Patent ID: 12197219

DETAILED DESCRIPTION

FIGS.1through7, described below, and the various embodiments used to describe the principles of the present invention in this patent document are by way of illustration only and should not be construed in any way to limit the scope of the invention. Those skilled in the art will understand that the principles of the present invention may be implemented in any type of suitably arranged device or system.

FIG.1illustrates an example mobile crop monitoring and treatment system100in accordance with this disclosure. As shown inFIG.1, the mobile system100includes multiple sensors110and at least one data storage device115configured to store data captured by the sensors110. Various types of sensors110may be used in the mobile system100, examples of which are described below. Each sensor110includes any suitable structure configured to capture data pertaining to at least one plant-related parameter, such as when the sensor110is positioned proximate to each of one or more plants in one or more crops. Various types of data storage devices115may also be used in the mobile system100, such as one or more volatile or non-volatile memories. Example types of data storage devices115that may be used in the mobile system100include a random access memory, a read only memory, a hard drive, a Flash memory, or an optical disc.

The mobile system100also includes a treatment system120, which is configured to apply one or more treatment agents (such as at least one chemical pesticide and/or at least one biological control agent) to each of one or more plants in one or more crops. The treatment system120includes any suitable structure configured to deliver one or more treatment agents to plants. Details of an example implementation of the treatment system120are provided below.

The mobile system100further includes a computer and control system130with associated software135. The computer and control system130is configured to control the overall operation of the mobile system100, such as by controlling movement of the mobile system100and operation of the sensors110and treatment system120. The computer and control system130can execute the software135in order to perform its functions. The computer and control system130includes at least one processor, such as at least one of a central processing unit (CPU), a graphics processing unit (GPU), a data processing unit (DPU), and a Tensor processing unit (TPU). An on-board DPU or other processor(s) of the computer and control system130can be used, for example, to process sensor data and determine one or more suitable treatments to be applied to one or more plants in one or more crops. Note that while the software135here is shown as a separate component, the software135may be stored internally within the computer and control system130, such as in a non-volatile memory of the computer and control system130.

The mobile system100may optionally include a communication system/interface140, which may allow the mobile system100to communicate information and data to one or more external systems or devices and/or to receive information or commands from one or more external systems or devices. In some embodiments, the communication system/interface140may include an external serial connection that is provided to allow a user to connect a personal computer (PC) or other device to the mobile system100, such as in order to modify the software135on-board the mobile system100. Also, in some embodiments, the communication system/interface140may include at least one wireless radio or other wireless transmitter, receiver, or transceiver that allows wireless communications to and/or from the mobile system100.

The mobile system100also includes a propulsion system150, which is configured to move the mobile system100(such as on the ground or in the air). The propulsion system150includes any suitable structure configured to propel or otherwise move the mobile system100, such as an electric motor, wheels, propellers, etc. The mobile system100further includes a power supply155, which is configured to provide operating power to other components of the mobile system100. The power supply155includes any suitable structure configured to provide operating power to the mobile system100. In some embodiments, the power supply155includes at least one battery or other energy storage device and associated recharging equipment. In particular embodiments, the power supply155includes a power management system that is configured to provide for switching between multiple energy sources. The power management system may also incorporate safety and protection devices.

The mobile system100may further include a guidance and positioning system160, which can be configured to identify a location of the mobile system100and to support navigation by the mobile system100. In some embodiments, the guidance and positioning system160produces location tags that can be associated with sensor measurements, where the location tags identify positions at which the sensor measurements are captured. The location tags can be stored in the data storage device115and optionally transmitted, along with the sensor data, via the communication system/interface140. The guidance and positioning system160includes any suitable structure configured to identify a location of the mobile system100, such as a Global Positioning System (GPS) receiver or other satellite-based receiver, an Ultra-Wideband (UWB) receiver, a Radio Frequency Identification (RFID) device, or other device. Note that the guidance and positioning system160may operate by receiving incoming signals to identify its location or by transmitting outgoing signals that allow other components to identify its location.

In addition, the mobile system100may include a display and/or user interface165, which can be used to provide information to a user or receive information from the user. For example, the display and/or user interface165may be used to identify current settings of the mobile system100, sensor measurements captured by the sensors110, or treatments to be applied by the treatment system120. The display and/or user interface165may also be used to receive user observations of plant conditions, user confirmations of proposed treatments, or other information. The display and/or user interface165includes any suitable structure configured to provide information to or receive information from a user, such as a liquid crystal display (LCD), light-emitting diode (LED) display, or other display device. Depending on the implementation, the display and/or user interface165may include physical buttons and/or a touchscreen.

In some embodiments of the mobile crop monitoring and treatment system100, the position(s) of one, some, or all of the sensors110can be adjustable so that the sensor(s)110can be positioned appropriately. Various factors can affect how one or more of the sensors110are positioned, such as the size (like height and/or volume) of a plant being inspected and which region of the plant is to be sensed. In particular embodiments, at least some of the sensors110can be moved and re-positioned automatically (rather than manually) based on commands from a control system, which can be responsive to inputs indicative of where the sensor(s)110should be positioned.

Note that the mobile crop monitoring and treatment system100here can be implemented in a number of ways depending on particular needs. For example, in some embodiments, the mobile system100is implemented as a ground-based platform, such as when the mobile system100is implemented using a robotic ground-based scout or other ground-based device. In other embodiments, the mobile system100is implemented as an air-borne platform, such as when the mobile system100is implemented using a robotic air-borne scout or other air-based device (like a drone). Combinations of approaches may also be used, such as when the mobile crop monitoring and treatment system100includes a robotic ground-based scout or other ground-based device that operates in conjunction with a robotic air-borne scout or other air-based device. As particular examples, ECOATION INNOVATIVE SOLUTIONS INC. offers various products that can be used in greenhouses or other locations, such as the OKO manually-driven cart (which includes an interactive display that can be used by an operator) and the IRIS SCOUTROBOT robotic scout. The mobile system100may be incorporated into either of these products and used manually or autonomously. For instance, in the case of the OKO cart, an operator may drive the cart to specific locations and use an interactive display to distribute one or more chemical pesticides or biological control agents. In the case of the IRIS robotic scout, one or more chemical pesticides or biological control agents may be distributed in an autonomous manner. In general, this disclosure is not limited to any particular manual, partially automated, or fully automated manner of distributing chemical pesticides or biological control agents.

AlthoughFIG.1illustrates one example of a mobile crop monitoring and treatment system100, various changes may be made toFIG.1. For example, various components shown inFIG.1may be combined, further subdivided, replicated, rearranged, or omitted and additional components may be added according to particular needs.

FIG.2illustrates an example crop treatment system200that can be incorporated into a mobile crop monitoring and treatment system in accordance with this disclosure. For example, the crop treatment system200may be used to at least partially implement the treatment system120of the mobile crop monitoring and treatment system100inFIG.1. Note, however, that the crop treatment system200may be used in any other suitable mobile system.

As shown inFIG.2, the crop treatment system200includes at least one chemical pesticide storage container/dispenser210, which is configured to receive, hold, and dispense at least one chemical pesticide. For example, each chemical pesticide storage container/dispenser210can include one or more containers that receive and hold one or more pesticides or pesticide component materials. Each chemical pesticide storage container/dispenser210can also include one or more devices used to draw the chemical pesticide(s) or component material(s) from the container(s) for use. In this example, the chemical pesticide storage container/dispenser210includes a mixer215, which may be configured to mix pesticide formulations as needed or desired. For instance, the mixer215may be configured to receive different combinations of stored chemical pesticides or component materials and to mix the combinations of stored chemical pesticides or component materials. Each chemical pesticide storage container/dispenser210includes any suitable structure configured to retain and dispense at least one pesticide or component material. Each mixer215includes any suitable structure configured to mix materials.

The crop treatment system200also includes at least one solvent and adjuvant storage container/dispenser220, which is configured to receive, hold, and provide one or more solvents and/or one or more adjuvants. A solvent refers to a liquid or other material into which at least one chemical pesticide can be dissolved or mixed, and an adjuvant refers to a liquid or other material that helps to enhance the effectiveness of one or more pesticides. The solvent(s) and/or adjuvant(s) can be drawn from the solvent and adjuvant storage container/dispenser220and combined with one or more pesticides from the chemical pesticide storage container/dispenser210. Each solvent and adjuvant storage container/dispenser220includes any suitable structure configured to retain and dispense at least one solvent and/or at least one adjuvant.

The crop treatment system200further includes at least one biological control agent storage container/dispenser230, which is configured to receive, hold, and dispense at least one biological control agent. A biological control agent refers to one or more living organisms or natural products that can be used to reduce or eliminate a pest, disease, or other problem with a plant. For example, each biological control agent storage container/dispenser230can include one or more containers that receive and hold one or more biological control agents. Each biological control agent storage container/dispenser230can also include one or more devices used to distribute the biological control agent(s) from the container(s) for use. In this example, the biological control agent storage container/dispenser230includes an agitator and/or aerator240. An agitator can be used to distribute one or more biological control agents more evenly within the container/dispenser230. An aerator can be used to provide air to one or more biological control agents within the container/dispenser230. While not shown here, the biological control agent storage container/dispenser230can include a mixer, which may be configured to mix different combinations of biological control agents as needed or desired. For instance, the mixer may be configured to receive different combinations of stored biological control agents and to mix the combinations of stored biological control agents. Each biological control agent storage container/dispenser230includes any suitable structure configured to retain and dispense at least one biological control agent.

Note that one, some, or all of the containers/dispensers210,220, and230can be divided into multiple compartments for use in storing different materials or agents. Also, one, some, or all of the containers/dispensers210,220, and230may include one or more pumps (not shown), where each pump is configured to dispense one or more materials from one or more containers. Different example implementations of the containers/dispensers210,220,230are discussed below, although these implementations are for illustration only.

The crop treatment system200also includes a controller250, which can be used to determine the treatment or treatments to be administered to each of various plants in at least one crop and to control the dispensing, formulation, dilution, dosage, and application of such treatments. The controller250includes at least one processor or other processing device configured to perform control operations. In some embodiments, the controller250may form part of a computer and control system used for a broader system of which the crop treatment system200is a part, such as when the controller250forms a part of the computer and control system130in the system100ofFIG.1. In other embodiments, the controller250may represent a separate computer-based controller or other stand-alone controller. If the controller250is used in conjunction with another device (such as an on-board computer processor in the computer and control system130), the described functionality of the controller250may be distributed. As a particular example, the on-board computer processor may determine a dosage and a concentration for a treatment to be applied to a plant in response to one or more signals from one or more sensors110, and the controller250may initiate the treatment to the plant based on the identified dosage and concentration.

In addition, the crop treatment system200includes at least one robotic arm260and interchangeable applicators265, which are configured to apply one or more treatments to various plants in at least one crop under the control of the controller250. For example, the at least one robotic arm260can be used to selectively position one or more applicators265at one or more desired positions at or near each plant being treated, and the one or more applicators265can be used to dispense one or more treatments for the plants. Each robotic arm260includes any suitable structure configured to be moved in order to selectively position one or more applicators265. Each applicator265includes any suitable structure configured to apply one or more treatments. For instance, the applicators265can include different nozzles, hoses, sprayers, rollers, misters, foggers, dusters, atomizers, and/or any other suitable applicators. While not shown here, the applicators265and/or robotic arm260may include one or more valves or other flow control devices configured to start, stop, and adjust the flow of material(s), such as one or more chemical pesticides and/or one or more biological control agents. Also while not shown here, the applicators265and/or robotic arm260may include one or more grippers or other structures designed to grasp or otherwise physically manipulate plants during inspection or treatment. The type(s) of applicator(s)265and/or grippers used can vary based on various factors, such as the type(s) of plant(s) to be treated and inspected. In addition, the robotic arm260may be used to carry other components that are not used to dispense chemical pesticides and biological control agents but that may be used to treat plant problems in other ways. For instance, the robotic arm260may carry at least one ultraviolet (UV) light270, such as one that produces UV-c light, since ultraviolet light can be used to treat plant diseases like powdery mildew.

Note that the crop treatment system200or a similar system can be incorporated into a mobile sensory platform for crop health monitoring. Example platforms in which the crop treatment system200may be used can include the one described above with respect toFIG.1, as well as the ones described in U.S. Pat. No. 10,241,097 and U.S. Patent Application Publication No. 2017/0032258 (both of which are hereby incorporated by reference in their entirety). Other example platforms in which the crop treatment system200may be used can include the OKO cart and IRIS SCOUTROBOT robotic scout from ECOATION INNOVATIVE SOLUTIONS INC.

AlthoughFIG.2illustrates one example of a crop treatment system200that can be incorporated into a mobile crop monitoring and treatment system, various changes may be made toFIG.2. For example, various components shown inFIG.2may be combined, further subdivided, replicated, rearranged, or omitted and additional components may be added according to particular needs. Also, certain chemical pesticides and biological control agents may be delivered in other ways and need not be stored in containers and sprayed through applicators. For instance, a chemical pesticide or biological control agent may be placed on a tray, and a gripper or other portion of a robotic arm260may be used to grasp and deliver the chemical pesticide or biological control agent.

FIGS.3A and3Billustrate a specific example implementation of a mobile crop monitoring and treatment system300in accordance with this disclosure. The mobile crop monitoring and treatment system300here can include various components shown inFIGS.1and2that are described above. As shown inFIG.3A, the mobile system300includes a cart305having four wheels308(two of which are visible) and a frame310mounted to a platform312. The platform312is, in turn, mounted to a scissor lift315. The scissor lift315allows the platform312, the frame310, and components mounted to the platform312or the frame310to be raised and lowered. This may be done, for instance, depending on the heights of plants in a crop being inspected or treated.

A power supply, which in this example includes a battery320, is carried on-board the cart305. The power supply can provide electrical power to various on-board systems and electrical power used for propulsion of the mobile system300. In some embodiments, the mobile system300can represent an adaption of a typical pipe rail trolley that is often used in horticulture and greenhouse applications and that is designed to maneuver through small pathways and to be adjustable to desired heights. A pipe rail mounting wheel322and a pipe rail detection sensor325can be used to guide the mobile system100through crops in situations where there are pipe rails.

In some instances, the mobile system300may be configured to operate in an autonomous manner (without an on-board operator or driver). In other instances, a human (such as a farmer or grower) can optionally ride aboard the mobile system300on the platform312, such as while acting as an observer or to drive or otherwise operate one or more aspects of the mobile system300manually. A steering device330can be used to steer the mobile system300manually, and a mobility controller332can be used to manually control propulsion of the mobile system300, such as when the mobile system300is not under automated control.

The mobile system300also includes an on-board crop monitoring system that includes various sensors and sensor modules mounted to the frame310. In some embodiments, the position(s) of one, some, or all of the sensors/sensor modules can be adjustable during operation of the mobile system300, and a control system can control the position(s) of the sensor(s)/sensor module(s). In this example of the mobile system300, the mobile system300includes a crop health monitoring sensor module340and imaging sensors342and345. In some embodiments, the crop health monitoring sensor module340represents a multi-sensor module that can include various types of sensors contained in a housing. The imaging sensors342and345can be used to capture images of different portions of plants. For example, the imaging sensor342can be used to image a crop head, and the imaging sensor345(the height of which can be adjusted by moving it up and down on mounting rods348automatically or manually) can be used for fruit imaging.

The mobile system300may include any other or additional sensors. Other sensors on-board the mobile system300can include, for example, physiological sensors, surface analysis sensors, chemical sensors, microclimate sensors, and/or canopy screening sensors. In some embodiments, the mobile system300includes at least one physiological sensor that includes at least one configurable optical probe and at least one tunable detector, at least one surface analysis sensor that includes at least one full spectrum light source and at least one spectroscopic detector, and at least one chemical analysis sensor (which may include at least one photo-ionization detector, at least one surface acoustic wave sensor, and/or at least one quartz crystal microbalance sensor). In particular embodiments, the mobile system300includes a multispectral or hyperspectral imaging device, a leaf temperature sensor, an evapotranspiration sensor, a surface electrical charge sensor, a terahertz sensor, a spore detection sensor, and/or a tunable microphone.

The mobile system300further includes an on-board crop treatment system that includes multiple material storage containers and associated dispensers from which chemical pesticides or pesticide component materials (possibly with appropriate solvents and/or adjuvants) and biological control agents are drawn and administered to plants in a crop. In this example embodiment, the mobile system300includes three storage containers/dispensers350a,350b, and350c, each of which can have one or more compartments and can include one or more mixers, aerators, agitators, and/or smart pumps. Example implementations of storage containers and dispensers are described in more detail in reference toFIGS.4A through6Bbelow. However, other containers and dispensers and other numbers of containers and dispensers may be used.

The material storage containers/dispensers350a,350b, and350ccan be selectively fluidly connected to deliver chemical pesticides, suitable solvents and/or adjuvants, and biological control agents to at least one robotic arm360via which they are selectively applied to plants in a crop in a targeted, localized manner. Each robotic arm360can have multiple degrees of freedom, such as when the robotic arm360can swivel, pivot, extend, etc., so that treatment can be selectively applied to a desired location on each individual plant. The robotic arm360may include an interchangeable applicator (such as a spray nozzle or other applicator265) or gripper365that can be changed automatically or on demand and may be adjustable. Alternative applicators or grippers (not shown) can be carried on-board the mobile system300and connected to the robotic arm360as needed. Some applicators365can have UV lights at the end, and the robotic arm360can point the UV light attachment to specific areas of the plants or crop to treat diseases.

In some embodiments, the mobile crop monitoring and treatment system300(or the mobile system100described above) can be controlled and operated from a remote location (such as via wireless communications) and/or can be equipped with one or more on-board computers and controllers for controlling propulsion of the mobile system and operation of the sensor-based on-board crop monitoring system and on-board crop treatment system. In this example, the mobile system300includes two on-board computer-based control systems370and375, and the mobile system300can be operated and controlled autonomously using these on-board computer-based control systems370and375. For example, these systems370and375can be used to analyze the results from the on-board crop monitoring system, such as based on the outputs of the various sensors, and determine in real-time what treatments will be applied to a crop using the on-board crop treatment system. The system300also includes an interactive display380that can provide information to a human who is on-board the mobile system300. Any suitable information can be displayed, such as information about the findings of the on-board crop monitoring system and treatment being applied by the on-board crop treatment system.

FIG.3Billustrates a portion390of the mobile crop monitoring and treatment system300ofFIG.3Aand, in particular, shows the three material storage containers/dispensers350a,350b, and350cin close-up view. These three material storage containers/dispensers350a,350b, and350ccan be the same as one another or different from one another. This can depend on a number of factors, such as the materials to be dispensed. In some embodiments, the material storage containers/dispensers350a,350b, and350ccan be formed of one or more materials that are inert and that will not contaminate or be degraded by the materials that are to be stored in them.

AlthoughFIGS.3A and3Billustrate a specific example implementation of a mobile crop monitoring and treatment system300, various changes may be made toFIGS.3A and3B. For example, various components shown inFIGS.3A and3Bmay be combined, further subdivided, replicated, rearranged, or omitted and additional components may be added according to particular needs. Also, the form of the cart and other physical components of the mobile system300can easily vary as needed or desired.

FIGS.4A through6Billustrate example storage containers/dispensers that can be used on-board a mobile crop monitoring and treatment system and from which at least one treatment can be dispensed in accordance with this disclosure. In particular,FIGS.4A and4Billustrate a first example storage container/dispenser350a,FIGS.5A and5Billustrate a second example storage container/dispenser350b, andFIGS.6A and6Billustrate a third example storage container/dispenser350c. Note that these associations of different structures with different storage containers/dispensers350a,350b, and350care for illustration only and that each storage container/dispenser350a,350b, and350cof the mobile system300may have any suitable structure.

As shown inFIG.4A, the storage container/dispenser350aincludes a cylindrical storage area410that is divided vertically into eight compartments. As shown inFIG.4B, a cross-sectional view of the storage area410shows the eight compartments420a-420h, each of which can contain a different chemical pesticide or active ingredient thereof. Note that while the compartments420a-420hhere are shown as being generally equal in size, this need not be the case. Each compartment420a-420his connected to a smart pump430via a separate hose425or other connector. An on-board computer-based control system or other system can cause an appropriate pesticide or mix of pesticides or pesticide components to be drawn from one, some, or all of the compartments420a-420hby the smart pump430and, if needed, to be mixed in a mixing area440. The pesticide or mix of pesticides or pesticide components that is selected can be based on the specific problem that needs to be treated, which may be identified by the on-board sensor-based crop monitoring system. The pesticide or mix of pesticides or pesticide components is supplied from the mixing area440to an applicator, such as an applicator265on a robotic arm260or an applicator365on a robotic arm360, via a supply line450.

As shown inFIG.5A, the storage container/dispenser350bincludes a cylindrical storage area510that is divided vertically into two compartments. As shown inFIG.5B, a cross-sectional view of the storage area510shows the two compartments520a-520b. Note that while the compartments520-520bhere are shown as being unequal in size, this need not be the case. The larger compartment520acan contain at least one carrier (such as water or another suitable solvent or carrier) for one or more chemical pesticides in another container. The smaller compartment520bcan contain at least one adjuvant. Adjuvants can include, for example, wetter-spreaders, stickers or adherents, penetrants, compatibility agents, and/or ionic or non-ionic surfactants. In some embodiments, materials are given an electronic charge to enhance their adherence to the foliage of plants. Each compartment520aand520bis connected to a smart pump530via a separate hose525or other connector. An on-board computer-based control system or other system can cause an appropriate quantity of carrier and adjuvant to be drawn respectively from the compartments520aand520bby the smart pump530, mixed in a mixing area540, and supplied to an applicator, such as an applicator265on a robotic arm260or an applicator365on a robotic arm360, via a supply line550. In some cases, an appropriate dose of pesticide or a desired pesticide mixture can be drawn from the container/dispenser350aand diluted to the desired concentration with the carrier/adjuvant mixture, and the desired dose can be delivered to at least one desired location on a plant or crop via the applicator. The pesticide(s) and carrier/adjuvant can be combined at the applicator, upstream of the applicator, or downstream of the applicator.

As shown inFIG.6A, the storage container/dispenser350cincludes a cylindrical storage area610that is divided vertically into four compartments. As shown inFIG.6B, a cross-sectional view of the storage area610shows the four compartments620a-620d, each of which can contain a different biological control agent. Note that while the compartments620a-620dhere are shown as being generally equal in size, this need not be the case. The biological control agents may be in a liquid or solid formulation. In some cases, the biological control agents are stored and delivered along with a solid particulate carrier, such as a fibrous material, powder, or other particulate (like one derived from natural products such as leaves, husks, wood, or minerals). The carrier may help protect fragile living organisms and aid in dispersing the organisms during delivery to a plant. Each compartment620a-620dis connected to a smart pump, blower, or fan630via a separate hose or tube625or other connector. An on-board computer-based control system or other system can cause one or more appropriate biological control agents to be drawn from the compartments620a-620dby the smart pump, blower, or fan630and, if needed, mixed in a mixing area640. The biological control agent or mix of agents that is selected can be based on the specific problem that needs to be treated, which may be identified by the on-board sensor-based crop monitoring system. The biological control agent or agents are supplied from the mixing area640to an applicator, such as an applicator265on a robotic arm260or an applicator365on a robotic arm360, via a supply line650. The dosage of the biological control agent(s) can be controlled by the computer-based control system depending on the nature and severity of the problem.

Some biological control agents will have a tendency to settle or congregate in specific regions of the compartments620a-620d. Aeration hoses660can be used to blow air into the compartments620a-620dfrom time to time or as needed to distribute the biological control agents (along with a carrier material if present) more evenly within the compartments620a-620dprior to dispensing them. In some embodiments, air is supplied to the aeration hoses660by the smart pump, blower, or fan630. Other suitable devices or techniques may also be used to distribute biological control agents more evenly within compartments prior to dispensing them, such as where propellers or other agitation devices may be used.

AlthoughFIGS.4A through6Billustrate examples of storage containers/dispensers that can be used on-board a mobile crop monitoring and treatment system and from which at least one treatment can be dispensed, various changes may be made toFIGS.4A through6B. For example, the cylindrical shapes and the use of specific numbers of compartments are examples only and can vary as needed or desired. Each storage container/dispenser may have any suitable size and shape and may include any suitable number of compartments.

Returning toFIGS.3A and3B, in some embodiments, the robotic arm360and gripper365may pick up and apply other treatments that are stored on-board the mobile crop monitoring and treatment system300. For example, the other treatments may be located on a tray or in a storage container. This may occur in response to commands from the computer-based control system.

Moreover, the embodiment of the mobile crop monitoring and treatment system300illustrated inFIG.3Aincludes three multi-compartment material storage containers/dispensers and has a single robotic arm360and an interchangeable applicator or gripper365. However, other embodiments of such systems can include different numbers and/or types and styles of storage containers/dispensers, applicators, and/or grippers. In some cases, at least one carrier and at least one adjuvant may be drawn from the same container as the active agent(s). Also, other embodiments of such systems may include more than one robotic arm and associated applicators or grippers, such as for applying treatments to different plants at the same time or for applying different treatments to the same plant at the same time. Each arm-applicator/gripper can be independently supplied with pesticides and/or biological control agents from an on-board storage system as described above. Other embodiments of such systems may include a robotic arm that has multiple applicators and/or grippers on it, or an individual applicator may have multiple outlets or nozzles.

In some embodiments, the pumps that are used to dispense materials from the on-board material storage system are multi-channel pumps suitable for precise, simultaneous metering or dosing of multiple materials (such as multiple chemical pesticides or components, carriers, and adjuvants) in desired and variable ratios. Also, in some embodiments, component materials of a particular treatment formulation can be mixed in a mixing region or container downstream of the pump(s) and upstream of the applicator(s) from which the treatment is delivered to a plant. In other embodiments, the desired quantities or ratios of the component materials are individually supplied to separate applicators (or to separate outlets or nozzles on a single applicator), and they mix as they exit the applicator outlets before they reach the plant. In other words, in these embodiments, the mixing region for at least some of the components of a particular treatment formulation can be downstream of the applicator outlets. This approach can offer some advantages. For example, if separate and dedicated supply lines are used to supply different materials or components of a treatment formulation to different applicator outlets, contamination of a treatment with materials from a previous treatments is reduced. In some cases, a chemical pesticide may have an adverse effect on other pesticides or biological control agents, and it is preferred that the latter materials do not come into contact with trace or residual amounts of the potentially-detrimental pesticide that could remain in a shared supply line. By having separate supply lines, this risk can be mitigated. Another approach if shared supply lines are used between the material storage system and the applicator(s) is to flush the shared supply lines with water or another solvent (pumped from the storage system) in between administering different treatments from the mobile system.

In some implementations, the mobile crop monitoring and treatment system300is deployed to autonomously scan a row of plants in order to identify one or more locations of pests or diseases as it moves in one direction along the row. The mobile system300can then rapidly or immediately determine appropriate treatment(s) to be administered via the on-board treatment system as the mobile system300moves back along the row of plants. The treatment and dosage that is applied can be specific for each plant or for a specific region of an individual plant and can be varied as the mobile system300moves among the plants. This can be repeated for any number of rows. The mobile system300can be configured so that the position of the plant, the cart, the robotic arm, and the applicator are known, allowing the appropriate treatment to be applied precisely where it is needed. This approach allows the treatment to be performed immediately after detection of a problem with the health of a plant, such as a pest or disease. Early detection and remediation of issues can greatly enhance crop yields.

Conventionally, entire crops are often treated with pesticide(s) and/or biological control agent(s) as a matter of course, even in the absence of an identified disease or pest. However, it is generally desirable to reduce the amount of chemical pesticides and biological control agents used for treating a crop, such as due to their costs and other potentially-adverse factors, especially those associated with the use of pesticides. Also, pesticides are conventionally applied to crops and then, only after a waiting period of several days, are biological control agents subsequently applied. In most cases, the delivery of biological control agents is done manually and prophylactically.

The systems and methods described in this disclosure allow for highly-tailored and targeted application of appropriate dosages of chemical pesticides and biological control agents at the precise locations where they are needed. This can substantially reduce the amount of these materials that are used. Furthermore, such localized or targeted application can allow biological control agents to be used simultaneously with chemical pesticides (or directly before or after treatment with chemical pesticides) to treat the same plant. For example, biological control agents can be applied to an area of a plant that is close to an area of infestation or disease that is being treated with a pesticide. In addition, the ability of the systems and methods described here to formulate on-demand and select appropriate dosages based on need, in response to information received from a sensor-based crop monitoring system, means that treatments can be applied effectively and efficiently in a timely manner.

In some embodiments, compartments in the storage containers are equipped with sensors to indicate the quantity of material(s) remaining in each compartment. The mobile system300can communicate information from these sensors to alert the user or operator if the material in a compartment needs to be replenished.

Crop treatment systems as described here can be mounted on other semi-automated or autonomous crop health monitoring vehicles, robots, or other mobile devices. For example, the mobile platform may be configured to move autonomously among plants or in response to commands from a controller, which in some embodiments is on-board the mobile system and in other embodiments is a component of an external data processing unit or other device or system. Thus, in some embodiments of the mobile crop monitoring and treatment systems described here, functions such as data collection, processing, and analysis and control of the system (including operation of the treatment system) is performed on-board the mobile system by one or more computer processors and control systems. In other embodiments, the mobile system is controlled entirely, or at least to some extent, remotely. One example of the latter is shown inFIG.7.

FIG.7illustrates an example crop management system700that includes a mobile crop monitoring and treatment system in accordance with this disclosure. In the crop management system700, at least some processing and analysis of sensor data and control of a mobile system is performed remotely. As shown inFIG.7, the crop management system700includes a mobile crop monitoring and treatment system710, which includes multiple sensors and one or more robotic arms for applying treatments to plants. The sensors and robotic arms can be mounted on, for example, a vehicle, cart, or drone. In some embodiments, the mobile system710may be the same as or similar to the mobile system100or300described above.

In the crop management system700, the mobile crop monitoring and treatment system710captures sensor data related to plants in a crop. Some or all of the data can be transmitted to a data processing unit (DPU)720via a network730. In some embodiments, the mobile system710represents one of multiple vehicles or robots, and these vehicles or robots may communicate and exchange information with one another as well as with the DPU720. The DPU720analyzes the sensor data and sends information regarding the crop to an individual760, such as a grower and/or other parties, via one or more end-user devices, such as a smartphone740and/or a computer750. The DPU720may also send commands to the mobile crop monitoring and treatment system710. The grower or other individuals760may also send information to the DPU720and/or send commands to the mobile system710via the network730.

InFIG.7, arrows are used to indicate transmission of sensor data and/or other information. In some embodiments, the crop management system700includes or supports a web-based and/or cloud-based system, where communications between the mobile system710, the DPU720, and the grower or other individuals760or devices is primarily or entirely through wireless communications.

AlthoughFIG.7illustrates one example of a crop management system700that includes a mobile crop monitoring and treatment system, various changes may be made toFIG.7. For example, various components shown inFIG.7may be combined, further subdivided, replicated, rearranged, or omitted and additional components may be added according to particular needs.

Note that, in some embodiments, the mobile crop monitoring and treatment systems described here are designed to operate in the dark, such as at night. This can be beneficial as it can reduce interference with other greenhouse or field operations. Also, in some cases, the sensor-based monitoring systems may operate with greater sensitivity at night, as plants tend to be dormant during periods of darkness. During the daytime, normal practices of staff tending to a crop might temporarily stress the plants, such as due to moving plant heads, removing shoots, picking fruits, and the like.

Also note that embodiments of the systems and methods described here may rely primarily on the detection (through sensors) and interpretation (through data analysis) of plant-based signals to provide information about crop health and to determine appropriate remediative treatments to be administered. In some embodiments, the sensors on the mobile sensory platforms are proximate to the plants during sensing and data capture but do not touch the plants or soil. Such non-contact monitoring can help to reduce the spread of pests and diseases.

Further, note that the systems and methods described here for monitoring and assessing crop health can provide rapid and sensitive screening of individual plant health and treatment of plants with reduced human labor and at a far greater speed than can be accomplished by humans manually. The systems and methods described here can be deployed outdoors (such as in a field or orchard) or indoors (such as in a greenhouse). The systems and methods have automated components but are flexible and can be modified to enhance the crop monitoring and treatment that they perform.

In addition, note that embodiments of the technology, devices, systems, and methods described here can be used separately or can be used in various combinations as desired. For example, any desired combination of features of the mobile systems100,300,710described above may be used in a specific implementation of a mobile system.

In some embodiments, various functions described in this patent document are implemented or supported by a computer program that is formed from computer readable program code and that is embodied in a computer readable medium. The phrase “computer readable program code” includes any type of computer code, including source code, object code, and executable code. The phrase “computer readable medium” includes any type of medium capable of being accessed by a computer, such as read only memory (ROM), random access memory (RAM), a hard disk drive (HDD), a compact disc (CD), a digital video disc (DVD), or any other type of memory. A “non-transitory” computer readable medium excludes wired, wireless, optical, or other communication links that transport transitory electrical or other signals. A non-transitory computer readable medium includes media where data can be permanently stored and media where data can be stored and later overwritten, such as a rewritable optical disc or an erasable storage device.

It may be advantageous to set forth definitions of certain words and phrases used throughout this patent document. The terms “application” and “program” refer to one or more computer programs, software components, sets of instructions, procedures, functions, objects, classes, instances, related data, or a portion thereof adapted for implementation in a suitable computer code (including source code, object code, or executable code). The term “communicate,” as well as derivatives thereof, encompasses both direct and indirect communication. The terms “include” and “comprise,” as well as derivatives thereof, mean inclusion without limitation. The term “or” is inclusive, meaning and/or. The phrase “associated with,” as well as derivatives thereof, may mean to include, be included within, interconnect with, contain, be contained within, connect to or with, couple to or with, be communicable with, cooperate with, interleave, juxtapose, be proximate to, be bound to or with, have, have a property of, have a relationship to or with, or the like. The phrase “at least one of,” when used with a list of items, means that different combinations of one or more of the listed items may be used, and only one item in the list may be needed. For example, “at least one of: A, B, and C” includes any of the following combinations: A, B, C, A and B, A and C, B and C, and A and B and C.

The description in the present application should not be read as implying that any particular element, step, or function is an essential or critical element that must be included in the claim scope. The scope of patented subject matter is defined only by the allowed claims. Moreover, none of the claims invokes 35 U.S.C. § 112(f) with respect to any of the appended claims or claim elements unless the exact words “means for” or “step for” are explicitly used in the particular claim, followed by a participle phrase identifying a function. Use of terms such as (but not limited to) “mechanism,” “module,” “device,” “unit,” “component,” “element,” “member,” “apparatus,” “machine,” “system,” “processor,” or “controller” within a claim is understood and intended to refer to structures known to those skilled in the relevant art, as further modified or enhanced by the features of the claims themselves, and is not intended to invoke 35 U.S.C. § 112(f).

While this disclosure has described certain embodiments and generally associated methods, alterations and permutations of these embodiments and methods will be apparent to those skilled in the art. Accordingly, the above description of example embodiments does not define or constrain this disclosure. Other changes, substitutions, and alterations are also possible without departing from the spirit and scope of this disclosure, as defined by the following claims.