A low-cost rotational infrared scanner for cylindrical object diameter measurement

This paper presents a new approach in determining the diameter of cylindrical object based on the available two triangles formation technique. The proposed hardware-software system is useful to be implemented on an unmanned aerial vehicle platform in the agriculture field for row detection and navigation techniques based on simultaneous localization and mapping technique as it offers a lightweight system, hassle-free computation and yet a practical and efficient approach. This approach is proposed purposely for small-scaled unmanned aerial vehicle where substantial devices or equipments is unwelcome due to its enormous weight and size. The most efficient way to detect and measure the diameter size of the trees in the agriculture field is by applying the precise laser range finder as well as combines it with other possible sensors such as vision sensors in many approaches before. Unfortunately, the available commercial product of a laser range finder is found to be expensive, bulky and all the data is acquired through a universal serial bus communication protocol which proves to be impractical for on-board UAV detection and navigation implementation as computer and robust processors is necessitated. Thus, in our innovative research, a non-intrusive infrared sensor is used as it offers a narrow beam for edge detection of the cylindrical object (treated as the tree). This sensor is mounted on a digital servo motor to imitate the rotational operation of the available laser range finder in the market. Series of experiments are executed on varying diameter of cylindrical objects, and the effectiveness and efficiency of this approach are carried out. It is found that, this technique is usable in determining the size of the cylindrical objects with a minimal and acceptable error as well as the outcome is comparable with other approaches.