturally in the forest 206.
[00085] Additionally, forest health mission 406 can generate information 220 about the health of a vegetation on forest floor 206. With this type of mission, information about wildlife within forest 206 and about life health wild within the forest 206 can be spawned.
[00086] In these illustrative examples, a forest inventory mission 408 can be used to generate information 220 used to classify a land within forest 206. For example, the forest inventory mission 408 can generate information used to identify a volume of wood that can be harvested from the forest 206. Additionally, a carbon sequestration can be identified during a forest inventory mission 408. In other words, the capture of carbon dioxide in the forest 206 by trees and vegetation can be identified through the 408 forest inventory mission.
[00087] With a 410 security risk identification mission, information 220 about security hazards such as a presence of fire can be included in that type of mission. In these illustrative examples, a “safety risk” is a risk of damage to the forest 206 as a whole, to wildlife or vegetation within the forest 206, to humans, or a combination of these. In this way, the security risk identification mission 410 is used to generate information 220 about the security risks within the forest 206.
[00088] In some illustrative examples, the security risk identification mission 410 can generate information used to identify hazards to the public. This information can be used to identify which areas are publicly accessible in the forest 206. In this way, security risks can be mitigated within the forest 206. For example, when an area is determined to be a public security risk by security risk identification mission 410, the forest manager 202 in Figure 2 can send one of the assets 204 to lock the same area to the public.
[00089] An illegal activity mission 412 is used to generate information 220 that can be used to identify various illegal activities within the forest 206. These illegal activities may include, for example, without limitation, illegal extraction of native timber, illegal hunting of wildlife, illegal drug operations, trespassing in protected areas, squatting, and other illegal activities.
[00090] As pictured, a damage quest per natural event 413 can be used to generate 220 information about the damage that may be present after a natural event. For example, when a flood occurs at forest 206, information 220 about damage caused by the flood may be needed. In that case, the forest manager 202 can send one of the assets 204 to gather information 220 about state changes 404 resulting from the flood. Obviously, the forest manager 202 can send one of the assets 204 to gather information 220 about other types of natural events such as, for example, without limitation, fire, wind, ice, snow, earthquake, tornado or some other type of natural event.
[00091] In these illustrative examples, 404 state changes include missions that are used to change a 304 state of forest 206. The change in 304 state can be for a portion or the entire forest 206. As depicted, 404 state changes may include multiple mission types 400. For example, state changes 404 may include at least one of invader tracking mission 414, pest control mission 416, planting mission 417, harvesting mission 418, and other suitable types of 400 missions.
[00092] In these illustrative examples, the invader tracking mission 414 is a mission in which assets 204 are coordinated to identify and track an invader within the forest 206. The pest control mission 416 can be used to control pests that can affect forest health 206 in an unwanted way. Pest control mission 416 can be used to send assets 204 to forest 206 to carry out operations 316 to control or eliminate pests that may be in forest 206.
[00093] For example, assets 204 can distribute chemicals, electrical agents and other components to control pests that may be present in the forest 206. These pests can be vegetation, wildlife or other types of pests.
[00094] In this illustrative example, a planting mission 417 may be performed to plant trees in forest 206. In these illustrative examples, planting mission 417 may include planting tree seedlings in a number of locations 208 of forest 206. sites 208 can be one or more sites where open areas are present in the forest 206 or where trees are present, but the density of trees is not as great as desired.
[00095] A harvest mission 418 can be performed to harvest trees in forest 206. Assets 204 can be assets configured to harvest trees that have been identified at particular locations in forest 206. For example, tree harvesters in vehicles 212 in Figure 2 can be used to harvest trees in the forest 206. These tree harvesters can take the form of autonomous vehicles among a group of autonomous vehicles 226.
[00096] The illustration of mission types 400 in Figure 4 is only presented as an example of some mission types that may be present in missions 310. The examples of mission types 400 are not intended to imply limitations to other mission types that can be used. Additionally, in some cases, only some of the missions illustrated in the 400 mission types can be used instead of all the mission types in the 400 mission types. The tasks and operations performed for each of the 400 mission types may vary and they can be deployed in a number of different ways depending on the forest constitution 206 and the particular situation.
[00097] Referring now to Figure 5, an illustration of a block diagram of a task is depicted according to an illustrative embodiment. In this pictured example, task 500 is an example of a task that can be used to deploy one or more of a number of steps 312 in Figure 3.
[00098] As pictured, task 500 can have a number of different components. In this illustrative example, task 500 includes location 502, duration 504, and information gathering 506.
[00099] Location 502 is a location where task 500 is to be performed. Location 502 can be defined as a geographic area, a physical volume, or a trajectory. For example, location 502 may define an area on the ground in which the task is to be performed. In other illustrative examples, location 502 may also define a height at which information 220 in Figure 2 is to be collected. In other illustrative examples, location 502 can be defined as a trajectory that must be traversed by the asset for the task.
[000100] Duration 504 identifies a period of time during which the task must be performed. Duration 504 can include a start time and an end time.
[000101] In some illustrative examples, duration 504 can be set based on an amount of power remaining in the asset to perform the task. In some cases, duration 504 can be defined as an amount of information 220 collected, a type of information 220 collected, or based on some parameter other than time. Of course, a combination of these different types of measurements for 504 duration can also be used.
[000102] Information collection 506 identifies the type of information 220 to be collected and may also identify the manner in which information 220 will be collected. In that case, information 220 may include information such as images, temperature readings, moisture readings, sample collections, and other appropriate types of information. Additionally, information collection 506 may also define a frequency at which information 220 will be collected.
[000103] Additionally, the 506 information collection can also define the granularity of the 220 information to be collected. For example, information gathering 506 can set a higher granularity so that information 220 generates images of the height, straightness, taper, and volume of trees. In other illustrative examples, a lower granularity may merely comprise generating site images rather than more detailed measurements of trees at the site. Of course, any granularity can be defined in gathering information 506 for task 500.
[000104] Referring now to Figure 6, an illustration of a block diagram of an autonomous vehicle is depicted according to an illustrative embodiment. In this pictured example, autonomous vehicle 600 is an example of an deployment for an autonomous vehicle among a group of autonomous vehicles 226 in Figure 2. An unmanned aerial vehicle 108, an unmanned aerial vehicle 110, an unmanned aerial vehicle 112, an unmanned land vehicle 116 and an unmanned land vehicle 118 are physical examples of unmanned vehicles that can be deployed as autonomous vehicles using components in autonomous vehicle 600.
[000105] In this illustrative example, the autonomous vehicle 600 includes a number of different components. For example, autonomous vehicle 600 includes a support structure 602, a motion system 604, a sensor system 606, a communication system 608, a controller 610, and a power supply 612.
[000106] The support structure 602 provides a structure for a physical support of the other components in the autonomous vehicle 600. The support structure 602 can be, for example, at least one of a frame, a housing, a body and other suitable types of structures.
[000107] A 604 motion system is associated with a 602 support structure and is configured to provide motion for the autonomous vehicle 600. The 604 motion system can take many forms. For example, motion system 604 may include at least one of legs, wheels, rails, and other suitable types of mechanisms for moving autonomous vehicle 600.
[000108] A 606 sensor system is a system associated with a 602 support structure. The 606 sensor system is configured to generate information about the environment around the autonomous vehicle 600. The 606 sensor system can include many types of sensors .
[000109] In these illustrative examples, the sensor system 606 can include a number of sensor modules 614. In these illustrative examples, a sensor module in a number of sensor modules 614 is removable. In other words, one sensor module can be replaced with another sensor module in numerous sensor modules 614 in sensor system 606 in autonomous vehicle 600.
[000110] In this way, a creative versatility can be provided for the autonomous vehicle 600. In particular, a sensor module in a number of sensor modules 614 can be selected for use by the autonomous vehicle 600 depending on the mission or task assigned to the vehicle 600 autonomous. Additionally, with the use of numerous 614 sensor modules, the weight of the 600 autonomous vehicle can be reduced by reducing the amount of sensors in a 606 sensor system to just the amount needed for a particular mission or task.
[000111] For example, the sensor module 616 can be comprised of numerous sensors 618. The composition of the numerous sensors 618 can be selected for the type of mission or particular task to be performed.
[000112] A communication system 608 is associated with a support structure 602. As pictured, communication system 608 is configured to provide communications between autonomous vehicle 600 and another device. This other device can be, for example, one among other assets in assets 204, computer system 210, forest manager 202 and other suitable components. Communication can be wireless communication in these illustrative examples. In some cases, a wired communication interface may also be present.
[000113] A power supply 612 is associated with a support structure 602. The power supply 612 is configured to provide power to the other components in the autonomous vehicle 600. A power supply 612 can take a number of different forms. For example, power supply 612 may include at least one of a power system 620 and a power harvesting system 622.
[000114] In this illustrative example, the power system 620 may include one or more batteries. These batteries can also be modular and interchangeable. In other illustrative examples, power system 620 may be a fuel cell or some other suitable type of power system.
[000115] Energy harvesting system 622 is configured to generate power for components in autonomous vehicle 600 from the environment around autonomous vehicle 600. For example, energy harvesting system 622 may include at least one of a harvesting system biomechanical, a piezoelectric harvesting system, a thermoelectric harvesting system, a metabolic tree harvesting system, solar cells, a wind turbine microgenerator, an ambient radio wave receiver and other suitable types of energy harvesting systems that generate power of the environment around the 600 autonomous vehicle.
[000116] In this illustrative example, a controller 610 is associated with a support structure 602. As depicted, the controller 610 takes the form of hardware and may include software.
[000117] The 610 controller is configured to control the operation of the 600 autonomous vehicle. The 610 controller can provide a 624 intelligence level. The 624 intelligence level may vary depending on the particular deployment of the 600 autonomous vehicle. can be an example of the level of intelligence 211 in Figure 2.
[000118] In some cases, intelligence level 624 may be such that controller 610 receives specific commands. Such commands may include, for example, a direction of travel, a waypoint, when generating information 220 using a sensor system 606, and other similar commands.
[000119] In other illustrative examples, the intelligence level 624 can be higher so that the autonomous vehicle 600 can receive a task. Controller 610 can identify operations to perform the task. This task can be a fixed task in which the autonomous vehicle 600 follows a trajectory in a particular area to generate information 220 using a sensor system 606.
[000120] In other illustrative examples, the intelligence level 624 can be even higher so that the autonomous vehicle 600 is configured to communicate with other autonomous vehicles to perform one or more tasks in a coordinated manner. For example, controller 610 can include a circuit, a computer program, an artificial intelligence system, and other suitable types of processes that can provide a desired level for intelligence level 624.
[000121] In these illustrative examples, an intelligence system 628 can provide the intelligence level 624. The intelligence system 628 can use an expert system, a neural network, fuzzy logic, or some other suitable type of system to provide the level of intelligence. intelligence 624.
[000122] The 624 intelligence level in the 610 controller can allow functions such as dynamic trajectory planning. In this way, obstacles can be identified along a trajectory and can therefore be avoided. This identification and avoidance of obstacles can be performed in real time. Such obstacles may include, for example, without limitation, a branch, a tree trunk, and other obstacles in the forest 206.
[000123] The 610 controller can also monitor a health of different systems in the 600 autonomous vehicle. For example, the 610 controller can monitor a level of energy that is supplied or that is left in a 612 power supply. only includes batteries in the 620 power system, the 610 controller can direct the 600 autonomous vehicle to return to the base for recharging or changing batteries.
[000124] The illustration of the 600 autonomous vehicle in Figure 6 is not intended to imply limitations on the manner in which the 600 autonomous vehicle can be deployed. In other illustrative examples, autonomous vehicle 600 may include other components in addition to those depicted or in place of them. For example, the 600 autonomous vehicle may also include systems for effecting state changes. Such systems may include, for example, without limitation, a logging system, a chemical dispersant system, a water distribution system and other suitable types of systems.
[000125] In still other illustrative examples, sensor system 606 may include a laser scanner used below the surface of a tree canopy to determine a tree size. As another example, a 606 sensor system might consist of soil nutrient and moisture monitoring probes that can be installed to identify optimal timing and methods for planting. For example, these nutrient monitoring probes can be used to sample a soil at various depths to determine the amount of carbon or other elements in the forest soil 206. In still other illustrative examples, a sensor system 606 can be used to sample runoff, streams, and other water bodies, such as water body 129 in Figure 1, to determine changes in state 404 of these water bodies within the forest 206.
[000126] Referring now to Figure 7, an illustration of a block diagram of a map building and positioning sensor module is depicted according to an illustrative embodiment. As pictured, sensor module 700 is an example of an implementation of sensor module 616 in a sensor system 606 in Figure 6.
[000127] The 700 sensor module takes the form of a 702 mapping and positioning sensor module. The 702 mapping and positioning sensor module can be removable or fixed to a 606 sensor system depending on the particular deployment.
[000128] As pictured, sensor module 700 includes a global positioning system receiver 704, an inertial measurement unit 706, an altimeter 708, a wheel encoder 710, a laser range locator 712, and a camera system 714.
[000129] The global positioning system receiver 704 can be used to identify a location of the global positioning system receiver on autonomous vehicle 600 in three-dimensional coordinates. These coordinates can include latitude, longitude and altitude. Global positioning system receiver 704 uses a satellite system to provide these three-dimensional coordinates.
[000130] The inertial measurement unit 706 can also be used to identify the three-dimensional coordinates of the autonomous vehicle 600. The inertial measurement unit 706 can supplement or provide a refinement of positions generated by the global positioning system receiver 704.
[000131] As pictured, altimeter 708 can identify an altitude of autonomous vehicle 600 when global positioning system receiver 704 does not provide a desired level of accuracy. In these examples, the wheel encoder 710 can provide an odometer reading. Specifically, the wheel encoder 710 can estimate a distance traveled by counting the number of turns of the wheel.
[000132] In the illustrative examples, the laser range locator 712 is configured to identify distances to different objects around autonomous vehicle 600. The laser range locator 712 can generate three-dimensional coordinates for features around the autonomous vehicle 600. In In particular, the 712 laser range finder can generate data for a fog point. This fog point can be used to generate a three-dimensional map of one or more locations in Forest 206.
[000133] Camera system 714 is configured to generate images. These images can be correlated to the data for the fog point. In these illustrative examples, camera system 714 can include one or more cameras. For example, camera system 714 can include a visible light camera, a stereographic camera, an infrared camera, and other suitable types of cameras.
[000134] The illustration of sensor module 700 is not intended to imply limitations on the way in which other sensor modules in a sensor system 606 can be deployed to generate mapping and positioning information. For example, other sensor modules may exclude wheel encoder 710 and altimeter 708. In still other illustrative examples, camera system 714 may be unnecessary.
[000135] In still other illustrative examples, the sensor module 700 can include a processor unit to pre-process information generated to map a location. Additionally, wheel encoder 710 can be used with land-based vehicles and may be unnecessary with aircraft or other vehicles.
[000136] Referring now to Figure 8, an illustration of a block diagram of a sensor module is depicted according to an illustrative embodiment. In this pictured example, sensor module 800 is another example of an implementation for sensor module 616 in a sensor system 606 in Figure 6. As pictured, sensor module 800 takes the form of a sensor inventory module. forest 802.
[000137] In this illustrative example, the 802 forest inventory sensor module includes a number of different components. For example, the forest inventory sensor module 802 includes a global positioning system receiver 804, a camera system 806, a laser range locator 808, and an identifier 810.
[000138] The 804 global positioning system receiver is configured to identify a location of the sensor module 800 and, in particular, the location of the autonomous vehicle 600. The camera system 806 is configured to generate images of the environment around the vehicle standalone 600. In particular, these images can be images of trees and other vegetation.
[000139] The 808 laser range finder is configured to identify distances to various objects such as trees or other vegetation. The 808 laser range locator is configured to generate information about the location of these trees in relation to the 600 autonomous vehicle.
[000140] Identifier 810 is configured to classify trees and vegetables in forest 206. Identifier 810 can take the form of hardware and can include software. In these illustrative examples, identifier 810 can take images from camera system 806 and identify trees and vegetation based on recognizing leaves, flowers, and other features that can be identified in the images.
[000141] In this way, the location of a particular tree or piece of vegetation can be identified by knowing the location of the autonomous vehicle 600 using information from the global positioning system receiver 804. may perform some position information processing to generate information about species of trees and other vegetation and the location of that species in the forest 206.
[000142] Although these illustrative examples depict the 802 forest inventory sensor module with the 804 global positioning system receiver, the 806 camera system, the 808 laser range locator, and the 810 identifier, other components or sensors may be used in addition to or in place of the components illustrated in this figure. For example, sensors in forest inventory sensor module 802 can include hyperspectral imaging sensors, gas sensors, water quality sensors, land and air laser scanners, decay detectors, ground penetrating radar, or other types sensors depending on the particular deployment.
[000143] Referring now to Figure 9, an illustration of a block diagram of a support system is depicted according to an illustrative embodiment. In this illustrative example, support system 900 is an example of components that can be used in a support system in support systems 213 in Figure 2.
[000144] As pictured, support system 900 has a number of different components. Support system 900 includes a platform 902, a covered area 904, a communication unit 906, a power refresh system 907, sensor modules 912 and an operator interface 914.
[000145] In this illustrative example, the platform 902 is a structure on which the autonomous vehicle 600 in Figure 6 can rest or move on depending on the particular deployment. Platform 902 can be a mobile platform, a stationary platform, or some other suitable type of platform in these illustrative examples.
[000146] The covered area 904 can be an area in which the autonomous vehicle 600 can be sheltered from the environment. Communication unit 906 can provide communication with autonomous vehicle 600, forest manager 202 or some other suitable component.
[000147] The 907 power renewal system may include a 908 charging system, 910 batteries and other suitable components. Power renewal system 907 may be configured to recharge or otherwise provide power system 620 in Figure 6 with power.
[000148] The 908 charging system is configured to recharge the 620 power system in the 600 autonomous vehicle in Figure 6. The 910 batteries can be used to replace the batteries in the 620 power system when the batteries are used in the 620 power system , instead of recharging the batteries depending on their condition. Additionally, the 912 sensor modules are examples of modules that can be replaceable in a number of 614 sensor modules in Figure 6.
[000149] A 914 operator interface can be a display system with a touch screen in these illustrative examples. Operator interface 914 can be seen by workers 138 in Figure 1 to receive commands, missions, or other information about the forest 206. Operator interface 914 can also be used to enter visual inspection results or other information that can be used by the analyzer 306 to perform a 300 analysis in Figure 3.
[000150] The illustration of components in support system 900 in Figure 9 is only shown as an example and is not intended to limit the way in which other support systems can be deployed. For example, other support systems may omit communication unit 906. In still other illustrative examples, a support system may include a storage device configured to store information generated by autonomous vehicle 600 or other platforms.
[000151] The illustration of a forest management environment 200 in Figure 2 and the different components in Figures 2 to 9 are not intended to imply architectural or physical limitations to the way in which the forest management environment 200 and the different components can be deployed . Components other than those illustrated or in their place may be used. Some components may be unnecessary. Furthermore, blocks are presented to illustrate some functional components. One or more of these blocks can be combined, split or combined and split into different blocks when deployed in an illustrative modality.
[000152] Additionally, the different components shown in Figure 1 can be combined with components in Figures 2 to 9, used with components in Figures 2 to 9 or a combination of the two. Additionally, some of the components in Figure 1 can be illustrative examples of how the components shown in block form in Figures 2 to 9 can be deployed as physical structures.
[000153] For example, in some illustrative examples, manned vehicles 224 may be omitted from the forest management environment 200 when generating information 220 in Figure 2. In still other illustrative examples, employees 216 may also be unnecessary to generate information 220. In In yet other illustrative examples, support systems 213 may be omitted. In still other illustrative examples, the forest manager 202 may be located on one of the vehicles 212 in these illustrative examples.
[000154] Furthermore, although specific groupings of sensors are illustrated in support system 900 in Figure 9 and sensor module 800 in Figure 8, these sensors can be included in a sensor system 606 without taking the form of a sensor module Removable. In other words, sensor module 800 and support system 900 can be fixed to a sensor system 606.
[000155] The illustrative modalities also recognize and take into account that collecting information from a forest using a forest manager can also include collecting information for use in managing trees in a forest. For example, the information can be used to inform the process for planting and harvesting trees. For example, the information can be used to plant trees in the forest. In particular, the information can be used to plant seedlings in the forest.
[000156] Additionally, the information can also be used to internally populate portions of newly planted areas to establish a uniform coverage of healthy newly grown trees. In particular, the illustrative modalities recognize and take into account that this information can be collected as part of the forest inventory mission 408 in Figure 4. In these illustrative examples, “fill in” in relation to planting trees is the process of planting additional trees in an area that does not currently have the desired amount, size, growth rate, health, or density of trees.
[000157] The illustrative modalities recognize and take into account that current methodologies for collecting information for planting trees may not be as accurate as desired. The illustrative modalities also recognize and take into account that current methodologies for planting trees involve analyzing historical weather conditions for a location in the forest. The history can be used in conjunction with predicted weather conditions for planting trees in the forest. For example, this information can be used to determine when and where trees can be planted.
[000158] The illustrative modalities recognize and take into account that the methodologies currently used to collect information for planting trees do not provide an accuracy of information as desired. Accurate information is needed for foresters to plant seedlings so that the seedlings grow as desired. When the soil is too cold to plant, seedlings may die or may not grow as desired. Additionally, drought conditions can also make planting seedlings more difficult than desired to achieve desired seedling growth.
[000159] Without accurate information, foresters who may want to plant as early in the season as desired may run the risk of seedlings freezing or dying. As a result, foresters can use a more expensive planting strategy to minimize seedling mortality rates given uncertain soil and weather conditions. For example, a forester may choose to plant more seedlings than required to account for future losses. However, planting more seedlings can result in higher planting costs.
[000160] In other cases, a forester may choose to plant larger seedlings as measured by the diameter of the root collar or choose to plant seedlings in a container. Both a larger seedling raw material and a containerized seedling raw material are more expensive to purchase and may not provide a desired increase in seedling health given favorable soil and weather conditions. In other words, with favorable soil and weather conditions, a less expensive bare root seedling can be as effective as a more expensive containerized seedling. In this way, knowing the soil conditions and weather conditions before planting trees can allow foresters to more effectively plan the planting processes that can be done without the methodologies currently used.
[000161] The illustrative modalities recognize and take into account that the information collected using an illustrative modality can be used to more accurately determine which types of seedlings and how many seedlings should be planted in addition to when and where the seedlings should be planted. As a result, one or more illustrative modalities can reduce the cost of planting trees.
[000162] The illustrative modalities also recognize and take into account that collecting information needed to determine when forest operations should be carried out may be more difficult than desired. These forest operations can include collecting, inspecting, sampling, controlling weeds, measuring, thinning and other appropriate types of operations. For example, information to make harvesting decisions is currently collected by operators who walk through the forest and take measurements. These measurements include the height and diameter of trees. Height and diameter measurements can be used to determine if an area of forest is ready for harvesting. For example, when the diameter of trees in an area of forest reaches a desired threshold value, trees in the same area of forest may be ready to harvest.
[000163] In other examples, soil data can be measured and used to determine if soil conditions are desired soil conditions for logging operations. As an illustrative example, an employee managing a forest may want to know soil conditions before carrying out harvesting operations to minimize erosion from the use of harvesting equipment. In this case, if the soil is wetter than desired, an erosion of the topsoil layer can be increased with the use of harvesting equipment. This topsoil erosion can impact the growth of reforested trees in these illustrative examples.
[000164] Additionally, soil wetter than desired can make harvesting equipment more difficult to operate. As an example, harvesting equipment can stick in wet soil.
[000165] In other illustrative examples, a drier than desired soil can cause an unwanted amount of dust to be blown into the air during harvesting operations. This dust can also impact the top soil layer. In still other illustrative examples, soil conditions can help to monitor the risk of a certain type of pest, depending on the particular implantation. While some of these conditions can be estimated using weather forecasts and weather data, these information sources may not identify the current condition of soil conditions as accurately as desired.
[000166] Currently, trained operators can traverse areas that are difficult to access, dangerous to access, difficult to navigate or some combination of these. Many regulatory requirements also require at least two operators to minimize risks to collect soil data. As a result, traversing to different areas of a forest or different areas of a forest can result in substantial labor cost. Additionally, the route can also be costly in terms of equipment. The terrain can result in increased equipment maintenance costs that may be higher than desired.
[000167] The illustrative modalities also recognize and take into account that when operators take soil samples, more than one sample may be needed in a particular area to account for elevation changes, land features or other factors that may affect the density, moisture, chemical content and other soil parameters at the sites. Thus, the cost of obtaining desired soil information in an area where forestry operations are planned may be greater than desired.
[000168] Additionally, if the area is not ready for forestry operations, data collection is repeated again later. As a result, the cost of obtaining information for forest operations can be greater and more difficult than desired.
[000169] Therefore, the illustrative modalities provide a method and apparatus for planting trees, monitoring trees, harvesting trees, or a combination thereof. In these illustrative examples, the information collected refers to various soil conditions in the forest.
[000170] In an illustrative modality, a forest manager is configured to receive information regarding various ground conditions for a location in a forest from a sensor system installed by a group of aerial vehicles. The forest manager is also configured to identify a mission based on various ground conditions.
[000171] Referring now to Figure 10, an illustration of a block diagram of a forest management environment is depicted according to an illustrative modality. In the illustrative example, forest management environment 1000 is an environment in which the planting, harvesting, or planting and harvesting of trees 1001 in forest 1002 can take place.
[000172] In this example, forest management environment 1000 includes a forest management system 1003. The components shown in forest management system 1003 can be part of a forest sensor installation and monitoring system in these illustrative examples.
[000173] As pictured, forest management system 1003 in forest management environment 1000 is configured to generate and analyze information 1004 about location 1006 in forest 1002. In particular, information 1004 about location 1006 in forest 1002 takes the form of soil information 1010. Information 1004 can be used to determine whether location 1006 in forest 1002 has favorable conditions for planting trees 1001. Additionally, information 1004 can also be used to determine whether trees 1001 at location 1006 in the forest 1002 are ready for harvest.
[000174] In these illustrative examples, forest management system 1003 comprises forest manager 1014 and assets 1016. Assets 1016 are configured to generate information 1004 about location 1006 in forest 1002. In these illustrative examples, soil information 1010 in the information 1004 include various ground conditions 1017.
[000175] In these illustrative examples, 1010 soil information about various 1017 soil conditions may include hydration, a temperature, conductivity, nitrogen content, pH, calcium content, salt content and a nutrient content, and other suitable soil conditions . Various soil conditions 1017 can also be used to determine when and where to plant trees 1001 at location 1006. Various soil conditions 1017 can also be used to determine which tree species, seedling type, or both tree species and type. for 1001 trees should be planted. For example, information about various soil conditions 1017 at location 1006 can inform the forester that a particular tree species can grow best at location 1006.
[000176] In this example, a particular nutrient content or pH may be more favorable for a particular tree species 1001. In other illustrative examples, the hydration information at location 1006 can be used to select the type of seedling for the trees 1001 that provide the density, growth, health, or other parameters desired to plant 1001 trees at location 1006.
[000177] Additionally, various soil conditions 1017 can also be used to determine whether forest operations can be performed on trees 1001. In particular, various soil conditions 1017 can also be used to determine whether terrain 1018 at location 1006 is found. in a condition that is suitable for operating the harvesting equipment. For example, harvesting equipment 1019 may include trucks, tree cutters and other types of equipment. Various soil conditions 1017 can be used to determine if terrain 1018 at location 1006 is stable enough to move harvesting equipment 1019 to location 1006 and harvest trees 1001 at location 1006 in forest 1002.
[000178] Additionally, various soil conditions 1017 can also provide information on how planting of seedlings should take place. For example, various soil conditions 1017 can be used to determine whether manual planting or machine planting of tree seedlings 1001 is preferred.
[000179] Machine planting is a method of mechanical planting of trees 1001 at location 1006 in forest 1002 with the use of machine planting equipment 1023. Depending on various soil conditions 1017, machine planting may increase the rate of molting survival. For example, when the soil on 1018 ground is hard and dry, a planter can break up the soil which can promote better root growth for the seedlings.
[000180] Obviously, selection of the type of planting method may also depend on the availability of planting equipment per 1023 machine and the other appropriate factors that can produce the highest seedling survival rate for the 1001 trees while decreasing the cost of planting. 1001 tree planting compared to currently used methodologies. In other illustrative examples, if various soil conditions 1017 are too wet for certain types of machine planting equipment, manual planting methods or other planting methods can be used, depending on the particular implantation.
[000181] In these illustrative examples, forest manager 1014 is configured to receive information 1004 from assets 1016 about communication links 1020. In these illustrative examples, communication links 1020 take the form of wireless communication links.
[000182] As pictured, forest manager 1014 can be deployed using hardware, software, or some combination thereof. In particular, forest manager 1014 can be deployed in computer system 1021.
[000183] Assets 1016 include an aerial vehicle group such as the unmanned aerial vehicle group 1022. Asset 1016 also includes the 1024 sensor system and the 1019 harvesting equipment. In some illustrative examples, the aerial vehicle group may be from manned aerial vehicles.
[000184] Sensor system 1024 takes the form of ground sensor units 1026. Ground sensor units 1026 may take the form of ground sensor units 1028.
[000185] In this illustrative example, information 1004 can be generated by at least one of the group of unmanned aerial vehicles 1022 and ground sensor units 1026 in sensor system 1024. In this example, one ground sensor unit in multiple sensor units Ground sensor unit 1026 is configured to generate information 1004 about at least one of a ground sensor unit location 1006, a ground sensor unit trajectory, and an orientation ground sensor unit. In this way, terrestrial sensor units 1026 provide information 1004 about terrestrial sensor units 1026 and the environment around terrestrial sensor units 1026.
[000186] As pictured, the ground sensor units 1026 can be installed by the unmanned aerial vehicle group 1022. In other words, the unmanned aerial vehicle group 1022 can drop the ground sensor units 1026 so that the unmanned aerial vehicle units ground sensors 1026 would land at location 1006 in forest 1002. In particular, ground sensor units 1026 can be installed to land at ground 1018 in forest 1002.
[000187] In these illustrative examples, forest manager 1014 is configured to parse information 1004 about location 1006 in forest 1002 to determine where and how trees 1001 should be planted at location 1006. Additionally, information 1004 can also be used to determine which types of trees 1001 should be planted. For example, information 1004 can be used to determine whether bare root seedlings or seedlings in packages should be planted at location 1006. Additionally, information 1004 can also be used to determine different sizes of seedlings that can be used. Selection of tree types and sizes can be done to reduce the cost of planting 1001 trees, to increase the likelihood that the seedlings will survive, or some combination thereof.
[000188] Forest manager 1014 is also configured to analyze information 1004 about location 1006 in forest 1002 to determine if the 1001 trees at location 1006 in forest 1002 are ready for harvesting. In particular, various soil conditions 1017 can be used to determine whether terrain 1018 is suitable for harvesting equipment 1019 to cross location 1006.
[000189] In these illustrative examples, the forest manager 1014 can identify at least one mission in the 1030 missions. In these illustrative examples, the mission identification can be an identification of a mission to be accomplished without generating multiple tasks to accomplish the mission. In other illustrative examples, mission identification might include generating the number of tasks for the mission. Mission identification can also include identifying and assigning 1016 assets to perform particular tasks in the mission.
[000190] In these illustrative examples, the 1030 quests may include at least one of forest inventory quest 1034, planting quest 1035, harvest quest 1036, and other suitable types of quests. As pictured, forest inventory mission 1034 is configured to generate 1004 information that includes 1010 soil information in these illustrative examples. Planting mission 1035 is configured to plant trees 1001 in forest 1002. Harvesting mission 1036 is configured to harvest trees 1001 in forest 1002. In these illustrative examples, forest manager 1014 may have an intelligence level 1038 that is configured to control the operation of assets 1016 without requiring the input of a human operator.
[000191] Referring now to Figure 11, an illustration of a block diagram of a terrestrial sensor unit is depicted according to an illustrative embodiment. In this pictured example, the ground sensor unit 1100 is an example of a ground sensor in the ground sensor units 1028 for the ground sensor units 1026 in Figure 10.
[000192] As pictured, the ground sensor unit 1100 includes several different components. In the illustrative example, the ground sensor unit 1100 comprises housing 1102, transmitter 1104, receiver 1106, antenna 1108, controller 1110, various sensors 1112, signaling 1113, and power supply 1114.
[000193] The housing 1102 is a structure configured to support or retain the other components in the ground sensor unit 1100. The housing 1102 can be comprised of several different types of materials. For example, housing 1102 can be comprised of at least one of plastic, metal, a composite material, a biodegradable material, biodegradable closed cell extruded polystyrene foam, polycarbonate, and other suitable types of materials.
[000194] The material type selected for housing 1102 may depend on whether the ground sensor unit 1100 is a disposable sensor unit or a retrievable sensor unit. If the 1100 soil sensor unit is a disposable sensor unit, the materials selected may be based on cost, biodegradability, or some combination thereof. If the 1100 ground sensor unit is selected to be a retrievable sensor unit, materials can be selected for durability.
[000195] In these illustrative examples, transmitter 1104 is configured to transmit information about antenna 1108. Receiver 1106 is configured to receive information about antenna 1108. In some illustrative examples, transmitter 1104 and receiver 1106 may be a single component such as a transceiver.
[000196] The 1110 controller is deployed using hardware and may include software. Controller 1110 can take various forms depending on the particular deployment. For example, controller 1110 may include at least one of a processor unit, an application-specific integrated circuit, a digital signal processor, or some other suitable type of hardware.
[000197] As pictured, the 1110 controller is configured to control the operation of components in the 1100 ground sensor unit. For example, the 1110 controller can control the generation of information through various sensors 1112, the transmission and receipt of information by the 1104 transmitter and 1106 receiver and other suitable operations.
[000198] In these illustrative examples, several 1112 sensors are configured to generate ground information. This information may be processed by controller 1110 before being transmitted to a remote location via transmitter 1104 over antenna 1108.
[000199] In these illustrative examples, several 1112 sensors can include at least one of a temperature sensor, a hydration sensor, a pH sensor, an electroconductivity sensor, a global positioning system receiver, a nitrate sensor, a calcium sensor and other suitable types of sensors. Depending on the configuration of the 1100 soil sensor unit, various 1112 sensors can include a temperature sensor and sensor hydration sensor. Other sensors can also be included in other 1100 ground sensor unit configurations.
[000200] Different sensors in various 1112 sensors can be deployed using the various sensors currently available. Examples of deployments for a hydration sensor include a frequency domain capacitive being, a frequency domain reflectometry sensor, a phase transmission sensor, an amplitude domain reflectometry sensor, a frequency domain reflectometry sensor. weather, a time domain transmissiometry sensor, a soil tensiometer, a rhizon soil hydration sampler, a gravimetric soil hydration measurement sensor, a heat dissipation hydration sensor, a soil psychrometer, a resistive probe, a gypsum block sensor, a resistance block sensor, a granular matrix sensor, a neutron probe and other suitable types of sensors.
[000201] In these illustrative examples, the sensor type multiple sensors 1112 can be selected based on whether the sensor unit is a disposable sensor unit or a retrievable sensor unit. With a disposable sensor unit, a simple resistive probe can be used to detect hydration in the soil. Conversely, a more expensive frequency domain reflectometry sensor can be used when the sensor unit is a recoverable sensor. Obviously, other types of hydration sensors can be used when the various sensors 1112 are disposable sensors or retrievable sensors depending on the particular implant.
[000202] Furthermore, the type of sensor used for multiple 1112 sensors can be determined by the type of 1016 assets used to install the sensor. For example, for small unmanned aerial vehicles in the 1022 unmanned aerial vehicle group that may have lower payload capacities, a lightweight sensor can be used. In other cases, a larger sensor, such as a time domain reflectometer, may be installed from a ground vehicle at assets 1016, depending on the particular deployment.
[000203] Additionally, various sensors 1112 may also include one or more sensors to determine if the ground sensor unit 1100 has been installed in a desired manner. For example, various sensors 1112 can include an accelerometer or other devices configured to identify the orientation of the ground sensor unit 1100. In still other illustrative examples, a sensor used to generate ground information can also be used to determine whether the ground sensor unit 1100 ground sensor is installed as desired. For example, a hydration sensor can be used to determine if hydration readings indicate that the hydration sensor has been built in or has penetrated the terrain.
[000204] As depicted, sign 1113 is configured for use in retrieving ground sensor unit 1100. Signal 1113 may be an attention gathering device such as a light source or a sound source to attract the attention of a human operator. In other illustrative examples, signaling 1113 may be a radio frequency transmitter configured to transmit signals that can be used to locate the ground sensor unit 1100.
[000205] In these illustrative examples, power supply 1114 is configured to generate power used to operate the different components in ground sensor unit 1100. For example, power supply 1114 can supply power to transmitter 1104, receiver 1106, controller 1110 and multiple 1112 sensors.
[000206] The 1114 power supply can take many different forms. For example, power supply 1114 may include at least one of energy harvesting system 1116 and battery system 1118. Energy harvesting system 1116 may be used to extend the operational life of soil sensor unit 1100. energy harvesting system 1116 may take several different forms similar to those described for energy harvesting system 622 in autonomous vehicle 600 in Figure 6. For example, energy harvesting system 1116 may include at least one of an energy collector. solar, an ambient thermoelectric energy collector, an ambient radio frequency (RF) collector, a soil bioelectrochemical (BES) system, a microwind generator and other suitable types of energy harvesting devices.
[000207] Battery system 1118 can be comprised of one or more batteries. When used in conjunction with energy harvesting system 1116, battery system 1118 may be recharged by energy harvesting system 1116. Battery system 1118 may include multiple batteries. The battery type selected may depend on whether the 1100 ground sensor unit is configured to be disposable or recoverable. For example, if the 1100 ground sensor unit is configured to be disposable, the battery can be selected based on cost and lessening the environmental impact on the location where the ground sensor unit is used. As an example, a low self-discharge nickel metal hydride (NiMH) battery can be used.
[000208] If the 1100 ground sensor unit is configured to be recoverable, battery performance can be used as a criterion for selection. For example, the battery can be a thin-film battery, a super-capacity energy storage device, a lithium ion battery, or some other suitable type of battery.
[000209] The selection of components for the 1100 ground sensor unit may vary depending on the goals for the 1100 ground sensor unit. For example, if the 1100 ground sensor unit is intended to be a disposable unit, the components can be selected to have the lowest possible cost. For example, receiver 1106 can be omitted. As another example, housing 1102 can be selected to include a biodegradable material. With this type of deployment, the soil sensor unit 1100 can only include a hydration sensor and a temperature sensor and other components in the soil sensor unit 1100 can be omitted.
[000210] In other illustrative examples, the ground sensor unit 1100 can be designed to be retrievable. When the 1100 ground sensor unit is designed to be retrievable, the 1100 ground sensor unit can include more components and can be designed to include components for use in locating the 1100 ground sensor unit for recovery. For example, multiple sensors 1112 can include a global positioning system receiver that generates information about the location of the ground sensor unit 1100. This location information can be used to retrieve the ground sensor unit 1100. For example, when the 1100 ground sensor unit is retrievable, multiple 1112 sensors can include more expensive and more sophisticated sensors. Various 1112 sensors can include, for example, without limitation, a pH sensor, a nitrogen sensor, and other suitable types of sensors to obtain additional information about the soil.
[000211] The illustration of forest management environment 1000 and the different components in forest management environment 1000 in Figure 10 and Figure 11 are not intended to imply limitations to the way in which an illustrative modality can be implemented. For example, in some illustrative examples, the ground sensor unit 1100 in Figure 11 may only include the transmitter 1104 and not the receiver 1106.
[000212] As another illustrative example, assets 1016 in forest management system 1003 can include other components to generate information 1004. For example, a group of unmanned ground vehicles can also be used in assets 1016 to generate information 1004 about whether the location 1006 in forest 1002 is ready to harvest trees 1001.
[000213] For example, although not shown in assets 1016, assets 1016 may also include planting equipment. The planting equipment can be used to plant 1001 trees. In particular, the planting equipment can be used to plant 1001 trees in the form of seedlings.
[000214] As another illustrative example, information 1004 can be analyzed by forest management system 1003 to determine if unwanted conditions are present at location 1006 in forest 1002. For example, various soil conditions 1017 may indicate that conditions may be present , which can result in the start of a forest fire in or around location 1006. This ID can be used to initiate an attention mission in missions 1030.
[000215] In yet another illustrative example, the transmitter 1104 and the receiver 1106 can be deployed as a single component in the form of a transceiver. In still other illustrative examples, sensor system 1024 may include devices other than terrestrial sensor units 1026. For example, sensor system 1024 may also include a base station configured to receive information 1004 from terrestrial sensor units 1026 and transmit information 1004 for forest manager 1014. In the illustrative example, the base station may be powered by an energy harvesting system such as a solar power generation system.
[000216] As yet another example, the ground sensor unit 1100 can be deployed using modules. For example, when soil sensor unit 1100 is a retrievable soil sensor unit, soil sensor unit 1100 may have a module similar to sensor module 616 in Figure 6 that is replaceable.
[000217] In still other illustrative examples, the ground sensor unit 1100 may include other components not shown in Figure 11. For example, the ground sensor unit 1100 may also include a logic circuit, a regulator, a circuit board printed, an output/input interface, a display and other suitable components depending on the particular deployment.
[000218] Referring now to Figure 12, an illustration of an installation of a sensor system for obtaining soil information is depicted according to an illustrative embodiment. In the illustrative example, forest area 1200 is an example of location 1006 in forest 1002 in Figure 10. As depicted, forest area 1200 is an open location where trees are absent. Reforestation is desirable for that particular location and soil information can be obtained to determine when and how planting trees, such as trees 1001 in Figure 10, should occur in forest area 1200.
[000219] In the illustrative example, unmanned aerial vehicle 1202 is configured to install 1204 ground sensor units in a sensor system. Unmanned aerial vehicle 1202 may be one of the group of unmanned aerial vehicles 1022 in Figure 10. Unmanned aerial vehicles that collect the information generated by ground sensor units 1204 may be the same or different from unmanned aerial vehicles installed for the 1204 ground sensor units in these illustrative examples.
[000220] As pictured, the 1204 ground sensor units include the 1206 ground sensor unit, the 1208 ground sensor unit, and the 1210 ground sensor unit. Of course, many other sensor units may be present, but not shown in this particular example.
[000221] Unmanned aerial vehicle 1202 installs ground sensor units 1204 through an airdrop operation in which unmanned aerial vehicle 1202 launches ground sensor units 1204 while flying over forest area 1200. The sensor units 1204 can provide location information to unmanned aerial vehicle 1202 or other devices.
[000222] With the use of the disposable sensors for the 1204 ground sensor units, a global positioning system transmitter can be omitted to reduce the size, weight and cost of the 1204 ground sensor units. a sensor in the 1204 ground sensor units can be determined using a personal identification number or an identification code. For example, each sensor in ground sensor units 1204 can be assigned a personal identification number or identification code. Identification can be recorded using a radio frequency identification tag attached to the sensor at the time of manufacture. As the sensor is installed, the identification is read and associated with the global positioning system coordinates of unmanned aerial vehicle 1202 at the time of launch.
[000223] Based on the location of the unmanned aerial vehicle 1202, the speed at which the sensor is launched and the altitude at which the sensor is launched, a location of the sensor can be estimated. In this way, the sensor location can be estimated and recorded with reasonable accuracy without the need to add costly components to a disposable sensor. As a result, when unmanned aerial vehicle 1202 or other unmanned aerial vehicles collect data from ground sensor units 1204, unmanned aerial vehicle 1202 can know the location of sensors in ground sensor units 1204 with sufficient accuracy to receive information wirelessly from the sensors.
[000224] The 1204 Retrievable Ground Sensor Units, on the other hand, can identify location information using other components. For example, as unmanned aerial vehicle 1202 installs 1204 ground sensor units, 1204 ground sensor units are activated. Obviously, the 1204 ground sensor units can be activated at any time including before or after installation by unmanned aerial vehicle 1202.
[000225] The 1204 ground sensor units can transmit location information and identification information so that the location of each sensor unit can be identified. In these illustrative examples, a location can be in three-dimensional or two-dimensional coordinates depending on the particular deployment. For example, the location can be in latitude and longitude and it can also include an altitude. Retrievable ground sensor units 1204 may include a global positioning system receiver in these illustrative examples.
[000226] In other illustrative examples, the 1204 ground sensor units may include transmitters and not install global positioning system receivers. Instead, the ground sensor units 1204 may include radio frequency identifier tags that are configured to transmit identifiers. The coordinates of the aircraft launching ground sensor units 1204 can be associated with the tags with the tags to obtain an approximate location of the ground sensor units 1204.
[000227] In this example, the ground sensor unit 1206 has housing 1212 and pins 1214. The ground sensor unit 1208 has the housing 1216 and pins 1218. The ground sensor unit 1210 has the housing 1220 and pins 1222. housings are weighed so that the pins fall and penetrate the ground 1224 when the ground sensor units 1204 hit the ground. In other words, the 1204 ground sensor units are bottom-heavy.
[000228] In the illustrative example, the distribution of the 1204 soil sensor units may vary depending on the particular deployment. For example, the 1204 ground sensor units can be installed so that about 1.6 km (one mile), about 16.09 km (ten miles), or some other suitable distance is present between the sensor units. 1204 ground sensor units. The 1204 ground sensor units can be deployed in various patterns such as a grid, a spiral, or some other suitable pattern.
[000229] In installing the 1204 soil sensor units, the distance between the 1204 soil sensor units may depend on the terrain of the 1224 terrain. high hills. A microclimate is a local atmospheric zone where the climate may differ from the surrounding areas.
[000230] As an example, one side of a hill may receive more rain than the other side. In that case, the 1204 ground sensor units can be installed closer together to account for these microclimates. In another illustrative example where flat terrain is present, fewer 1204 ground sensor units can be installed, 1204 ground sensor units can be installed at longer intervals, or both.
[000231] In other illustrative examples, the 1204 soil sensor units can be installed based on the 1224 ground soil type. For example, more 1204 soil sensor units may be desired in an area of soft soil than in an area with clay or rock. Furthermore, the 1204 ground sensor units may not be installed in an area where streams, rivers, lakes, roads and other attributes are present, depending on the particular deployment.
[000232] In still other illustrative examples, the distance between the soil sensor units 1204 may depend on the desired granularity of the information. For example, if a higher granularity of information is desired, more of the 1204 ground sensor units can be installed, the 1204 ground sensor units can be installed closer together, or a combination thereof.
[000233] After the 1204 soil sensor units have been installed, the soil sensor units can generate information about the soil in forest area 1200 and about other conditions in forest area 1200. soil 1204 can generate information about air temperature, humidity and other conditions in addition to the soil conditions in terrain 1224 in forest area 1200.
[000234] In the illustrative example, when the 1204 ground sensor units are disposable, the 1204 ground sensor units can be configured to transmit this information for selected time periods. In this example, unmanned aerial vehicle 1202 or other unmanned aerial vehicle can fly over forest area 1200 to collect information generated by ground sensor units 1204 during those selected time periods. As an example, the 1204 ground sensor units can be programmed to transmit at pre-selected hours and days. Unmanned Aerial Vehicle 1202 or other Unmanned Aerial Vehicles may be programmed with the same schedule and may fly over Ground Sensor Units 1204 during these pre-selected hours and days.
[000235] The selection of times for transmitting information from ground sensor units 1204 can be determined by the flight pattern of unmanned aerial vehicle 1202 in these illustrative examples. For example, each of the 1204 ground sensor units can steer the transmission based on the distance between each sensor and the time it takes for the unmanned aerial vehicle 1202 to fly between the ground sensor units in the 1204 ground sensor units In this way, transmission time and power consumption can be minimized when transmitting information from the 1204 ground sensor units.
[000236] When the 1204 ground sensor units are retrievable sensors, other components can be included in the 1204 ground sensor units. For example, the 1204 ground sensor units can be equipped with a receiver. In that case, the unmanned aerial vehicle 1202 can transmit a signal to “wake up” the sensors. When a sensor in the ground sensor units 1204 receives the wireless command to transmit, the sensor can then respond by transmitting a data record of the ground sensor measurements to unmanned aerial vehicle 1202.
[000237] As pictured, the unmanned aerial vehicle 1202 can be of various sizes depending on the weight and number of units present in the 1204 ground sensor units. For example, if each sensor unit in the 1204 ground sensor units weighs approximately 100 grams, so fifty sensor units in the 1204 soil sensor units can weigh about 5 kilograms. With this payload size, the 1202 Unmanned Aerial Vehicle can be a small to medium sized unmanned aerial vehicle. For example, a small unmanned aerial vehicle may be about 1.21 m (four feet) long with about 3.04 m (ten feet) of wing span. In other examples, a medium-sized unmanned aerial vehicle may be about 10.66 m (35 ft) long with about 10.97 m (36 ft) rotor diameter. In still other illustrative examples, a medium-sized unmanned aerial vehicle can be about 7.92 m (26 ft) long with about 13.41 m (44 ft) of wing span. Obviously, other combinations of lengths, wing extensions or rotor diameters can be used for medium-sized or small unmanned aerial vehicles, depending on the functionality involved.
[000238] Although the unmanned aerial vehicle 1202 is shown as a fixed wing aerial vehicle in these illustrative examples, a helicopter can also be used to deploy the unmanned aerial vehicle 1202. Obviously, other numbers of one or more unmanned aerial vehicles Additional can be used in addition to the 1202 unmanned aerial vehicle to install 1204 ground sensor units in the 1200 forest area.
[000239] In other illustrative examples, other asset types 1016 can be used to install 1204 ground sensor units and receive information from 1204 ground sensor units. For example, a manned aerial vehicle can install 1204 ground sensor units when it is desired to launch a greater number of 1204 soil sensor units at once. In another illustrative example, a land vehicle may receive information from one or more ground sensor units 1204 in terrain 1224.
[000240] By using unmanned aerial vehicle 1202 to install 1204 ground sensor units, the cost of installing 1204 ground sensor units over large areas can be reduced. In other words, installation and data collection about the locations to be reforested can be done by 1204 soil sensor units faster, easier and cheaper than currently used methods.
[000241] Referring now to Figure 13, an illustration of a ground sensor unit is depicted according to an illustrative embodiment. The ground sensor unit 1300 is an example of a physical deployment of the ground sensor unit 1100 shown in block form in Figure 11. Additionally, the ground sensor unit 1300 can be used to deploy one or more of the ground sensor units. soil sensor 1204 in Figure 12. More specifically, soil sensor unit 1300 can be an example of a disposable sensor unit. In other words, the ground sensor unit 1300 is configured to be installed and not retrieved in this illustrative example.
[000242] As pictured, the soil sensor unit 1300 has the housing 1302. The housing 1302 is configured to provide a structure to be associated with components in the soil sensor unit 1300. In particular, other components may be associated with the ground sensor unit 1300 when being contained, connected, or formed as part of housing 1302. Materials used for housing 1302 can be selected based on the decrease in cost for ground sensor unit 1300. Additionally, housing 1302 can be comprised of a material that is biodegradable in these illustrative examples.
[000243] The 1300 ground sensor unit includes pin 1304 and pin 1306. As pictured, pin 1304 and pin 1306 are metal pins. Sensors can be associated with or formed as part of pin 1304 or pin 1306. In the illustrative example, pin 1304 and pin 1306 can function as a probe for detecting hydration.
[000244] In this illustrative example, the weight of pin 1304 and pin 1306 in relation to housing 1302 and the other components associated with housing 1302 is selected so that the ground sensor unit 1300 is bottom-heavy. In other words, the ground sensor unit 1300 is configured to land with the pin 1304 and the pin 1306 pointing and penetrating the ground so that the pin 1304 and pin 1306 extend into the ground when the ground sensor unit solo 1300 is installed through an aerial drop. Obviously, the ground sensor unit 1300 can also be installed using a land vehicle such as an unmanned ground vehicle that plants the ground sensor unit 1300 within the terrain.
[000245] Additionally, the ground sensor unit 1300 includes an antenna 1310 that is connected to the printed circuit board 1312 seen inside the housing 1302 in this exposed view of the housing 1302. The transmitter 1314, the controller 1316 and the logic circuitry 1318 they are also connected to the printed circuit board 1312.
[000246] Transmitter 1314 is configured to transmit the information using wireless communication links through antenna 1310. Controller 1316 can be, for example, a microcontroller. The controller 1316 can control the operation of the soil sensor unit 1300 in collecting and transmitting information about the soil. Logic circuitry 1318 can detect signals from a hydration sensor that can be deployed using pin 1304, pin 1306, or either pin 1304 or pin 1306 to generate information in a form suitable for transmission. In these illustrative examples, pin 1304 and pin 1306 can be comprised of metal and hydration can be determined based on a measurement of resistance between pin 1304 and pin 1306. Additionally, logic circuitry 1318 can also include storage, memory, or other devices to temporarily store information before transmission.
[000247] In some illustrative examples, pin 1304 and pin 1306 may have insulated portion 1305 and insulated portion 1307, respectively. Insulated portion 1305 and insulated portion 1307 are configured to provide a desired level of accuracy for a measurement of resistance between pin 1304 and pin 1306 at a desired depth under the ground surface. For example, insulated portion 1305 and insulated portion 1307 result in pin 1304 and pin 1306 having exposed portion 1309 and exposed portion 1311, respectively. With insulated portion 1305 and insulated portion 1307 present, a resistance measurement can be made at only one depth rather than along the entire length of pin 1304 and pin 1306. As a result, the resistance measurement between the pin 1304 and 1306 can be located at a desired depth under the ground surface.
[000248] In other words, interference from other resistance measurements between pin 1304 and pin 1306 along the length of pin 1304 and pin 1306 can be prevented by insulated portion 1305 and insulated portion 1307 in these illustrative examples. Consequently, the resistance measurement can be specific to a particular depth and can be more accurate than if insulated portion 1305 of pin 1304 and insulated portion 1307 of pin 1306 are absent.
[000249] Additionally, pin 1304 and pin 1306 may have exposed portion 1309 and exposed portion 1311, respectively. Exposed portion 1309 and exposed portion 1311 are configured to allow measurement of resistance between pin 1304 and pin 1306 at a desired depth below ground. This depth can be predetermined by soil type or other suitable parameters. For example, a resistance measurement between pin 1304 and pin 1306 can be taken at the level of point 1321 in this illustrative example. This strength measurement is used to determine the moisture content in the soil.
[000250] In this illustrative example, the temperature sensor 1323 is also present on pin 1306. The temperature sensor 1323 can be a thermocouple wire in this illustrative example. Temperature sensor 1323 is isolated by insulated portion 1307 of pin 1306.
[000251] The 1323 temperature sensor helps provide a more accurate reading of moisture content in the soil compared to just using resistance measurements. For example, when the sun warms the soil and the soil warms, the resistance of the soil changes. In this case, a false “dry” reading can occur from the resistance measurement between pin 1304 and pin 1306. With the use of temperature sensor 1323, the ground sensor unit 1300 can correct the measurement to account for the change temperature in these illustrative examples. Of course, other types of temperature sensors can be used other than a thermocouple wire, depending on the particular deployment.
[000252] In these illustrative examples, the hydration sensor deployed using pin 1304, pin 1306, or both pin 1304 and pin 1306 can be configured based on the type of soil. For example, the hydration sensor can be calibrated based on soil type information from previous soil survey missions. Since soil electrical resistance is a function of soil moisture content, soil temperature and soil type, hydration sensor calibration assists the 1300 soil sensor unit in providing more accurate information about soil electrical resistance. ground.
[000253] Battery 1320 is connected to printed circuit board 1312. Battery 1320 is configured to supply power to different components in soil sensor unit 1300.
[000254] In this illustrative example, pin 1304 and pin 1306 are length 1322. Length 1322 may vary depending on the particular deployment. In an illustrative example, length 1322 might be approximately 10 centimeters. For example, measurements can be taken in the ground up to approximately 10 centimeters in the ground when the 1300 ground sensor unit is installed.
[000255] In this particular example, housing 1302 of soil sensor unit 1300 has length 1324, height 1326 and depth 1328. Length 1324 may be approximately 5 centimeters, height 1326 may be approximately 5 centimeters, and depth 1328 can be approximately 5 centimeters. Of course, in other illustrative examples, housing 1302 may have other dimensions or other shapes. In an illustrative example, housing 1302 may have a shape selected from one of a pyramid, cube, or some other suitable shape other than the cuboid shown for housing 1302 in this illustrated example.
[000256] Of course, the illustration of the ground sensor unit 1300 in Figure 13 is not intended to imply limitations to the way in which different ground sensor units can be deployed. For example, in other illustrative examples, the ground sensor unit 1300 may also include a receiver. Additionally, the ground sensor unit 1300 may also be deployed to include an energy harvesting device in addition to or in place of the battery 1320.
[000257] In still other illustrative examples, other pin numbers may be used in addition to or in place of pin 1304 and pin 1306. For example, a single pin, three pins, seven pins, or some other number of pins can be used depending on the particular deployment. The particular components selected for soil sensor unit 1300 may be based on cost, biodegradability, or some combination thereof when soil sensor unit 1300 is a disposable sensor unit.
[000258] Consequently, the soil sensor unit 1300 can result in more accurate information about the hydration content of the soil. With the use of pin 1304, pin 1306 and temperature sensor 1323 below surface hydration content can be measured. As a result, rapidly changing surface conditions do not affect the accuracy of the 1300 Ground Sensor Unit in measuring ground conditions below the ground surface. These rapidly changing surface conditions can be, for example, at least one of dew, light rainfall, evaporation and other surface conditions.
[000259] Returning now to Figure 14, an illustration of a ground sensor unit is represented according to an illustrative embodiment. The ground sensor unit 1400 is an example of a physical deployment of the ground sensor unit 1100 shown in block form in Figure 11. In addition, the ground sensor unit 1400 can be used to deploy one or more of the units. of soil sensor 1204 in Figure 12. More specifically, the soil sensor unit 1400 may be an example of a recoverable sensor unit. In other words, the ground sensor unit 1400 is configured to be retrieved at a later time. For example, the soil sensor unit 1400 can be retrieved when tree planting takes place.
[000260] As shown, soil sensor unit 1400 has housing 1402. Housing 1402 is configured to provide a structure to be associated with the components in soil sensor unit 1400. Materials used for housing 1402 can be selected based on durability for the soil sensor unit 1400. In addition, housing 1402 can be comprised of at least one of metal, a plastic, aluminum, polycarbonate, polyvinyl chloride and other suitable types of materials.
[000261] The 1400 ground sensor unit includes pin 1404 and pin 1406. As shown, pin 1404 and pin 1406 are metal pins. The sensors can be associated with or formed as part of pin 1404 or pin 1406. In this illustrative example, pin 1404 and pin 1406 can function as a probe for detecting hydration. Additionally, pin 1408 is associated with pin 1404 and can generate ground information.
[000262] As shown, pin 1404, pin 1406 and pin 1408 have insulated portion 1403, insulated portion 1405 and insulated portion 1407, respectively. Insulated portion 1403, insulated portion 1405, and insulated portion 1407 can provide more accurate measurements of resistance between any two of pin 1404, pin 1406, and pin 1408 at a desired depth under the surface of the ground.
[000263] Additionally, pin 1404, pin 1406 and pin 1408 have exposed portion 1409, exposed portion 1411 and exposed portion 1413, respectively. The resistance between two exposed portions of the pins on the 1400 Soil Sensor Unit can be used to determine the hydration level of the soil.
[000264] Temperature sensor 1423 may also be included on pin 1406 in these illustrative examples. Temperature sensor 1423 can be a thermocouple wire and can provide temperature information to the ground sensor unit 1400.
[000265] In these illustrative examples, the sensors can be associated with at least one of pin 1404, pin 1406 and pin 1408 to generate soil information about the ground in the terrain when the soil sensor unit 1400 is installed. For example, the sensors can include at least one of a hydration sensor, a temperature sensor, a pH sensor, a nutrient and nitrogen content sensor, a salt content sensor, and other suitable types of sensors. As shown, the weight of pin 1404 and pin 1406 relative to housing 1402 and other components associated with housing 1402 is selected so that the ground sensor unit 1400 is bottom-heavy for installation in an aerial drop.
[000266] In this example, the antenna 1410, the signage 1412 and the solar cell 1414 are observed on the outer surface 1416 of the housing 1402. The solar cell 1414 is an example of an energy harvesting device that can be used to supply power to the components in the 1400 ground sensor unit.
[000267] The flag 1412 can be configured to assist in the recovery of the ground sensor unit 1400. The flag 1412 can be, for example, at least one of a light emitting diode, a loudspeaker and other suitable types of devices attracting attention to human operators.
[000268] As can be seen from this exposed view of housing 1402, the ground sensor unit 1400 also includes several different components. The printed circuit board 1418 provides a structure for several different components within the housing 1402. Additionally, the printed circuit board 1418 can also provide electrical communication between the different components in the ground sensor unit 1400. In this illustrative example, the microcontroller 1420, logic circuits 1422, global positioning system antenna and receiver 1410, power regulator 1424, battery 1426, energy harvesting circuit 1428, input/output interface 1430, and transceiver 1432 are connected to the printed circuit board 1418. Additionally, antenna 1410, signage 1412, solar cell 1414, pin 1404, pin 1406 and pin 1408 are also connected to printed circuit board 1418.
[000269] In this illustrative example, the energy harvesting circuit 1428 is configured to manage the power generated by the solar cell 1414. The power regulator 1424 is configured to control the storage of power in the battery 1426 and the distribution of power to the components different in the ground sensor unit 1400. Furthermore, in this illustrative example, the transceiver 1432 also allows reception of signals in addition to transmitting the signals. These signals can be exchanged with at least one of an unmanned aerial vehicle, a control station, another ground sensor unit and other suitable types of devices. Consequently, in contrast to the ground sensor unit 1300, the ground sensor unit 1400 can also receive requests, data, commands and other information for use in generating ground information.
[000270] The illustration of the ground sensor unit 1400 is not intended to imply architectural or physical limitations to the manner in which an illustrative modality can be implemented. For example, although three pins are illustrated for the 1400 ground sensor unit, fewer or more pins can be used.
[000271] In still other illustrative examples, signaling 1412 may be omitted. In such an implementation, location information generated by the antenna and global positioning system receiver 1410 can be used to locate and retrieve the ground sensor unit 1400. As another illustrative example, although this example employs solar cell 1414, other types of energy harvesting devices can be used in addition to or in place of the solar cell 1414 to enhance the operational life of the soil sensor unit 1400.
[000272] In this illustrative example, pin 1404, pin 1406 and pin 1408 have length 1434. Housing 1402 has length 1436, height 1438 and depth 1440. Length 1436 can be approximately 5 centimeters, height 1438 may be approximately 5 centimeters and depth 1440 may be approximately 5 centimeters. Of course, housing 1402 can have other dimensions, depending on the particular implantation.
[000273] In addition, the desired level of accuracy may be a factor in determining the design of the ground sensor unit 1400. In particular, when the ground sensor unit 1400 is recoverable, a frequency domain sensor such as a frequency domain capacitive probe can be used in place of a resistive sensor. In this case, the frequency domain capacitive probe can provide a more durable design and more accurate information about ground conditions. However, this type of design can increase the cost of the 1400 ground sensor unit.
[000274] Returning now to Figure 15, an illustration of a forest area is represented according to an illustrative modality. In this depicted example, forest area 1500 is another example of location 1006 in forest 1002 in Figure 10.
[000275] As shown, forest area 1500 is an area where 1502 trees are present. In this depicted example, terrain 1504 in forest area 1500 is rugged or mountainous. In this illustrative example, the unmanned aerial vehicle 1506 can install the ground sensor units 1508 in the forest area 1500. The ground sensor units 1508 include the ground sensor unit 1510, the ground sensor unit 1512, the unit sensor unit 1514, ground sensor unit 1516, ground sensor unit 1518, ground sensor unit 1520, and ground sensor unit 1522.
[000276] These ground sensor units can be installed far apart at various distances. These distances can be determined by a desired level of information accuracy. For example, the ground sensor unit 1510 and the ground sensor unit 1512 can be spaced one mile apart to achieve a desired level of information accuracy in these illustrative examples. Of course, the ground sensor unit 1510 and the ground sensor unit 1512 may be further apart or closer together, depending on the particular deployment. For example, the ground sensor unit 1510 and the ground sensor unit 1512 may be half a mile apart, two miles apart, five miles apart, or some other distance apart in these illustrative examples. As a result, fewer soil sensor units can be used in the 1500 forest area to provide a desired level of information accuracy for soil conditions in the 1504 terrain than with currently used systems.
[000277] With the use of fewer soil sensor units, the cost of generating soil information in 1504 terrain can be reduced. In other illustrative examples, when more soil sensor units 1508 are desired in forest area 1500, the low cost of soil sensor units 1508 and the superior quality of information generated by soil sensor units 1508 provides more accurate information about soil conditions at a lower cost than currently used methodologies.
[000278] In these illustrative examples, the 1508 soil sensor units are configured to generate the soil information in terrain 1504. This information can be information about various soil conditions in terrain 1504. In particular, the information can include the content of hydration.
[000279] Moisture content measurements can be used to determine whether soil conditions are favorable for harvesting operations for trees 1502 in forest area 1500. In particular, in addition to having a desired size, the soil in land 1504 in the 1500 forest area may require a desired level of hydration so that equipment moving in the 1500 forest area can do so at a desired level of operation. In other words, the soil moisture content of terrain 1504 can be used to determine whether terrain 1504 has a desired stability for the equipment that can be used to harvest the trees 1502 to operate.
[000280] In these illustrative examples, unmanned aerial vehicle 1506 may also install transceiver 1526. Transceiver 1526 may be used to receive information from ground sensor units 1508 and relay or forward that information to another location. Such location may be at least one of unmanned aerial vehicle 1506, manned ground vehicle, control station 1534, or other suitable locations.
[000281] In this illustrative example, the unmanned aerial vehicle 1506 can fly over the forest area 1500 after installing the 1508 ground sensor units and obtain the ground ground information 1504 from the 1508 ground sensor units through of the transceiver 1526. The information may include the ground information as well as the information about the ground sensor units 1508. In particular, the information about the ground sensor units 1508 may include the location of the ground sensor units 1508.
[000282] As shown, the unmanned aerial vehicle 1506 can fly a desired distance above terrain 1504 to collect the information from the ground sensor units 1508. This distance can be determined by the height of the trees, the location of the sensor units 1508, the transmitter power level in the 1508 ground sensor units, a predetermined flight pattern for the unmanned aerial vehicle 1506, the type of unmanned aerial vehicle used, or other suitable parameters.
[000283] For example, with some types of unmanned aerial vehicle, the unmanned aerial vehicle can fly close to terrain 1504 to collect information from the 1508 ground sensor units. In these illustrative examples, the height at which the unmanned aerial vehicle 1506 can fly over terrain 1504 can be determined by transmitter power on ground sensor units 1508 and receiver sensitivity on unmanned aerial vehicle 1506.
[000284] As an example, if the 1508 ground sensor units have a transmitter with a range of approximately two kilometers, the unmanned aerial vehicle 1506 can fly at an altitude of less than two kilometers in these illustrative examples. Of course, transmitters with other ranges can be used and, consequently, unmanned aerial vehicle 1506 can fly at different heights depending on the particular deployment. At higher altitudes, the unmanned aerial vehicle 1506 can fly at higher speeds and can collect information from the 1508 ground sensor units faster than when flying at lower altitudes.
[000285] In these illustrative examples, location can be identified using global positioning system receivers in ground sensor units 1508. However, treetop 1502 can block global positioning system signals from reaching the ground sensor receivers. global positioning system in the 1508 ground sensor units on the 1504 terrain in the 1500 forest area.
[000286] In this example, the location of the 1508 ground sensor units can be identified from trajectories of the 1508 ground sensor units as they were installed from the unmanned aerial vehicle 1506. For example, the trajectory 1524 of the ground sensor unit 1522 can be used to identify the location 1528 of the ground sensor unit 1522 in the field 1504. The trajectory 1524 of the ground sensor unit 1522 can be identified from the location information transmitted with use of global positioning system receivers while the ground sensor unit 1522 moves along path 1524 above the tree canopy in trees 1502.
[000287] In other illustrative examples, the locations of the 1508 ground sensor units can be determined by the global positioning coordinates of the unmanned aerial vehicle 1506 at the time of installation of the 1508 ground sensor units. unmanned aerial 1506 at the time of installation of the 1508 ground sensor units can provide a desired level of accuracy for receiving wireless communications from the 1508 ground sensor units. In other words, the range of a transmitter in one unit of the ground sensor units in the ground sensor units 1508 can be such that the location of the ground sensor units 1508 can be determined with a desired level of accuracy to collect information about ground conditions.
[000288] Location and ground information can be sent from ground sensor units 1508 to transceiver 1526 via communications links 1530. Transceiver 1526 can in turn send this information to another location for analysis. For example, information may be sent from transceiver 1526 to unmanned aerial vehicle 1506 over wireless communications link 1532. In another illustrative example, transceiver 1526 may send information to control station 1534 over the link of wireless communications 1536. In these examples, information can be sent to control station 1534 via other sensors in the form of a mesh network. Of course, in some illustrative examples, ground sensor units 1508 can send information directly to an information collection vehicle when transceiver 1526 is not in use.
[000289] Turning now to Figure 16, an illustration of an aerial soil sensor installation unit is represented according to an illustrative embodiment. As shown, the ground sensor unit 1600 is an example of a physical deployment of the ground sensor unit 1100 shown in block form in Figure 11. In addition, the ground sensor unit 1600 can be used to deploy an or more of the 1508 ground sensor units in Figure 15.
[000290] As shown, the ground sensor unit 1600 has a configuration similar to a dart. In this illustrative example, ground sensor unit 1600 has housing 1602. Probe 1604 is associated with and extends from housing 1602.
[000291] Additionally, the ground sensor unit 1600 also includes fins 1606. The shape of the housing 1602, the configuration of fins 1606 and the configuration of the probe 1604 are configured so that the probe 1604 enters the ground when the sensor unit floor 1600 is installed. In addition, the soil sensor unit 1600 is configured to be installed in an already established forest, the shape of the soil sensor unit 1600 can be such that the soil sensor unit 1600 penetrates and passes through a forest canopy .
[000292] Soil sensor unit 1600 may include other components within housing 1602. In this illustrative example, these components may be similar to those shown in other examples of soil sensor units such as soil sensor unit 1300 in Figure 13 and the ground sensor unit 1400 in Figure 14.
[000293] The illustration of the installation of ground sensor units and the deployments for the ground sensor units in Figures 13 to 16 are intended only as examples of some deployments and are not intended to limit the way in which the ground sensor units they can be installed or built. For example, the ground sensor units can have other shapes such as cubes, pyramids or other suitable shapes. Additionally, different types of ground sensor units can be used at the same location. In other words, soil sensor units can be heterogeneous in type and not necessarily homogeneous.
[000294] Returning now to Figure 17, an illustration of a decision-making model for filling newly planted areas of a forest is represented according to an illustrative modality. As depicted, decision making process 1700 is an example of a process that can be implemented in forest manager 1014 in Figure 10.
[000295] In this illustrative example, the decision making process 1700 can use various types of information to perform tree planting. This information includes information in addition to the 1004 information generated by assets 1016 in Figure 10.
[000296] As depicted, the 1702 information includes the 1704 soil information, the 1706 resource information, the 1708 weather forecast, and other suitable types of information. Foresters can use soil information 1704, resource information 1706, weather forecast 1708 and other appropriate types of information to determine a plan for planting the 1001 trees in Figure 10. Foresters can use their forestry experiences, as well as information 1702 for making decisions about planting trees 1001. In other illustrative examples, soil information 1704, resource information 1706, weather forecast 1708, and other suitable types of information can be used by a device with a desired level of intelligence to automate a portion or the entire decision-making process to generate the 1710 mission.
[000297] In this example, the 1704 soil information can include at least one of the soil hydration conditions, the soil temperature conditions, the soil conductivity, the nitrogen content, the pH, the calcium content, the salt content, nutrient content and other appropriate types of information about soil conditions. Resource information 1706 may include an identification of at least one of the planting equipment, human operators, and other resources that can be used to plant the trees. Weather forecast 1708 includes forecasts for the area where tree planting is desired. This weather forecast information can include forecasts for rain, temperature, and other weather conditions.
[000298] Mission 1710 is generated by decision making process 1700 using information 1702. In this illustrative example, mission 1710 is a planting mission and may include at least one of a desired time to plant the trees, a seedling type, planting density, fertilization strategies and other appropriate types of information. In this way, the decision-making process 1700 takes into account more than what is currently used. Currently, obtaining 1704 soil information to make good decisions is very costly. Consequently, current methods do not support identification of the type of seedling to use. In addition, the decision-making processes currently employed may not be implemented in hardware such as Forest Manager 1014. Consequently, the decision-making process 1700 takes into account a greater number of different types of factors in generating mission 1710 of the than the decision-making processes currently used for planting trees in the forest.
[000299] Returning now to Figure 18, an illustration of a decision-making model for harvesting trees is represented according to an illustrative modality. As shown, decision-making process 1800 is an example of a process that can be implemented in forest manager 1014 in Figure 10. In this illustrative example, decision-making process 1800 can use various types of information to perform harvesting. trees. This information includes information in addition to the 1004 information generated by assets 1016 in Figure 10.
[000300] In this example, the 1802 information includes the 1806 soil information. The 1806 soil information can include various soil conditions that indicate the stability of the terrain in the area for the operating equipment. Additionally, the 1802 information may also include 1808 forest operations resources. The 1808 forest operations resources may include an identification of harvesting equipment, tree trucks, human operators, and other resources that can be used for forest management. Forest.
[000301] As depicted, decision making process 1800 uses information 1802 to generate mission 1810. Mission 1810 is a forest operation and can indicate when harvesting can occur. In addition, in some illustrative examples, forest operation mission 1810 may also include an identification of what equipment can be used if restrictions are present or when operations may occur. For example, if a three month period is provided for harvesting trees, the type of harvesting equipment that can be used can be based on the soil conditions identified at different times during the three month time period. As an example, different equipment can be used for different weeks or months depending on soil conditions and how soil conditions affect terrain stability relative to the use of different types of equipment.
[000302] Returning now to Figure 19, an illustration of a flowchart of a process for managing a forest is represented according to an illustrative modality. The process illustrated in Figure 19 can be implemented in the forest management environment 200 in Figure 2. In particular, the process can be implemented using the forest manager 202 in Figure 2.
[000303] The process starts by receiving information about a forest from a group of autonomous vehicles (operation 1900). The process analyzes the information to generate a result about a forest state from the information (operation 1902). The process then coordinates the operation of the autonomous vehicle group using the result (operation 1904), with the process terminating thereafter.
[000304] Returning now to Figure 20, an illustration of a flowchart of a process for processing the information received from the assets is represented according to an illustrative modality. The process illustrated in Figure 20 can be implemented in the forest manager 202 in Figure 2.
[000305] The process starts by receiving the asset information (operation 2000). In these illustrative examples, assets can take many forms. In particular, assets can be a group of autonomous vehicles that can operate to collect information without human intervention. Specifically, the autonomous vehicle group can operate as a crowd or as a group of crowds.
[000306] The information is analyzed to obtain a result (operation 2002). A forest state is identified from the result (Operation 2004), and the process ends thereafter. In these illustrative examples, the result can take various forms such as the identification of a forest health status, forest inventory, security risks, illegal activity and other states.
[000307] Referring now to Figure 21, an illustration of a flowchart of a process for coordinating the operation of assets is represented according to an illustrative modality. The process illustrated in Figure 21 can be deployed to the forest manager 202 in Figure 2. In addition, this process can be deployed to use assets 204 such as the autonomous vehicle group 226 in Figure 2.
[000308] The process starts by identifying a mission (operation 2100). This mission can be identified based on at least one of user input, forest state, and other suitable information. For example, user input can select a particular mission to be performed in the forest. In other examples, forest manager 202 can generate missions based on the state of the forest.
[000309] The process identifies tasks for the identified mission (operation 2102). These tasks can be obtained from a pre-selected model of tasks for missions. In other illustrative examples, tasks can be generated by forest manager 202 when forest manager 202 has an intelligence level that allows for the formulation of tasks. For example, forest manager 202 can implement artificial intelligence processes. The process then identifies the assets that are available to perform the tasks (operation 2104). In these illustrative examples, assets can be a portion or an entire group of autonomous vehicles that are available for use by the forest manager.
[000310] The process then selects autonomous vehicles to perform the tasks (operation 2106). In these illustrative examples, each autonomous vehicle can be assigned to a task, or a group of autonomous vehicles can be assigned to one or more tasks to perform the tasks as a crowd. The process then sends the tasks to the selected autonomous vehicles (operation 2108), after which the process ends.
[000311] Returning now to Figure 22, an illustration of a flowchart of a process for managing a location is represented according to an illustrative modality. The process illustrated in Figure 22 can be used to manage a location such as a forest area. In this example, the forest area might be location 1006 in forest 1002 in forest management environment 1000 in Figure 10. In addition, the process illustrated in Figure 22 can be implemented using forest management system 1003 in Figure 10 .
[000312] The process begins by installing ground sensor units at a location in a forest from a group of air vehicles (operation 2200). In this illustrative example, an item group means one or more items. For example, an air vehicle group is one or more air vehicles. In this case, an air vehicle in the air vehicle group can be selected from one of an unmanned air vehicle and a manned air vehicle. Both unmanned aerial vehicles and manned aerial vehicles may be included in the aerial vehicle group, depending on the particular implementation.
[000313] The process then generates information about various soil conditions at the location in the forest using the soil sensor units at the location (operation 2202). The process then transmits the information from transmitters in the ground sensor units to a remote location for analysis (operation 2204). Based on the analysis of the information, several missions can be identified (operation 2206), after which the process ends. Quest identification can merely identify the type of quest needed. In other illustrative examples, mission identification may include identifying tasks and assets for mission execution. In these illustrative examples, multiple missions can include at least one of a planting mission, a harvest mission, a soil condition identification mission, a fire condition warning mission, a forest maintenance mission, and a forest maintenance mission. forest inventory.
[000314] Returning now to Figure 23, an illustration of a flowchart of a process for obtaining information about various soil conditions in a location in a forest is represented according to an illustrative modality. The process illustrated in Figure 23 is another example of a process that can be used to obtain information 1004 about location 1006 in forest 1002 in Figure 10.
[000315] The process starts by air-dropping ground sensor units at a location (operation 2300). The process then tests the ground sensor units to determine if the ground sensor units are operating as desired (operation 2302). This test can be used to determine if the ground sensor units are in operation and are in the desired locations. For example, if a ground sensor unit does not penetrate the terrain, the information generated may not be as accurate as desired. This identification can be done by determining whether other ground sensor units around or in a location close to the ground sensor unit are generating information about ground conditions that are within an expected range to operate correctly.
[000316] In another illustrative example, the test can determine whether the ground sensor unit has properly landed and penetrated the terrain as opposed to bouncing off an object such as a log, tree, rock, or merely landed on ground without penetration. For example, testing ground sensor units may include obtaining information from an orientation sensor to determine the orientation of the ground sensor unit. A vertical orientation may imply that the soil sensor unit has penetrated the terrain. A non-vertical orientation may imply that the ground sensor unit may have landed on the ground without penetrating the ground.
[000317] As another example, information can be obtained from a photometer in the soil sensor unit to determine if the soil sensor unit has penetrated the terrain. If no light is detected, an implication can be made that the soil sensor unit has penetrated the terrain. If the photometer indicates that some light is detected, then the ground sensor unit may have penetrated the forest canopy but not the terrain.
[000318] The process then starts collecting information through the ground sensor units that have been identified as operated as desired (operation 2304). This initiation can be generated by signals sent from a source such as an unmanned aerial vehicle, a transceiver, or some other suitable device.
[000319] Then, the process periodically collects information from the ground sensor units (operation 2306). This periodic collection can take place in several different ways. For example, ground sensor units can be configured to transmit information periodically during selected time intervals. In other illustrative examples, information can be collected by sending signals to the ground sensor units that collect the information.
[000320] Then reforestation or other forest management missions can be performed (operation 2308) with the process ending thereafter. Harvesting operations include harvesting trees. Additionally, retrieval operations can be performed to retrieve ground sensor units and any transceivers that are in the area. The ground sensor units and transceivers can then be used on other air releases to other locations to determine if conditions are present to harvest trees at those locations.
[000321] Turning now to Figure 24, an illustration of a flowchart of a decision-making process to generate a mission is described in accordance with an illustrative modality. The process illustrated in Figure 24 is an example of operations that can be performed by decision-making process 1700 in Figure 17 when deployed in forest manager 1014 in Figure 10.
[000322] The process starts by receiving information to generate a mission (operation 2400). Such information may include, for example, without limitation, information about various soil conditions, crop resources, weather forecasts and other appropriate information.
[000323] A determination is made whether the soil conditions are warm enough to plant seedlings (operation 2402). The determination in operation 2402 can be made using ground information received from the ground sensor units.
[000324] If soil conditions are warm enough, a determination is made whether hydration in the soil is sufficient to use a standard seedling (operation 24404). Soil hydration information can also be in the soil information received from the soil sensor units. If the soil condition is sufficient to use the standard seedling, a planting mission is identified using the standard seedling (operation 2406) with the process ending next.
[000325] Otherwise, a determination is made whether hydration conditions are expected to improve within a selected period of time (operation 2408). The determination at 2408 can be made using weather forecast information. The selected period of time can be one selected based on available resources, harvesting requirements and other factors. The selected period of time can be a week, a month, or some other suitable period of time.
[000326] If the ground conditions are expected to improve, the process expects the ground conditions to improve (operation 2410) with the process returning to operation 2400 as described. This quest can be used to get more ground information at a later period of time.
[000327] If hydration conditions are not expected to improve within the selected period of time, a determination is made whether tree planting can wait until the next season (operation 2412). If planting seedlings can wait until the next season, the process ends. Otherwise, a planting mission is identified using a seedling that is selected based on a desired planting density and hydration conditions (operation 2414) with the process then ending. The selected planting density can be a planting density to account for higher expected mortality. The seedling selected for planting in operation 2414 may be a containerized seedling or it may be some other type of seedling, depending on the particular implantation.
[000328] Again with reference to operation 2402, if ground conditions are not warm enough, the process returns to operation 2410 to identify a forest inventory mission.
[000329] Now referring to Figure 25, an illustration of a flowchart of a decision-making process to generate and execute a mission is described in accordance with an illustrative modality. The process illustrated in Figure 25 is an example of operations that can be performed by decision-making process 1700 in Figure 17 when deployed in forest manager 1014 in Figure 10. In addition, the process illustrated in this Figure can be used by assets 1016 to perform 1030 missions in Figure 10.
[000330] The process begins by installing sensor units at one location from a group of air vehicles (operation 2500). The location might be location 1006 in forest 1002 in Figure 10. The location may be on unplanted forest land in this illustrative example. The sensor units installed by the Air Vehicle Group can be ground sensor units or other types of sensor units, depending on the particular deployment.
[000331] The process then collects information about soil conditions from the sensor units (operation 2502). The information received from the sensor units is analyzed (operation 2504). The process then generates a planting mission and planting parameters for the planting mission (operation 2506). These planting parameters can be planting time, types of seedlings used, tree spacing, amount of fertilizer needed, types of fertilizer needed, or other suitable types of parameters for planting trees in an area of unplanted forest.
[000332] The plantation mission is carried out (operation 2508). After a period of time, information about trees planted in the forest is collected by the sensor units (operation 2510). This information may include planting density of seedlings planted in the forest, seedling growth rate, soil conditions or other types of information. The information received from the sensor units is analyzed (operation 2512).
[000333] Next, a determination is made whether replanting is required at a location in the forest (operation 2514). Replanting may be necessary when analyzing areas of forest, areas where seedlings do not grow as desired, areas where the forest is not as dense as desired, or a combination of these.
[000334] If replanting is required, the process generates a planting referral based on analysis of the information received from the sensor units (operation 2516). This planting remission can include parameters such as replanting time, types of seedlings used, replanting location, amount of fertilizer needed, and other parameters. The plantation remission is carried out (operation 2518). A determination is then made whether other locations in the forest need to be replanted (operation 2520).
[000335] If other locations in the forest need replanting, the process returns to operation 2516 as described above. Otherwise, the process ends. Again referring to operation 2514, if replanting is not necessary, the process ends.
[000336] In this way, the installation of sensor units of the group of unmanned aerial vehicles with an illustrative modality provides information about the forest to generate several different types of missions. These missions can be performed to plant trees more easily and successfully, replant trees, conduct a forest inventory, or harvest trees at a location in the forest. In addition, costs will be reduced due to climatic conditions, soil conditions and other factors can be taken into account when generating the appropriate missions to plant and replant trees in the forest.
[000337] Now referring to Figure 26, an illustration of a flowchart of a decision-making process to generate and execute forest operations in a mission is described in accordance with an illustrative modality. The process illustrated in Figure 26 is an example of operations that can be performed by decision-making process 1800 in Figure 18 when deployed in forest manager 1014 in Figure 10. In addition, the process illustrated in this Figure can be used by assets 1016 to perform 1030 missions in Figure 10.
[000338] The process begins by installing sensor units at one location in a group of unmanned vehicles (operation 2600). The location might be location 1006 in forest 1002 in Figure 10. The location could be a location in the forest where forestry operations can be performed. The sensor units installed by the unmanned vehicle group can be ground sensor units or other types of sensor units, depending on the particular deployment. The unmanned vehicle group may be low flight unmanned aerial vehicles. In other illustrative examples, the group of unmanned vehicles may include unmanned land vehicles and other suitable types of vehicles.
[000339] The process then collects information about trees in the forest from the sensor units (operation 2602). The information received from the sensor units is analyzed (operation 2604).
[000340] The process then determines whether forest operations for a mission should be performed at a location in the forest (operations 2606). Forest operations can be one of inspection, sampling, measuring, trimming, harvesting and other suitable types of forest operations. If a forest operation is to be performed, the process then determines whether equipment and personnel are available to perform the forest operation (operation 2608). If equipment and personnel are available, the process generates a forest operations mission (operation 2610). The forest operations mission may include tasks for each of the 1016 assets for execution. For example, with harvesting, the forest operations mission may specify tasks to be performed by harvesting equipment and forestry personnel.
[000341] Then the forest operations mission is carried out (operation 2612). A determination is then made whether other locations in the forest need forest operations to be carried out (operation 2614).
[000342] If other locations in the forest need forest operations to be performed, the process returns to operation 2608 as described. Otherwise, the process ends.
[000343] Again referring to operation 2606, if forest operations are not to be performed, the process ends. Returning to operation 2608, if equipment and personnel are not available to perform the forest operation, the process also ends.
[000344] Thus, the illustrative modalities provide a means of measuring soil conditions in vast areas at low cost using remote sensors and autonomous systems. In particular, the system can improve the productivity of reforestation activities by reducing costs and improving seedling yield through greater optimization of reforestation parameters. This optimization can be enabled by more accurate soil hydration and temperature data before or during planting time. The automated system makes this data available to computer programs and analysts in a timely and cost-effective manner.
[000345] With the use of an illustrative modality, the ground conditions are available in real time to aid in decision making. The information can be used to determine planting timing, seedling type selection and planting density selection for reforestation operations. Sensor units installed by unmanned aerial vehicles and other types of unmanned vehicles can monitor conditions after the initial planting of trees in the forest to determine locations in the forest that must be filled due to poor initial growth conditions or high mortality rates. changes.
[000346] Although the illustrative modalities have been described in relation to artificial regeneration planting and replanting trees in a forest, the illustrative modalities can also apply to the natural regeneration of trees in the forest. For example, illustrative modalities can be used to monitor conditions and provide information about rooted shoot formation, stump shoots, natural seedlings, or other suitable indications of natural forest regeneration. In addition, when an illustrative modality is used to plant or replant trees in a forest, the illustrative modalities can aid planting with the use of seedlings, machine planting, manual planting or some other types of artificial forest regeneration.
[000347] Additionally, although the illustrative modalities have been described as being used for forest management operations, the forest management system can also be applied to the management of several other domains. These domains may include precision agriculture, hydrological research and monitoring of soil salt levels due to human activity, large-scale construction such as mining and other suitable activities.
[000348] The flowcharts and block diagrams in the different described modalities illustrate the architecture, functionality and operation of some possible implementations of devices and methods in an illustrative modality. In this regard, each block in flowcharts or block diagrams can represent a module, a segment, a function, and/or a portion of an operation or step. For example, one or more of the blocks can be implemented as program code, in hardware, or a combination of program code and hardware. When deployed in hardware, the hardware can, for example, take the form of integrated circuits that are manufactured or configured to perform one or more operations on flowcharts or block diagrams.
[000349] In some alternative implementations of an illustrative modality, the function or functions observed in the blocks may occur outside the order observed in the Figures. For example, in some cases, two blocks shown in succession can be played substantially simultaneously or the blocks can sometimes be played in reverse order, depending on the functionality involved. In addition, other blocks can be added in addition to the blocks illustrated in a flowchart or block diagram.
[000350] Turning now to Figure 27, an illustration of a block diagram of a data processing system is described in accordance with an illustrative embodiment. Data Processing System 2700 can be used to deploy computer system 210 in Figure 2, controller 610 in Figure 6, identifier 810 in Figure 8 and other suitable devices within the forest management environment 200.
[000351] In this illustrative example, the data processing system 2700 includes communications structure 2702, which provides communications between processor unit 2704, memory 2706, persistent storage 2708, communications unit 2710, input/output unit 2712 and display 2714 In this example, the communication structure can take the form of a bus system.
[000352] Processor unit 2704 is for executing instructions for software that can be loaded into memory 2706. Processor unit 2704 can be a number of processors, a multiprocessor core, or some other type of processor, depending on the particular implementation.
[000353] Memory 2706 and persistent storage 2708 are examples of storage device 2716. A storage device is any piece of hardware that is capable of storing information, such as, for example, without limitation, data, form program code. functional, and/or other appropriate information either on a temporary or permanent basis. Storage device 2716 may also be referred to as a computer readable storage device in these illustrative examples. The memory 2706 in these examples can be, for example, random access memory or any other suitable volatile or non-volatile storage device. Persistent 2708 storage can take various forms, depending on the particular deployment.
[000354] For example, persistent store 2708 can contain one or more components or devices. For example, persistent storage 2708 can be a hard disk, a flash memory, a rewritable optical disk, a rewritable magnetic tape, or some combination of the foregoing. Media used by the 2708 Persistent Storage may also be removable. For example, a removable hard drive can be used for 2708 persistent storage.
[000355] The communications unit 2710, in these illustrative examples, provides communications with other data processing systems or devices. In these illustrative examples, the communications unit 2710 is a network interface card.
[000356] The 2712 input/output unit allows input and output of data with other devices that can be connected to the 2700 data processing system. For example, the 2712 input/output unit can provide a connection for user input via a keyboard, mouse, and/or some other suitable input device. In addition, the 2712 input/output unit can output to a printer. Display 2714 provides a mechanism for displaying information to a user.
[000357] Instructions for the operating system, programs, and/or programs can be located in the storage device 2716, which are in communication with the processor unit 2704 through the communication structure 2702. The processes of the different modalities can be executed by the unit 2704 processor using computer-implemented instructions that can be located in memory, such as memory 2706.
[000358] These instructions are termed as program code, computer-usable program code or computer-readable program code that can be read and executed by a processor in the 2704 processor. The program code in the different modalities can be incorporated into different physical or computer readable media, such as 2706 memory or 2708 persistent storage.
[000359] Program code 2718 is located in functional form on computer readable media 2720 which is selectively removable and can be loaded into data processing system 2700 or transferred thereto for execution by processor unit 2704. 2718 and computer readable media 2720 form the computer program product 2722 in these illustrative examples. In one example, computer readable media 2720 may be computer readable storage media 2724 or computer readable signal media 2726.
[000360] In these illustrative examples, computer readable storage media 2724 is a physical or tangible storage device used to store program code 2718 rather than a medium that propagates or transmits program code 2718.
[000361] Alternatively, program code 2718 can be transferred to data processing system 2700 using computer readable signal media 2726. Computer readable signal media 2726 can be, for example, a propagated data signal which contains program code 2718. For example, computer readable signal media 2726 may be an electromagnetic signal, an optical signal, and/or any other suitable types of signal. These signals may be transmitted over communications links, such as wireless communications links, fiber optic cable, coaxial cable, a wire, and/or any other suitable types of communications link.
[000362] The different components illustrated for the 2700 data processing system are not intended to provide architectural limitations to the way in which different modalities can be implemented. The different illustrative embodiments can be implemented in a data processing system that includes components in addition to those illustrated and/or in place thereof for data processing system 2700. Other components shown in Figure 27 can be derived from the illustrative examples shown. The different modalities can be implemented using any hardware device or system capable of executing program code 2718.
[000363] Thus, the illustrative modalities provide a method and apparatus to manage a forest. In the illustrative examples, a forest management system can gather information about a forest from autonomous vehicles and analyze that information more efficiently than commonly used systems in which human operators collect information about a forest.
[000364] In addition, the illustrative modalities also generate quests based on a current state of the forest as well as user input. These missions can be sent to one or more autonomous vehicles. These missions can include information gathering or state changes to be implemented in the forest. Information gathering can be performed for various purposes in forest management. These purposes include maintaining forest health, identifying forest inventory, identifying forest security risks, identifying illegal forest activities, and other purposes. The effect of changing states on the forest can include fire fighting, pest control, harvesting, and other appropriate changes of state.
[000365] With the use of autonomous vehicles and the ability to have autonomous vehicles that cooperate with each other to perform tasks in a crowd, the illustrative examples provide more efficient mechanisms for collecting information, effecting changes, or a combination thereof in relation to a forest.
[000366] Furthermore, the use of autonomous vehicles and sensor systems in the illustrative modalities can allow a desired level of information sampling from a sufficient number of locations to obtain results that are more accurate than currently possible. The illustrative modalities also allow for action to be taken in response to results that may be more timely and accurate than currently possible.
[000367] In addition, illustrative modalities can avoid problems that result from interpretations of observations made by officials to generate information about the forest. The use of at least one of the unmanned vehicles and sensor systems in the illustrative modalities results in information that is generated in a way that is less subjective as compared to how the information is generated by forestry officials.
[000368] In addition, the disclosure comprises modalities in accordance with the following clauses 16 to 20:
[000369] Clause 16. A method for managing a location (1006), the method comprising:
[000370] installing ground sensor units (1028) on site (1006) in a forest (1002) from a group of aerial vehicles;
[000371] generate information (1004) about various soil conditions (1017) at the site (1006) in the forest (1002) using the soil sensor units (1028) at the site (1006); and
[000372] transmit the information (1004) from the ground sensor units (1028) to a remote location (1006) for analysis.
[000373] Clause 17. The method, in accordance with clause 16 which additionally comprises:
[000374] identify multiple missions (1030) using information (1004) about various ground conditions (1017), where the number of missions (1030) is selected from at least one of a harvest mission ( 1034), a plantation mission (1035), a soil condition identification mission, a fire condition alert mission, a forest (1002) maintenance mission, and a forest inventory mission (1002).
[000375] Clause 18. The method, in accordance with clause 16, in which the transmission step comprises:
[000376] transmit information (1004) from the ground sensor units (1028) to at least one of an unmanned aerial vehicle, a piloted ground vehicle and a control station.
[000377] Clause 19. The method according to clause 18, in which the transmission step comprises:
[000378] transmit information (1004) from the ground sensor units (1028) to a transceiver (1526); and
[000379] transmit the information (1004) from the transceiver (1526) to at least one of the unmanned aerial vehicle, the manned ground vehicle and the control station.
[000380] Clause 20. The method, according to clause 16, wherein the various soil conditions (1017) comprise at least one of hydration, a temperature, conductivity, nitrogen content, pH, calcium content, salt and a nutrient content.
[000381] In general, in the system according to the invention, an air vehicle in the group of air vehicles can be selected from one among an unmanned air vehicle and a manned air vehicle.
[000382] The description of the different illustrative modalities has been presented for illustration and description purposes and is not intended to be exhaustive or limited to the modalities in the form disclosed. Many modifications and variations will be evident to those skilled in the art.
[000383] In addition, different illustrative modalities may provide different attributes as compared to other illustrative modalities. The selected modality or modalities are chosen and described in order to better explain the principles of the modalities, the practical application, and to allow others of skill in the art to understand the disclosure for various modalities with various modifications suitable for the particular use contemplated.

权利要求:
Claims (14)
[0001]
1. Forest management system (1003) characterized in that it comprises: a forest manager (1014) configured to receive information (1004) related to various soil conditions (1017) for a location (1006) in a forest (1002) of a sensor system (1024) installed by a group of air vehicles and identifying a mission based on various ground conditions (1017), wherein the sensor system comprises ground sensor units (1028), the sensor units of ground (1028) being bottom-heavy comprising pins (1214) and housing (1102), the pins (1214) and housing (1102) being weighed so that the pins (1214) extend into the ground when the units of ground sensor (1028) are deployed through an aerial drop.
[0002]
2. Forest management system (1003) according to claim 1, characterized in that the mission is selected from at least one of a harvest mission (1034), a plantation mission (1035), a soil condition identification mission, a fire condition alert mission, a forest (1002) maintenance mission, and a forest inventory mission (1002).
[0003]
3. Forest management system (1003) according to claim 1 or 2, characterized in that the forest management system (1003) is configured to coordinate asset operation (1016) to execute the mission.
[0004]
4. Forest management system (1003), according to any one of the preceding claims, characterized in that the sensor system (1024) comprises: a number of terrestrial sensor units (1026) configured to generate the information (1004 ) of the soil in place (1006).
[0005]
5. Forest management system (1003), according to any one of the preceding claims, characterized in that the sensor system (1024) additionally comprises: a base station configured to receive information (1004) of the number of units of terrestrial sensor (1026) and send the information (1004) to the forest manager (1014).
[0006]
6. Forest management system (1003), according to claim 5, characterized in that the base station is configured to send the information (1004) to the forest manager (1014) through the group of air vehicles.
[0007]
7. Forest management system (1003) according to claim 4 or 5, characterized in that one terrestrial sensor unit in the number of terrestrial sensor units (1026) is configured to generate information (1004) about the hair. minus one of a location (1006) of the terrestrial sensor unit, a trajectory of the terrestrial sensor unit and an orientation of the terrestrial sensor unit.
[0008]
8. Forest management system (1003), according to any one of the preceding claims, characterized in that an air vehicle in the air vehicle group is selected from one of an unmanned aerial vehicle and a manned aerial vehicle.
[0009]
9. Forest management system (1003), according to any of the preceding claims, characterized in that the various soil conditions (1017) comprise at least one of hydration, a temperature, conductivity, nitrogen content, pH, calcium content, salt content and a nutrient content.
[0010]
10. Method for managing a site (1006), the method characterized in that it comprises: installing ground sensor units (1028) at the site (1006) in a forest (1002) from a group of aerial vehicles; information (1004) about various soil conditions (1017) at the site (1006) in the forest (1002) using the soil sensor units (1028) at the site (1006); and transmit information (1004) from the ground sensor units (1028) to a remote location (1006) for analysis, wherein the ground sensor units (1028) are bottom-heavy comprising pins (1214) and housing (1102) , the pins (1214) and housing (1102) being weighed so that the pins (1214) extend into the ground when the ground sensor units (1028) are deployed via an aerial launch.
[0011]
11. Method according to claim 10, characterized in that it further comprises: identifying several missions (1030) using information (1004) about the various ground conditions (1017), in which the number of missions ( 1030) is selected from at least one of a harvest mission (1034), a planting mission (1035), a soil condition identification mission, a fire condition alert mission, a plant maintenance mission. forest (1002) and a forest inventory mission (1002).
[0012]
12. Method according to claim 10 or 11, characterized in that the transmission step comprises: transmitting information (1004) from the ground sensor units (1028) to at least one of an unmanned aerial vehicle, a piloted ground vehicle and a control station.
[0013]
13. Method according to any one of claims 10 to 12, characterized in that the transmission step comprises: transmitting information (1004) from the ground sensor units (1028) to a transceiver (1526); and transmit the information (1004) from the transceiver (1526) to at least one of the unmanned aerial vehicle, the manned ground vehicle and the control station.
[0014]
14. The method according to any one of claims 10 to 13, characterized in that the various soil conditions (1017) comprise at least one of hydration, a temperature, conductivity, nitrogen content, pH, calcium content , salt content and a nutrient content.

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EP2741264A1|2014-06-11|

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RU2013153491A|2015-06-10|

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AU2013245429A1|2014-06-26|

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KR102313827B1|2021-10-18|

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BR102013031250A2|2014-09-16|

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JP2014113148A|2014-06-26|

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法律状态:
2014-09-16| B03A| Publication of a patent application or of a certificate of addition of invention [chapter 3.1 patent gazette]|

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2018-11-21| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|

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2020-07-14| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|

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2021-04-06| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|

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2021-06-22| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 05/12/2013, OBSERVADAS AS CONDICOES LEGAIS. |

优先权:

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申请号 | 申请日 | 专利标题

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US13/708,543|US9251698B2|2012-09-19|2012-12-07|Forest sensor deployment and monitoring system|

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US13/708.543|2012-12-07|

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