360 PLANT IMAGE CAPTURING SYSTEM AND RELATED METHODS

A system for monitoring plant or soil characteristics in a crop field, the system comprising a prime mover comprising a base and a camera frame operably coupled to the base. The camera frame comprises a central frame, a rotatable frame rotatably attached to the central frame, at least one camera attached to the rotatable frame.

FIELD

The various embodiments herein relate to systems for monitoring plant and/or soil characteristics in a crop field. More specifically, the embodiments herein relate to systems that monitor plant and/or soil characteristics using cameras with pan and/or tilt capabilities.

BACKGROUND

Various known systems for capturing images of plants—especially in a field environment—are used to identify different types of plants for operations such as spot spraying and the like. One such system is the Mineral project that has been created by X company (https://x.company/projects/mineral/). One of the disadvantages of such systems is that they typically utilize a single fixed camera per crop row to capture images of the plants in that row. This results in low resolution and lack of detailed information such that such systems have about a 10-20% accuracy in identifying plants and/or various target characteristics thereof.

There is a need in the art for an improved image capturing system for plants in a field environment.

BRIEF SUMMARY

Discussed herein are various systems for monitoring plant and/or soil characteristics in a crop field.

In Example 1, a system for monitoring plant or soil characteristics in a crop field comprises a prime mover comprising a base and a camera frame operably coupled to the base. The camera frame comprises a central frame, a rotatable frame rotatably attached to the central frame, at least one camera attached to the rotatable frame.

Example 2 relates to the system for monitoring plant or soil characteristics in a crop field according to Example 1, wherein the at least one camera is rotatable in relation to the prime mover.

Example 3 relates to the system for monitoring plant or soil characteristics in a crop field according to Example 2, wherein the camera frame is rotatable in relation to the prime mover.

Example 4 relates to the system for monitoring plant or soil characteristics in a crop field according to Example 1, wherein the camera frame further comprises a rotation actuator.

Example 5 relates to the system for monitoring plant or soil characteristics in a crop field according to Example 1, wherein the camera frame is a disk or an arm.

Example 6 relates to the system for monitoring plant or soil characteristics in a crop field according to Example 1, wherein the at least one camera is angularly movable.

Example 7 relates to the system for monitoring plant or soil characteristics in a crop field according to Example 6, wherein the camera frame comprises an angular adjustment actuator configured to angularly move the at least one camera.

Example 8 relates to the system for monitoring plant or soil characteristics in a crop field according to Example 1, further comprising a height adjustment mechanism coupled to the base and the camera frame.

Example 9 relates to the system for monitoring plant or soil characteristics in a crop field according to Example 8, wherein the height adjustment mechanism further comprises an actuator and a height sensor, wherein the height sensor is configured to track a position of the camera frame, and wherein the actuator is configured to change a height of the camera frame.

Example 10 relates to the system for monitoring plant or soil characteristics in a crop field according to Example 1, wherein the prime mover comprises a structure selected from a group consisting of a drone, at least four wheels, and at least one track.

Example 11 relates to the system for monitoring plant or soil characteristics in a crop field according to Example 1, wherein the at least one camera is configured to rotate up to about 360 degrees about an axis.

In Example 12, a system for monitoring plant or soil characteristics in a crop field comprises a prime mover comprising at least four wheels and a horizontal bar, a height adjustment mechanism coupled to the horizontal bar, and a non-rotatable camera frame operably coupled to the height adjustment mechanism, the non-rotatable camera frame comprising at least two cameras attached to the non-rotatable camera frame.

Example 13 relates to the system for monitoring plant or soil characteristics in a crop field according to Example 12, wherein the non-rotatable camera frame is a disk.

Example 14 relates to the system for monitoring plant or soil characteristics in a crop field according to Example 12, wherein the height adjustment mechanism further comprises an actuator and a height sensor, wherein the height sensor is configured to track a position of the non-rotatable camera frame, and wherein the actuator is configured to change a height of the non-rotatable camera frame.

In Example 15, a system for monitoring plant or soil characteristics in a crop field comprises a prime mover comprising a base, a height adjustment mechanism coupled to the base comprising a height adjustment actuator and a height sensor, and at least one camera frame operably coupled to the height adjustment mechanism. The at least one camera frame comprises a central frame, a rotatable frame rotatably attached to the central frame, a rotatable frame actuator configured to rotatably move the rotatable frame relative the central frame, a rotation sensor configured to track a rotation speed of the rotatable frame, and at least one camera attached to the rotatable frame. The height sensor is configured to sense a height of the at least one camera frame and the height adjustment actuator is configured to change the height of the at least one camera frame.

Example 16 relates to the system for monitoring plant or soil characteristics in a crop field according to Example 15, wherein each camera comprises a downward angular position relative the rotatable frame ranging from about 30 degrees to about 60 degrees.

Example 17 relates to the system for monitoring plant or soil characteristics in a crop field according to Example 15, wherein the rotatable frame actuator comprises a motor gear rotatably coupled to the rotatable frame.

Example 18 relates to the system for monitoring plant or soil characteristics in a crop field according to Example 15, wherein the at least one camera frame is configured to rotate 360 degrees.

Example 19 relates to the system for monitoring plant or soil characteristics in a crop field according to Example 15, wherein the at least one camera frame can rotate from about 0.1 rpm to about 100 rpm.

Example 20 relates to the system for monitoring plant or soil characteristics in a crop field according to Example 15, wherein the prime mover comprises a speed wheel configured to track a ground speed of the prime mover, the speed wheel being in communication with the rotation sensor, the rotation sensor being configured to change the rotation speed in response to the ground speed.

While multiple embodiments are disclosed, still other embodiments will become apparent to those skilled in the art from the following detailed description, which shows and describes illustrative embodiments. As will be realized, the various implementations are capable of modifications in various obvious aspects, all without departing from the spirit and scope thereof. Accordingly, the drawings and detailed description are to be regarded as illustrative in nature and not restrictive.

DETAILED DESCRIPTION

The various embodiments herein relate to a plant scanning and image capturing systems for use in various outdoor environments, including, for example, row crop fields. Certain implementations include such a system that is incorporated into a prime mover (such as a manually controlled or autonomously controlled machine, including both ground-based prime movers and flying prime movers) or a farm implement (such as a crop sprayer, cultivator, or the like).

One specific implementation of a plant scanning and image capturing system10is depicted inFIG.1, in which the system10is a self-propelled ground-based prime mover10having a frame12with a horizontal bar14, two support frames16A,16B (with one disposed at each end of the bar14), and four wheels18attached to the support frames16A,16B as shown. In addition, the frame12also has a speed measurement wheel19rotatable attached to the vertical support frame16A as shown. In this exemplary embodiment as shown, the system10has four rotatable camera frames (or “disks”)20A,20B,20C,20D, attached to the horizontal bar14, with each rotatable frame20A-D having four cameras22disposed thereon. Each disk20A-20D also has a motor24or other actuator to cause rotation of the disk20A-20D as will be described in additional detail below, along with a position or rotation sensor26to track the rotational position of the disk20A-20D (and thus the cameras22on the disk20A-20D) as it rotates.

Each disk20A-20D is attached to the bar14via a vertical rod28. More specifically, each rod28is movably coupled to the bar14via a vertical adjustment assembly30such that the assembly30can move the rod28vertically in relation to the assembly30and the bar14, thereby allowing for vertical adjustment of each disk20A-20D as desired. In certain embodiments, each vertical adjustment assembly30has a separate scanning mechanism32operably coupled thereto such that the scanning mechanism32can be used to gauge the height of the target row of crops and actuate the adjustment assembly30to adjust the vertical height of the coupled disk20A-20D as desired. The vertical height can be the height of the disks above the ground. The vertical height of the disks20A-20D can range from about 2 inches to about 180 inches. In other embodiments, the vertical height of the disks20A-20D can be 100 inches.

In the specific embodiment as shown inFIG.1, the system10has four rotatable disks20A-20D such that the system10can capture images of four rows34of crop plants. Alternatively, the various system implementations disclosed or contemplated herein can have one, two, three, five, six, seven, eight, nine, ten, 11, 12, 13, 14, 15, 16, or any other number of rotatable disks20A-20N to capture images of the corresponding number of crop rows34and the individual plants in those rows34.

According to one embodiment, at least two of the wheels18are coupled to a motive force (not shown) such as a motor or an engine such that the wheels18are actuated by the motive force to rotate, thereby urging the system10across the field. In one embodiment, the forward direction of the system10is indicated by arrow A inFIG.1. Alternatively, the system10can be urged in either direction. In further embodiments, instead of a frame like frame12, the four disks20A-20D (or any other number of disks) can be incorporated into a farm implement such as a sprayer, a cultivator, or any other implement that can be coupled to a prime mover such as a tractor. In further alternatives, the four disks20A-20D (or any other number of disks) can be incorporated into a prime mover itself, including a manually operated prime mover similar to a tractor or a self-propelled sprayer. In yet another alternative, the system10as shown can be a prime mover that is an autonomous prime mover.

The speed measurement wheel19collects information about the ground speed of the system10. In one embodiment, the wheel19is a free wheel encoder19. Alternatively, the wheel19can be any ground speed measurement wheel or mechanism. In various alternatives, the wheel19can be disposed elsewhere on the frame12, such as the other vertical support16B or some other position. In a further alternative, one of the four wheels18can also serve as the speed measurement wheel.

One exemplary rotatable disk20(representing any one or more of the disks20A-D discussed above) is depicted inFIG.2, according to one embodiment. The disk20has a fixed or central frame40fixedly attached to the vertical rod28and an outer frame42rotatably attached to the fixed frame40. The outer frame42has an inner ring44and an outer ring48that is coupled to the inner ring44via radial arms46as shown. In addition, the disk20has four cameras22attached thereto, with each of the cameras attached to a separate one of the radial arms46. The inner ring44defines an opening45within the inner ring44that is sized to receive the central frame40such that the central frame40is disposed within the opening45and the inner ring44(and entire outer frame42) can rotate around the central frame40. Thus, the outer rotatable frame42is disposed radially adjacent to the fixed frame40such that the rotatable outer frame42is rotatably coupled to fixed frame40, thereby allowing for rotation of the four cameras22around the rotational axis of the disk20, which is defined by the vertical rod28(that is, the rotational axis is co-axial with the axis of the vertical rod28). In one embodiment, the rotational axis is represented by dotted line B inFIG.2. As such, the outer edge of the fixed frame40is disposed adjacent to the inner edge of the inner ring44with the inner ring44rotatable around the fixed frame40. Alternatively, the entire disk20can be a unitary component that rotates in relation to the vertical rod28(rather than an outer frame rotating in relation to a central frame). In a further alternative, the rotatable disk20can be configured in any way that allows for controlled rotation of the four cameras22attached thereto. Each outer ring48can have a diameter ranging from about 10 inches to about 120 inches. In other embodiments, the diameter can be about 100 inches.

In one embodiment, the disk actuator24causes the outer frame42to rotate in relation to the central frame40. In the specific implementation as depicted inFIG.2, the disk actuator24is fixedly attached to the central frame40and has a motor gear50that is rotatably coupled to the inner ring44of the outer frame42. Thus, actuation of the actuator24causes rotation of the motor gear50, which causes rotation of the inner ring44, thereby causing rotation of the outer frame42in relation to the central frame40(and thereby causing rotation of the cameras22around the rotational axis B of the disk20). In one example, the disk actuator24is a rotational motor such as a stepper motor. Alternatively, the disk actuator24can be any known actuator in any configuration that can cause the cameras to rotate as described herein.

In the implementation as shown inFIG.2, the disk20has four cameras22. Alternatively, the disk20can have one camera, two cameras, three cameras, five cameras, six cameras, seven cameras, eight cameras, nine cameras, ten cameras, or any number of cameras as desired. More specifically, in certain embodiments in which increased detail or accuracy is desired, a greater number of cameras (at least four, or at least six, for example) is included on each disk20. Alternatively, in other implementations in which different types of cameras need to be attached to each disk20(to capture different information), that can influence the number of cameras22attached to each disk20. In a further alternative, any number of factors can influence the number of cameras22attached to each disk20.

Each camera22is attached to the disk20such that the lens is aimed at about a 45 degree angle (in relation to the ground) in order to capture images of both the top and side of each plant in the target row34. Alternatively, each camera22can be attached the disk20such that the lens is aimed at an angle ranging from about 30 degrees to about 60 degrees. In a further implementation, the angle of either the camera22or the lens is adjustable such that the amount of the top and side of each plant that is captured by the field of view of the camera22can be adjusted, either manually or automatically.

In certain embodiments, all four (or any number) of the cameras22can be the same type of camera. More specifically, in certain embodiments, each camera22can be a hyperspectral, multispectral, or RGB camera. Alternatively, any or all of the cameras22can range from 400 or below to 2500 nm. In a further alternative, any one or more of the cameras22can be a camera that captures the high bands (such as the Mica Sense Red Edge-P Multispectral camera) and/or a hyperspectral camera that captures the narrow bands (such as the Meiji Techno HD9500M camera). In accordance with a further embodiment, one or more of the cameras22on each disk20A-20D can be a different type of camera with different features and/or capabilities to detect a different characteristic, phenomenon, or point of interest on the target plants, soil, or other objects. For example, different types of cameras could be used to detect different plant diseases or plant characteristics. For example, in one exemplary implementation, one of the cameras22can be a hyperspectral camera such as the 80-channeled aerial Digital Airborne Imaging Spectrometer. Alternatively, any one of the cameras22can be a camera that captures a different spectrum of light, such as, for example, any camera or sensor that operates in the visible spectrum (VIS), any camera that operates in the near-infrared (NIR), any camera that operates in the shortwave-infrared (SWIR), and/or any 3D Lidar sensor. In a further alternative, one or more of the camera22can have a different lens to capture different characteristics. In further embodiments, the system10can have software to operate in conjunction with the cameras22having multiple lens options such that the software can select the appropriate lens and actuate the target camera(s)22to use that specific lens. In other words, any system10embodiment herein can have different cameras22and/or different lenses on each camera22to detect different plant characteristics, plant diseases, soil conditions, etc.

According to certain embodiments, as mentioned above, each vertical adjustment mechanism30has a vertical rod28(that is coupled to a disk20) moveably coupled thereto such that the adjustment mechanism30can be used to urge the rod28in one direction or the other (“up” or “down,” according to one perspective). More specifically, as shown inFIG.3, the adjustment mechanism30is fixedly attached to the horizontal bar14and has the vertical rod28disposed within or otherwise coupled to the adjustment mechanism30. In certain implementations, the system10also has a position sensor62for tracking the position of the vertical rod28in relation to the adjustment mechanism30and/or horizontal bar14. As such, the adjustment mechanism30is rotatably or otherwise movably coupled to the rod28such that the mechanism30can actuate the rod28to move in an axial direction (with the sensor62tracking the position of the rod28). That is, the mechanism30has an actuator (such as a motor) (not shown) that is used to power the movement of the rod28. Further, the adjustment mechanism30has a drive mechanism (not shown) coupled to the actuator and further coupled to the rod28in order to convert the power of the actuator into movement of the rod28. For example, the mechanism can have gears (not shown) that are rotatably coupled to the rod28. Alternatively, the adjustment mechanism30can be coupled to the rod28via any known mechanism that can be used to cause the rod28to move in an axial direction (either up or down) as discussed above. In one specific embodiment, the adjustment mechanism30is an actuator. Alternatively, the adjustment mechanism30can be any known mechanism or device of any configuration that can move the rod28up and down as described herein.

In some implementations, as also mentioned above, the system10can also have a separate scanning or sensing mechanism32for each of the adjustment mechanisms30such that each mechanism30has a scanning or sensing mechanism32coupled thereto. Thus, in those embodiments with four disks20A-20D such asFIG.1, each of the four adjustment mechanisms30has a scanning or sensing mechanism32coupled thereto. One such embodiment is depicted in further detail inFIG.3, in which the scanning or sensing mechanism32is coupled to the bar14via an arm60. More specifically, the arm60is coupled at one end to the bar14and further is coupled at the other end to the scanning/sensing mechanism32. Further, the arm60and mechanism32are attached along the length of the bar14such that the arm60, and thus the mechanism32, are disposed adjacent to the adjustment mechanism30to which the scanning/sensing mechanism32is coupled.

In certain embodiments, as best shown inFIGS.1and3, each of the scanning/sensing mechanisms32is aimed at an angle in relation to the bar14such that the viewing area captured by the mechanism32includes several of the individual plants that the system10is approaching. More specifically, the scanning/sensing mechanism32can be aimed forward (in the same direction that the frame12is moving as indicated by arrow A) such that it captures at least two, and in some embodiments, at least four or six, plants in its target row34such that the mechanism32can gather data about the height of each of the plants in that row34. From this information, the mechanism32or a processor coupled thereto (not shown) can calculate an average height of the predetermined number of forward positioned plants in the row34. This height information can then be communicated to the coupled vertical adjustment mechanism30and sensor62such that the mechanism30is actuated to move the vertical rod28to place the coupled disk20(one of disks20A-20D) at the optimal height in relation to the plants in the target row34, thereby ensuring optimal capture of the desired images of each plant. An example of a computing device210that includes the processor240for such calculations is shown with respect toFIG.6.

In one embodiment, the scanning/sensing mechanism32can be a LiDAR camera. For example, the LiDAR camera can be the Mobile LiDAR scanner (MLS), the Unmanned LiDAR scanner (ULS), the Velodyne-Puck 3D LiDAR that generates high quality perception in a wide variety of light conditions, or any other known LiDAR camera. Alternatively, the scanning/sensing mechanism32can be any known camera or scanning device that can be used to capture the appropriate height information relating to each plant in the target row as described above and further can obtain 3D structural plant shape information as well.

In use, the rotatable camera disks20A-20D in system10(or any system embodiment as disclosed or contemplated herein) are able to capture images of separate plants from multiple angles around a full 360 degrees of each plant and in adjustable close proximity thereto. Together, the disk rotation and disk height adjustment allow the cameras22to collect detailed and accurate information about plant health, soil health, and other environmental conditions around each plant.

According to certain embodiments, the speed of the rotation of each of the rotatable disks20A-20D can be precisely controlled to ensure accurate capture of the desired information about the plants and soil. More specifically, the position/rotation sensor26coupled to the rotation actuator24on each disk20A-20D accurately tracks the exact position of the rotatable outer frame42and thus each camera22on the frame42. As such, the position/rotation sensor26can operate in conjunction with the actuator24to position each camera22(or all four cameras44in certain embodiments) within the 360° of rotation to best capture the desired information. This precise camera location and rotation control improves the image analysis techniques and machine/deep learning processes of the system10. In one embodiment, the position/rotation sensor26is a rotary encoder26. Alternatively, any known position/rotation sensor26can be used.

Further, in some implementations, the disk20A-20D height and thus camera22height can be precisely controlled to further ensure accurate capture of more detailed information about the plants and soil (more detailed in comparison to any camera with non-adjustable height). More specifically, the disk20A-20D/camera22height and ground clearance can be adjusted in real-time via the vertical adjustment assembly30in combination with the scanning/sensing mechanism32(based on average plant height as discussed above) to optimize the focal point or field of view of the lens of each camera22on the disk20A-20D in relation to each plant in the target crop row34.

In addition, in certain systems10, the disk20A-20D rotation speed can also be controlled and adjusted to ensure optimal capture of the desired plant and/or soil images, in accordance with some embodiments. More specifically, the rotation speed of each disk20A-20D can be adjusted based on the ground speed of the frame12such that the rotation speed of the disks20A-20D is increased when the ground speed is increased and is decreased when the ground speed is decreased. In operation, the ground speed is tracked via the speed measurement wheel19as discussed above. The ground speed information is transmitted from the wheel19to the position/rotation sensor26(or directly to the rotation actuator24) such that the rotational speed of the outer frame42can be controlled and/or adjusted based on the ground speed. Alternatively, or in addition, the rotation speed of each disk20A-20D can be adjusted to optimize the desired level of detail to be captured by the cameras22.

According to one embodiment, each disk20A-20D can rotate at a speed ranging from about 0.1 rpm to about 100 rpm. Alternatively, the rotation speed can range from about 1 rpm to about 20 rpm. In some embodiments, the system10can use machine and/or deep learning techniques to adjust the disk rotation speed and the disk height to achieve an optimal image capture as described herein.

With respect to image capture and processing, in one embodiment, the system10can operate in the following manner. A first camera22of the one or more cameras22on the disk20A-D can capture a first image while the first camera22is at a specific location in the 360 degree rotation of the disk20A-20D. For purposes of this example, the location of the camera22will be designated as the 0° angle or position, and the image captured at the location will be transmitted to a processor (e.g., processors240ofFIG.6) and/or database (e.g., database224ofFIG.6) and saved to the database or other computer memory with a designation or “tag” of 1. Next, as the rotatable frame42(and thus the camera22) rotates such that the camera22moves to a different position, a second image can be captured at the new position. For example, the camera22can be actuated to capture the second image at the 30° position and the second image can be transmitted to the processor with the “2” tag. This continues as the camera22rotates on the frame42, with the camera22continuing to capture images at the desired intervals and each image tagged or otherwise identified with a consecutive number (tags3,4, etc.) or other designation is saved to the database or other computer memory.

In some implementations, the saved images can be transmitted wirelessly to a network-based computer (e.g., computing device210ofFIG.6) such that the images will be processed via a processor. The images can be processed separately or on a point cloud made from them and processed with deep 3D models. Such a deep 3D model can examine the images and segment the spots that contain the point(s) of interest from the rest of the images.

An alternative plant scanning and image capturing system80embodiment is depicted inFIG.4, in which the system80is a self-propelled prime mover80having a frame82with horizontal bars84A,84B, two vertical support frames86A,86B (with one disposed at each end of the bars84A,84B), and four wheels88attached to the support frames86A,86B as shown. The various components and features of this system80are substantially similar to the corresponding components and features of the system10discussed above except as expressly discussed below.

In this exemplary embodiment as shown, the system80has one rotatable camera arm (or “boom”)90attached to the horizontal bars84A,84B, with the rotatable arm90having one camera92disposed thereon. The rotatable camera arm90can have a length from the vertical rod98to the end of the arm90ranging from about 20 inches to about 120 inches. In other embodiments, the rotatable arm90can have a length ranging from about 60 inches to about 80 inches. More specifically, in this particular implementation, the camera92is attached to one end of the arm90and a counterweight94is disposed at the other end to counter the weight of the camera92. Alternatively, the rotatable arm90, in certain implementations, can have no counterweight or, in a further alternative, can have any configuration that allows for rotation of a camera92as described herein. The rotatable arm90is rotatably coupled to an actuator96via a vertical rod98that extends from the actuator to the arm90as shown such that the arm90can rotate around the axis C represented by the dotted line C. In one embodiment, the actuator96is attached to the horizontal bars84A,84B via an X-frame100. Alternatively, the actuator96can be coupled to the horizontal bars84A,84B via any known structure.

In use, except as expressly discussed below, the system80can use the single camera92to capture the images of the individual plants in each target row34in a fashion similar to the multiple cameras22in the system10as discussed above. And the image capture and processing can occur in a similar manner as well.

In the system80embodiments having a single camera92, the images can be processed in a different manner than the system10above. More specifically, as the camera92rotates and captures images from multiple angles in the 360° rotation, the image segmentation (as part of the processing) can be used to separate out (and thus identify) each separate row and each separate plant within that row. This can be done based on the row and plant spacing, camera rotational position, camera lens angle, camera height, and plant height. Once the different plants are identified, the different plant characteristics can be identified as well.

According to another embodiment as shown inFIGS.5A and5B, a system120is provided that has a single non-rotating disk or frame122attached thereto. The various components and features of this system120are substantially similar to the corresponding components and features of the systems10,80discussed above except as expressly discussed below. In this implementation, the disk122has twelve cameras124attached thereto. An alternative disk130is depicted inFIG.5B, in which the disk130has eight cameras132. Alternatively, any non-rotating disk embodiment can have any number of cameras ranging from two to 24. In a further alternative, the disk can have any number of cameras. The system120in this implementation has the same or similar height adjustment components and/or mechanisms as discussed above such that the disk122(and all the cameras124thereon) can be moved vertically to optimize the position of the cameras124in relation to the target plants based on the height of those plants. According to certain embodiments, in this system120, a computer and electronic system and/or the software therein are configured to trigger rotational image capturing in a fashion that substantially replicates electronically the end effect of physically rotating cameras. In other words, such implementations use electronic rotation order instead of mechanical motion. In some implementations, the rotational image capturing can be used in situations that require higher ground speed of the system120or other situations that require higher definition imagery. In various embodiments of this system120, each camera124can capture images at a speed ranging from about 1 to about 4,000 frames per second. Alternatively, each camera's speed can range from about 1 to about 2000 fps.

In contrast to known plant scanning vehicles, which typically have a single stationary camera that can capture only one angle of each plant, the one or more rotating (or stationary and “electronically rotating”) and height adjustable cameras of the various system embodiments herein can capture far more information far more accurately. In one example, the rotating camera(s) (including the multiple stationary cameras using electronic rotation order) can capture target plant and/or soil characteristics with 85-90% accuracy. In contrast, the X Company vehicle has a single fixed camera per row, which can likely detect disease(s) on the plants with something closer to 10-20% accuracy.

In a simplistic analogy, the difference between the current system embodiments and the known plant scanning field vehicles is the same as the difference between a CT scanner and an X-ray. The known vehicles are like an X-ray machine—they capture only one image of one angle of the target. In contrast, the various system implementations herein are more like a CT scanner—they capture multiple images of the target from multiple angles. The results are substantially different and far more accurate as a result.

FIG.6is a block diagram illustrating a more detailed example of a computing device configured to perform the techniques described herein. Computing device210ofFIG.6is described below as an example of a computing device with processors configured to execute the software of this disclosure, as described above.FIG.6illustrates only one particular example of computing device210, and many other examples of computing devices210may be used in other instances and may include a subset of the components included in exemplary computing device210or may include additional components not shown inFIG.6.

Computing device210may be any computer with the processing power required to adequately execute the techniques described herein. For instance, computing device210may be any one or more of a mobile computing device (e.g., a smartphone, a tablet computer, a laptop computer, etc.), a desktop computer, a smarthome component (e.g., a computerized appliance, a home security system, a control panel for home components, a lighting system, a smart power outlet, etc.), a wearable computing device (e.g., a smart watch, computerized glasses, a heart monitor, a glucose monitor, smart headphones, etc.), a virtual reality/augmented reality/extended reality (VR/AR/XR) system, a video game or streaming system, a network modem, router, or server system, or any other computerized device that may be configured to perform the techniques described herein.

As shown in the example ofFIG.6, computing device210includes user interface components (UIC)212, one or more processors240, one or more communication units242, one or more input components244, one or more output components246, and one or more storage components248. UIC212includes display component202and presence-sensitive input component204. Storage components248of computing device210include analysis module220, database224, and rules data store226.

One or more processors240may implement functionality and/or execute instructions associated with computing device210to analyze images to determine various points of interest including, for instance, infected plants, type of infection, stage the infection, location origin, and spread area on map. That is, processors240may implement functionality and/or execute instructions associated with computing device210to receive images from a plant scanning and image capturing system, such as system10ofFIG.1, save those images to database224, and analyze those images according to rules data store226.

Examples of processors240include any combination of application processors, display controllers, auxiliary processors, one or more sensor hubs, and any other hardware configured to function as a processor, a processing unit, or a processing device, including dedicated graphical processing units (GPUs). Module220may be operable by processors240to perform various actions, operations, or functions of computing device210. For example, processors240of computing device210may retrieve and execute instructions stored by storage components248that cause processors240to perform the operations described with respect to module220. The instructions, when executed by processors240, may cause computing device210to receive images from a plant scanning and image capturing system, such as system10ofFIG.1, save those images to database224, and analyze those images according to rules data store226.

Analysis module220may execute locally (e.g., at processors240) to provide functions associated with performing image analysis on images received from plant scanning and image capturing systems. In some examples, UI module220may act as an interface to a remote service accessible to computing device210. For example, UI module220may be an interface or application programming interface (API) to a remote server that analyzes images to determine various points of interest including, for instance, infected plants, type of infection, stage the infection, location origin, and spread area on map.

One or more storage components248within computing device210may store information for processing during operation of computing device210(e.g., computing device210may store data accessed by module220during execution at computing device210). In some examples, storage component248is a temporary memory, meaning that a primary purpose of storage component248is not long-term storage. Storage components248on computing device210may be configured for short-term storage of information as volatile memory and therefore not retain stored contents if powered off. Examples of volatile memories include random access memories (RAM), dynamic random access memories (DRAM), static random access memories (SRAM), and other forms of volatile memories known in the art.

Storage components248, in some examples, also include one or more computer-readable storage media. Storage components248in some examples include one or more non-transitory computer-readable storage mediums. Storage components248may be configured to store larger amounts of information than typically stored by volatile memory. Storage components248may further be configured for long-term storage of information as non-volatile memory space and retain information after power on/off cycles. Examples of non-volatile memories include magnetic hard discs, optical discs, floppy discs, flash memories, or forms of electrically programmable memories (EPROM) or electrically erasable and programmable (EEPROM) memories. Storage components248may store program instructions and/or information (e.g., data) associated with module220, database224and rules data store226. Storage components248may include a memory configured to store data or other information associated with modules module220, database224and rules data store226.

Communication channels250may interconnect each of the components212,240,242,244,246, and248for inter-component communications (physically, communicatively, and/or operatively). In some examples, communication channels250may include a system bus, a network connection, an inter-process communication data structure, or any other method for communicating data.

One or more communication units242of computing device210may communicate with external devices via one or more wired and/or wireless networks by transmitting and/or receiving network signals on one or more networks. Examples of communication units242include a network interface card (e.g., such as an Ethernet card), an optical transceiver, a radio frequency transceiver, a GPS receiver, a radio-frequency identification (RFID) transceiver, a near-field communication (NFC) transceiver, or any other type of device that can send and/or receive information. Other examples of communication units242may include short wave radios, cellular data radios, wireless network radios, as well as universal serial bus (USB) controllers.

One or more input components244of computing device210may receive input. Examples of input are tactile, audio, and video input. Input components244of computing device210, in one example, include a presence-sensitive input device (e.g., a touch sensitive screen, a PSD), mouse, keyboard, voice responsive system, camera, microphone or any other type of device for detecting input from a human or machine. In some examples, input components244may include one or more sensor components (e.g., sensors252). Sensors252may include one or more biometric sensors (e.g., fingerprint sensors, retina scanners, vocal input sensors/microphones, facial recognition sensors, cameras), one or more location sensors (e.g., GPS components, Wi-Fi components, cellular components), one or more temperature sensors, one or more movement sensors (e.g., accelerometers, gyros), one or more pressure sensors (e.g., barometer), one or more ambient light sensors, one or more sensors as described elsewhere herein with respect to system10or any other embodiment disclosed or contemplated herein, and one or more other sensors (e.g., infrared proximity sensor, hygrometer sensor, and the like). Other sensors, to name a few other non-limiting examples, may include a radar sensor, a lidar sensor, a sonar sensor, a heart rate sensor, magnetometer, glucose sensor, olfactory sensor, compass sensor, or a step counter sensor.

One or more output components246of computing device210may generate output in a selected modality. Examples of modalities may include a tactile notification, audible notification, visual notification, machine generated voice notification, or other modalities. Output components246of computing device210, in one example, include a presence-sensitive display, a sound card, a video graphics adapter card, a speaker, a cathode ray tube (CRT) monitor, a liquid crystal display (LCD), a light emitting diode (LED) display, an organic LED (OLED) display, a virtual/augmented/extended reality (VR/AR/XR) system, a three-dimensional display, or any other type of device for generating output to a human or machine in a selected modality.

UIC212of computing device210may include display component202and presence-sensitive input component204. Display component202may be a screen, such as any of the displays or systems described with respect to output components246, at which information (e.g., a visual indication) is displayed by UIC212while presence-sensitive input component204may detect an object at and/or near display component202.

While illustrated as an internal component of computing device210, UIC212may also represent an external component that shares a data path with computing device210for transmitting and/or receiving input and output. For instance, in one example, UIC212represents a built-in component of computing device210located within and physically connected to the external packaging of computing device210(e.g., a screen on a mobile phone). In another example, UIC212represents an external component of computing device210located outside and physically separated from the packaging or housing of computing device210(e.g., a monitor, a projector, etc. that shares a wired and/or wireless data path with computing device210).

UIC212of computing device210may detect two-dimensional and/or three-dimensional gestures as input from a user of computing device210. For instance, a sensor of UIC212may detect a user's movement (e.g., moving a hand, an arm, a pen, a stylus, a tactile object, etc.) within a threshold distance of the sensor of UIC212. UIC212may determine a two or three-dimensional vector representation of the movement and correlate the vector representation to a gesture input (e.g., a hand-wave, a pinch, a clap, a pen stroke, etc.) that has multiple dimensions. In other words, UIC212can detect a multi-dimension gesture without requiring the user to gesture at or near a screen or surface at which UIC212outputs information for display. Instead, UIC212can detect a multi-dimensional gesture performed at or near a sensor which may or may not be located near the screen or surface at which UIC212outputs information for display.

In accordance with the techniques described herein, analysis module220may receive images taken by cameras22of system10. When received, analysis module220may save these images in database224, which may be either a local database or a network or cloud database. Analysis module220may receive the images via communication units242via wireless transmission (e.g., in instances where computing device210is physically separate from system10or not connected by a wired connection) or via a physical connection (e.g., in instances where computing device210is physically integrated into system10, such as by being included in mechanism32, or when computing device210has a wired connection to system10).

Rules data store226may include the models used by analysis module220for analyzing the images stored in database224. More specifically, the rules data store226can perform standard segmentation processes on the images to identify characteristics of interest. For instance, in certain specific examples, rules data store226may store deep 3D models. Analysis module220may utilize such deep 3D models to examine the images and segment the spots that contain the one or more points of interest from the rest of the images. Analysis module220may process the images separately or on a point cloud made from the images and processed with deep 3D models.

Analysis module220may also receive other information from system10to perform the analysis described throughout this disclosure. For instance, analysis module220may receive information related to a speed of various portions of system10or position information for system10at the time each image is captured.

Analysis module220may perform this analysis to, for instance, detect any plant diseases in a large field of crops. For instance, analysis module220may identify specific diseases and further pinpoint to the specific location in the field where the images were captured as a result of the GPS capabilities of the system. Alternatively, in certain embodiments, for larger fields or those situations in which time is critical, analysis module220may perform sample information gathering from specific, disease-susceptible areas of the field, rather than the entire field. In this situation, any disease detection can be used to direct the system to perform a more focused search of the area where the disease was detected or, alternatively, the disease detection information can be used to treat the diseased area or take further steps without further searching.

FIG.7is a flow chart illustrating an example mode of operation. The techniques ofFIG.7may be performed by one or more processors of a computing device, such as computing device210illustrated inFIG.6. For purposes of illustration only, the techniques ofFIG.7are described within the context of computing device210ofFIG.6, although computing devices having configurations different than that of computing device210may perform the techniques ofFIG.7.

In accordance with the techniques of this disclosure, analysis module220may receive information from a plant scanning and image capturing system, such as system10ofFIG.1(602). The information may include images, GPS information, and/or speed information. Analysis module220may perform an analysis on the information, such as by using deep 3D models (604). Based on this analysis, analysis module220may identify one or more points of interest based on the information, such as infected plants, type of infection, stage the infection, location origin, and spread area on a map.

The various plant scanning and image capturing systems disclosed or contemplated herein can be configured for use with a variety of vehicles or prime movers. For example,FIGS.8A and8Bshow another exemplary embodiment of a ground-based plant scanning and image capturing system300. As best shown inFIG.8A, the system300can include a mobile base or frame212with a rotatable imaging (or “camera”) assembly330attached to the base212via a vertical rod328. The mobile base312has a horizontal bar314, two support frames316A,316B disposed at each end of the horizontal bar314, and two continuous tracks318rotatably attached to the two support frames316A,316B as shown that can be used to allow the system300to move across the ground in a target area, such as a crop field. In the embodiment as shown, the vertical rod328can be coupled to the horizontal bar314at approximately the center of the bar314. In some embodiments, the vertical rod328have a length of about 10 inches to about 180 inches. In other embodiments, the vertical rod328can have a length of 100 inches.

FIG.8Bshows a front view of the system300ofFIG.8A. The camera assembly330can include at least one camera322shielded by a cover325. In this specific implementation, the assembly330has three cameras322. As discussed in additional detail below, each camera322is disposed on the outer perimeter of the assembly330with the imaging lens of each camera322aimed outward to capture images of areas surrounding the system300. An actuator cover (or “housing”)340houses at least one actuator or motor (as discussed in more detail below) configured to cause both rotational movement of the camera assembly330(as will be described in detail below) to provide for a panning functionality for the cameras322and linear movement of specific portions of the assembly330(as will also be described in detail below) to provide for a tilting functionality for the cameras322. Rotation of the camera assembly330(panning) and linear movement of portions of the assembly (tilting) allows the cameras322to capture images of the area surrounding the system300from various views and/or angles. For the panning functionality, the camera assembly330can be configured to rotate 360 degrees about the vertical rod328, thereby making it possible for the cameras322to capture 360 degree views of a location. The cover325can protect the cameras322from various weather elements such as wind or rain, and reduce glare in the images captured by the cameras322, thereby providing clearer and more accurate images of a location.

FIGS.9A-12show the various components of the camera assembly330, according to one implementation, including the two separate actuation assemblies: the rotation (panning) actuation assembly and the linear (tilting) actuation assembly. The rotation actuation assembly is made up of the rotation actuator336(as best shown inFIGS.10B,11, and12), the drive tube338(as best shown inFIGS.10B and12) attached to the actuator336, the rotatable drive collar (or “structure”)348(best shown inFIGS.9B,10B, and12) attached to the drive tube338, and the rotatable frame320(as best shown inFIGS.9A-B,10A,11, and12) attached to the drive collar348. The linear actuation assembly is made up of the linear actuator332(as best shown inFIGS.10B,11, and12), the drive rod334attached to the actuator332(as best shown inFIGS.10B and12), the linear drive body (or “cap”)346(as best shown inFIGS.9A-B,10A, and12) attached to the drive rod334, and the camera tilt arms350(as best shown inFIGS.9A-9C,10A, and12) attached to the drive cap346.

According to the exemplary implementation as shown, the camera assembly330ofFIGS.9A-9Dincludes three cameras322mounted on the rotating frame320such that the cameras322can rotate with the frame320when the frame320is rotated and further can rotate up and down (tilt) in relation to the frame320. That is, as best shown inFIGS.9C and9D, each camera322can be rotatably mounted to the frame320via two attachment arms (or “structures”)321on the frame320such that the camera322is attached to the frame320while allowing the cameras322to tilt (pivot in relation to the attachment arms321around an axis parallel to the diameter of the frame320). More specifically, each camera320can be pivotably attached to a pair of attachment arms321that are spaced apart from each other such that camera is disposed between the pair and can be rotatably coupled on one side of the camera320to one of the two arms321and on the other side to the other arm321. Alternatively, any known attachment structures or mechanisms can be provided to rotatably attach the cameras322to the rotatable frame320such that each camera322can rotate in relation to the frame320as described herein.

As best shown inFIGS.9A-C, in addition to being rotatably coupled to the frame320as described above, each camera322is also rotatably coupled to a camera tilt arm350such that the camera tilt arm350can urge the camera322to tilt (rotate in relation to the attachment arms321as described above). More specifically, the rotatable camera assembly330has three camera tilt arms350, which each attached to one of the cameras322. As best shown inFIG.9C, each tilt arm350has a first link350A and a second link350B that is rotatably coupled to the first link350A at a rotatable joint (or “elbow joint”)350C. The first link350A is rotatably coupled at a first end to the linear drive body346and at a second end to the elbow joint350C. Further, the first link350A is rotatably coupled at a point along the length of the first link350A to the drive collar348via a connection arm347. The second link350B is rotatably coupled at a first end to the elbow joint350C and at a second end to the camera322. As a result, when the linear actuator332is actuated to urge the rod334upward such that the drive body346is urged upward, the first end of the first link350A is driven upward, which causes the second end to be driven downward (as a result of the first link350A pivoting at the connection arm347). This causes the first end of the second link350B to move downward, thereby causing the camera322to rotate in relation to the arms321such that the top of the camera is pulled inward (toward the drive body346), thereby tilting the camera up. In contrast, when the actuator332is actuated to urge the rod334downward, the drive body is urged downward, the first end of the first link350A is driven downward, the second end of the first link350A is drive upward, and thus the top of the camera322is urged outward, thereby tilting the camera down.

As best shown inFIGS.10A-12, one exemplary embodiment of the actuation assemblies (as discussed above) of the rotatable camera assembly330has the following specific configuration. The drive collar348is disposed within the camera frame320such that the rotational axis of the drive collar348is substantially coaxial with the rotational axis of the frame320. Further, the drive collar348is not only rotatably coupled to the camera tilt arms350as shown (and as discussed above), but is also attached to the camera frame320via three frame connectors358, each of which is attached at one end to the drive collar348and at the other end to the frame320. Further, the connectors358in this implementation are fastened using fasteners360(such as screws and/or bolts). Alternatively, any known fasteners or fastening mechanisms. Thus, the frame320is rotationally constrained to the drive collar348such that rotation of the drive collar348causes rotation of the frame320. Alternatively, the assembly330can have two, four, five, or any number of frame connectors358, or, in a further alternatively, can have any other known attachment component or mechanism for coupling the camera frame320to the drive collar348.

Further, in certain implementations, a frame platform or bearing352can be provided such that the platform352is attached to the motor housing340and the camera frame320can be rotatably disposed on the platform352. The platform352can be attached to the housing340via fasteners354similar to the fasteners360discussed above. Alternatively, the platform352can be attached to the camera frame320such that the frame320and platform352rotate in relation to the motor housing340.

Additionally, the linear drive cap346is not only coupled to the camera tilt arms350, but is also linearly coupled to the linear drive rod334. More specifically, the linear drive cap346is coupled to the linear drive rod334such that when the rod334is actuated to move up and/or down, the drive cap346is urged to move up and/or down along with the rod334. However, the cap346must also be rotatable in relation to the drive rod334, because the cap346is also coupled to the camera tilt arms350as discussed above. Thus, when the drive collar348is actuated to rotate such that the camera frame320and cameras322are also actuated to rotate, the tilt arms350will rotate as well, thereby causing the drive cap346to rotate. Thus, the cap346is coupled to the drive rod334such that it can be urged linearly by the drive rod334while also allowing for it to rotate in relation to the rod334. In one specific embodiment, a bearing344is provided that is disposed within the drive cap346and in contact with the drive rod334to facilitate rotation of the cap346in relation to the rod334.

Thus, the combination of the rotation actuation assembly (as described above) and the linear actuation assembly (as also described above) make it possible for the rotatable camera assembly330to provide cameras322that can both pan (rotate with the camera frame320) due to the rotation actuation assembly (as described above) and tilt (rotate in relation to the camera frame320around an axis transverse to the rotational axis of the frame320) due to the linear actuation assembly (as described above).

As best shown inFIGS.11and12, according to one embodiment, the linear actuator332and the rotation actuator336are disposed within the actuator housing340as shown. As discussed above, the linear drive rod334is disposed within and operably coupled to the linear actuator332such that actuation of the actuator332causes the linear drive rod334to move linearly up and/or down. In one specific embodiment as best shown with reference toFIGS.10B and12, the linear drive rod334is disposed through a lumen335A defined through the linear actuator332and has external threads (or other external features) that mateably couple with matching threads (or other matching features) on the inner surface of the lumen335A. Thus, the actuator332can cause the inner surface of the lumen335A to rotate such that the rotation is translated into linear movement of the drive rod334via the threads. Alternatively, the actuator332and rod334can have any configuration or mechanisms that allow for the actuator332to cause the rod334to move linearly as described herein.

In addition, according to the specific implementation as shown, the rotation actuator336is disposed above the linear actuator332such that the linear drive rod334is disposed through the rotation actuator336and the drive tube338. More specifically, the rotation actuator336also has a lumen335B defined through the actuator336and the drive tube338has a lumen335C such that the rod334can pass through the lumens335B,335C and thus can be coupled to the drive cap346as described above. Further, the drive tube338is rotationally constrained to the actuator336such that actuation of the actuator336causes rotation of the drive tube338. Because the drive tube338is attached to the drive collar348as discussed above, rotation of the drive tube338causes rotation of the drive collar348.

In some embodiments, the linear actuator332is a motor such as a LA42 Non-Captive Linear Actuator—Nema 17, which is commercially available from Nanotec (https://us.nanotec.com/). Other similar motors can include stepper motors from Dings' Motion and Helix. Alternatively, any known motors or actuators for use in such devices can be used. Further, according to some implementations, the rotation actuator336can be a motor such as a hollow shaft motor commercially available from Nanotec. Other similar motors can include hollow shaft motors from Otostepper. Alternatively, any known motors or actuators for use in such devices can be used.

In alternative embodiments, the rotatable camera assembly330can have one camera, two cameras, four cameras, five cameras, six cameras, or any number of cameras disposed around the perimeter thereof (and associated actuation assemblies) in a fashion similar to that described above for the exemplary embodiment have three cameras322as shown.

The combination of pan and tilt movement of the cameras322can allow the cameras322to capture additional images and views of a location in any direction. By broadening the range of capturable locations, the system300can assist in monitoring crops to determine soil quality, nutrient deficiencies, disease, and/or pests at a location with improved accuracy.

FIG.13shows an exemplary embodiment of yet another ground-based plant scanning and image capturing system400. The system400has a camera assembly430, a frame412, horizontal bar414, vertical support frames416A,416B, and tracks418. In one embodiment, the frame412can be substantially similar to the system300ofFIGS.8A-8B.

Some embodiments of the camera assembly430can include eight cameras422as shown. In other embodiments, the camera assembly430can have two, three, four, five six, seven, nine, ten, or up to more than one-hundred cameras. The camera assembly430can be attached to the system400via the vertical rod428. In this specific implementation, unlike the system300discussed above, the camera assembly430is not rotatable. Thus, the system400has no rotation actuator.

FIG.14shows one embodiment of the camera assembly430of the system400. The cameras422are disposed on an outer frame420, which is attached to an inner frame452using a plurality of fasteners454. Like the system300shown inFIG.8A, the inner frame452can include a plurality of columns427supporting a cover425configured to shield the cameras422from the environment and/or weather. Both the inner frame452and outer frame420can be generally the same shape. In some embodiments, both frames420,452can be generally circular. However, the frames420,452can be any shape allowing the disposition of cameras422thereon wherein the cameras are able to capture a 360 degree view of a location.

FIGS.15A-15Cshow another exemplary embodiment of a plant scanning and image capturing system500, which in this case is a flying system (or “drone”)500. In this embodiment, the drone500has a camera assembly510attached thereto. While the flying component of the system500can be configured according to any known drone, the exemplary drone500as shown has eight propellers506, each operably connected to a motor502. Each motor502can be disposed on a drone frame member504such that the system500has eight frame members504A-H. The drone frame members504A-504H can be radially disposed around a vertical rod518coupled to the camera assembly510. The camera assembly510can be used in combination with any drone configurable for use with a camera assembly510.

According to one implementation, the camera assembly510is substantially similar to the corresponding components and features of the camera assembly330as discussed above, except as expressly set forth below. That is, the actuator housing540can include a linear actuator (not pictured) and a rotation actuator (not pictured) causing rotating and angular movement of the cameras522. The cameras522can be mounted on the rotatable frame556operably connected to the actuators (not pictured) of the camera assembly510. Thus, while the drone500is in operation, the camera assembly510can rotate the rotatable frame556and angularly adjust the cameras522.

Thus, the cameras522can be configured to capture a 360 degree view of an area below and surrounding the drone500. As best shown inFIGS.15A and15C, the camera assembly510of the drone500can be disposed below the frame504when the drone500is in use. This positioning prevents obstruction of the cameras522by the frame504.

FIG.16AandFIG.16Bshow an alternative flying plant scanning and image capturing system (or “drone”)700. The various components and features of this camera assembly730are substantially similar to the corresponding components and features of the camera assembly430discussed above except as expressly discussed below.FIG.16Ashows the camera assembly730including cameras722, an inner frame752and an outer frame720. The camera assembly730can be disposed below the drone frame704, motors702, and propellers706such that the frame704does not block the field of vision of the cameras722. The inner frame752can be coupled to the vertical rod718of the drone700, thereby attaching the camera assembly730to the drone700. The outer frame720can be attached to the inner frame752. The camera(s)722can be attached to the outer frame720. In some embodiments, the cameras can be radially disposed around the outer frame720. In some implementations, this camera assembly730is not rotatable.

The camera assemblies330,430,510,730are each shown in use with vehicular systems or prime movers such as drones500,700or vehicles/prime movers using a track300,400. However, it should be noted that the various camera assemblies330,430,510,730disclosed or contemplated herein can each be used in combination with any known ground-based or flying vehicle. This includes, but is not limited to, prime movers including those with wheels, flying prime movers, or farm equipment to which the assemblies330,430,510,730can be attached. Each assembly330,430,510,730can be configured for use with any structure that could allow the cameras to capture images at a location, including structures operably coupleable with vehicles to facilitate the movement of the assemblies330,430,510,730.

In one specific use example, any of the embodiments herein can be used to monitor multiple different plant lines in plant-breeding situations. More specifically, a plant-breeding entity (such as a company, research institution, or university, for example) will typically plant multiple different plant lines in the same field and monitor the different characteristics in those different lines as the plants emerge from the soil and grow. This allows the entity to identify the lines with the best and most desirable characteristics. The manual process for this in-field plant monitoring is extremely labor intensive and requires multiple people to examine multiple characteristics of multiple plants on a regular—typically daily—basis. Known plant scanning vehicles cannot capture or monitor the target characteristics in sufficient detail or with sufficient accuracy. In contrast, the various systems herein can operate to capture the desired information with regularity, specificity, and accuracy. More specifically, one or more of the system implementations herein can be manually or autonomously driven through the field on a daily basis to capture the desired plant characteristics using the system features described herein. The one or more rotating cameras with height adjustment and targeted capture of specific characteristics make it possible to successfully replace the multiple expert personnel typically required for the same activity.

In another specific use example, any of the embodiments herein can be used to detect any plant diseases in a large field of crops. For example, in one embodiment, one of the system embodiments herein passes through the field with appropriate cameras for detecting plant disease and gathers the detailed images for processing. Any specific diseases can be identified by the system and further can be pinpointed to the specific location in the field where the images were captured as a result of the GPS capabilities of the system. Alternatively, in certain embodiments, for larger fields or those situations in which time is critical, the system can be programmed or otherwise controlled to perform sample information gathering from specific, disease-susceptible areas of the field, rather than the entire field. In this situation, any disease detection can be used to direct the system to perform a more focused search of the area where the disease was detected or, alternatively, the disease detection information can be used to treat the diseased area or take further steps without further searching.

While the various systems described above are separate implementations, any of the individual components, mechanisms, or devices, and related features and functionality, within the various system embodiments described in detail above can be incorporated into any of the other system embodiments herein.

The terms “about” and “substantially,” as used herein, refers to variation that can occur (including in numerical quantity or structure), for example, through typical measuring techniques and equipment, with respect to any quantifiable variable, including, but not limited to, mass, volume, time, distance, wave length, frequency, voltage, current, and electromagnetic field. Further, there is certain inadvertent error and variation in the real world that is likely through differences in the manufacture, source, or precision of the components used to make the various components or carry out the methods and the like. The terms “about” and “substantially” also encompass these variations. The term “about” and “substantially” can include any variation of 5% or 10%, or any amount—including any integer—between 0% and 10%. Further, whether or not modified by the term “about” or “substantially,” the claims include equivalents to the quantities or amounts.

While multiple embodiments are disclosed, still other embodiments will become apparent to those skilled in the art from the following detailed description, which shows and describes illustrative embodiments. As will be realized, the various implementations are capable of modifications in various obvious aspects, all without departing from the spirit and scope thereof. Accordingly, the drawings and detailed description are to be regarded as illustrative in nature and not restrictive.