HK40071663A - Mobile platform for crop monitoring and treatment - Google Patents

Description

Mobile platform for crop monitoring and treatment

CROSS-REFERENCE TO RELATED APPLICATIONS AND PRIORITY claims

Priority of U.S. provisional patent application No. 62/885,448 filed on 12.8.2019 and U.S. patent application No. 16/990,212 filed on 11.8.2020, which are hereby incorporated by reference in their entireties, is claimed at 35 u.s.c. 119 (e).

Technical Field

The present disclosure relates to mobile platforms for crop monitoring and treatment and methods for operating the same. Some embodiments of the present disclosure relate to a mobile platform for targeted administration of both biological and chemical agents simultaneously.

Background

When food and other crops are grown on a large scale, whether in protected cultivation (such as in a greenhouse) or outdoors, growers face several challenges. For example, it may be difficult for a grower to know if, where, and when a crop has problems (such as problems associated with pests, diseases, water, other abiotic stresses, or nutrient deficiencies) and the extent of the problems until it is readily visible to a human inspector who is often employed to visually inspect the crop. By that stage, the problem may often require expensive and extensive intervention. In some cases, while crops are rarely uniform and problems tend to be localized, rather than having human reconnaissance identify individual plants or crop areas of problem and then treat them, some crop management practices and treatments are applied prophylactically across the entire crop.

Recently, various sensor-based systems have been developed for crop monitoring. For example, some systems use a static grid of sensors suspended above the crop or located between plants in the crop. Such a sensing grid can be used to monitor environmental conditions or general responses from plants in a coarse-grained range. Some sensing devices clamp or otherwise contact the plant. Some systems rely on visual detection of causal factors, such as pests or diseases, using motion detection or visual pattern recognition. Some sensing devices and systems are targeted to specific criteria. Some sensing systems can collect very general information (such as temperature and humidity) but do not accurately indicate problems at the individual plant level, nor convey information in real time to facilitate timely action or response. Mobile systems for crop health monitoring, assessment and diagnosis are also known, which comprise a mobile sensing platform or vehicle equipped with a sensor array, and there is an increasing trend towards automation of such systems.

Pesticides are widely used in crop cultivation and can be extremely effective. However, there is increasing concern about the effect of pesticides on the environment and on other organisms, including on human and animal health. Another problem with the use of pesticides to control pests is that in some cases, the pests may develop resistance to the pesticide over time.

The use of biological control agents for pest and disease control involves the use of another living organism or natural product rather than a chemical to reduce or eliminate the pest or disease. Traditional biological control generally involves introducing natural enemies, parasites or pathogens of pests into an area to protect or treat crops. Some advantages of biological control agents are that they do not cause environmental pollution and pests do not become resistant to biological control agents. However, in most cases, live biocontrol agents cannot be used simultaneously with chemical pesticides to treat the same plant or crop, since the pesticides may be lethal to the live biocontrol agents, or at least adversely affect them. Some chemical pesticides also have a residual effect on biological control agents and, therefore, after application of the pesticide, there is typically a waiting period before the biological control agent can be introduced.

Due to cost and other factors, it is generally desirable to reduce the amount of pesticides and biocontrol agents used by applying them only where and when they are needed, rather than treating the entire crop or, of course, even without problems. Early and rapid identification of problems in crops, followed by timely and accurate intervention focused on where needed, can allow growers to make efficient use of chemical pesticides and biocontrol agents and achieve higher crop yields thereof.

Disclosure of Invention

The present disclosure relates to mobile platforms for crop monitoring and treatment and methods for operating the same.

In a first embodiment, a mobile crop monitoring and treatment system includes a vehicle having a propulsion system and a plurality of sensors mounted on the vehicle. Each sensor is configured to capture data related to at least one plant-related parameter when the sensor is positioned proximate to a plant in the crop. The mobile crop monitoring and treatment system also includes a storage system configured to hold a plurality of therapeutic agents including at least one chemical pesticide and at least one biological control agent on the vehicle. The mobile crop monitoring and treatment system further includes an application system configured to apply one or more therapeutic agents to a plant. Further, the mobile crop monitoring and treatment system includes a controller configured to control movement of the vehicle and operation of the sensors and application system. The controller is configured to cause the application system to apply the one or more therapeutic agents to the plant in response to the one or more signals from the one or more sensors.

In some embodiments, the mobile crop monitoring and treatment system further comprises an on-board computer processor, and the controller is configured to cause the application system to apply the one or more therapeutic agents to the plant at a dose and concentration determined by the on-board computer processor in response to the one or more signals from the one or more sensors.

In some embodiments, the application system comprises at least one robotic arm and at least one applicator.

In some embodiments, the storage system includes at least one chemical pesticide container configured to hold the at least one chemical pesticide, at least one biocontrol agent container configured to hold the at least one biocontrol agent, and at least one carrier container configured to hold at least one solvent or carrier.

In some embodiments, the controller is configured to cause the mobile crop monitoring and treatment system to extract the at least one chemical pesticide from the at least one chemical pesticide container, extract the at least one solvent or carrier from the at least one carrier container, and combine the at least one chemical pesticide and the at least one solvent or carrier upstream of the at least one applicator.

In some embodiments, the at least one chemical pesticide container includes a multi-compartment container and a pump, each compartment of the multi-compartment container configured to hold a different pesticide or pesticide component material, and the controller is configured to cause the pump to selectively draw the plurality of pesticides or pesticide component materials from the multi-compartment container and mix the plurality of pesticides or pesticide component materials in the mixing zone.

In some embodiments, the mixing region is upstream of the at least one applicator.

In some embodiments, the mixing region is downstream of the at least one applicator.

In some embodiments, the at least one biocontrol agent container comprises an aerator or an agitator.

In some embodiments, the mobile crop monitoring and treatment system further comprises at least one ultraviolet light located on the at least one robotic arm.

In some embodiments, the mobile crop monitoring and treatment system is a ground-based system.

In some embodiments, the mobile crop monitoring and treatment system is an airborne system.

In some embodiments, the mobile crop monitoring and treatment system forms part of a robotic reconnaissance.

In some embodiments, the mobile crop monitoring and treatment system forms part of a cart configured to be driven by an operator.

In a second embodiment, a method for treating plants in a crop comprises assessing the health of plants in the crop by collecting sensor data using an automated vehicle equipped with a plurality of sensors. The method also includes processing the sensor data to determine a treatment to be applied to the plant in the crop. The method further includes dispensing the treatment from a storage system carried on the automated vehicle, wherein the storage system contains at least one chemical pesticide and at least one biological control agent. Further, the method includes delivering the treatment to the plants in the crop via a robotic arm and applicator carried on an automated vehicle. The concentration and dosage of the treatment applied to the plants in the crop can be controlled and adjusted by a controller on the automated vehicle.

In some embodiments, the sensor data is processed on an automated vehicle to determine treatments to be applied to plants in the crop.

In some embodiments, dispensing the treatment from the storage system comprises mixing a plurality of chemical pesticides or pesticide component materials extracted from the storage system with at least one carrier to provide a desired formulation.

In some embodiments, dispensing the treatment from the storage system comprises mixing the plurality of chemical pesticides or pesticide component materials extracted from the storage system with at least one carrier and with at least one adjuvant to provide the desired formulation.

In some embodiments, the at least one biocontrol agent is contained in a container in the storage system, and the method further comprises agitating or aerating the at least one biocontrol agent such that the at least one biocontrol agent is more evenly dispersed within the container.

In a third embodiment, the mobile crop monitoring and treatment system includes a vehicle having a propulsion system and a plurality of sensors mounted on the vehicle. Each sensor is configured to capture data related to at least one plant-related parameter when the sensor is positioned proximate to a plant in the crop. The mobile crop monitoring and treatment system also includes a storage system configured to hold the chemical pesticide and biological control agent on the vehicle. The storage system includes a plurality of containers, and at least one container includes a plurality of compartments. The compartments of the container are collectively configured to store a plurality of materials, including a chemical pesticide or pesticide component material, a biological control agent, one or more solvents, and one or more adjuvants. The mobile crop monitoring and treatment system further includes one or more applicators configured to apply one or more treatments to the plants, and one or more robotic arms configured to position at least one of the one or more applicators for applying one or more treatments to the plants. Further, the mobile crop monitoring and treatment system includes a controller configured to control movement of the vehicle and operation of the mobile crop monitoring and treatment system. The controller is configured to cause the one or more applicators to apply the one or more treatments to the plant in response to one or more signals from the one or more sensors. Different treatments are associated with different materials or combinations of materials from the container.

Other technical features may be readily apparent to one skilled in the art from the following figures, descriptions, and claims.

Drawings

For a more complete understanding of this disclosure, reference is now made to the following descriptions taken in conjunction with the accompanying drawings, in which:

fig. 1 illustrates an example mobile crop monitoring and treatment system according to this disclosure;

fig. 2 illustrates an example crop treatment system that may be incorporated into a mobile crop monitoring and treatment system according to the present disclosure;

fig. 3A and 3B illustrate a specific example implementation of a mobile crop monitoring and treatment system according to the present disclosure;

4A-6B illustrate an example storage container/dispenser that may be used on a mobile crop monitoring and treatment system and from which at least one treatment may be dispensed, in accordance with the present disclosure; and

fig. 7 illustrates an example crop management system including a mobile crop monitoring and treatment system according to this disclosure.

Detailed Description

Figures 1 through 7, 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 invention may be implemented in any type of suitably arranged device or system.

Fig. 1 illustrates an example mobile crop monitoring and therapy system 100 according to this disclosure. As shown in fig. 1, the mobile system 100 includes a plurality of sensors 110 and at least one data storage device 115, the data storage device 115 configured to store data captured by the sensors 110. Various types of sensors 110 may be used in the mobile system 100, examples of which are described below. Each sensor 110 includes any suitable structure configured to capture data related to at least one plant-related parameter, such as when the sensor 110 is positioned proximate to each of one or more plants in one or more crops. Various types of data storage devices 115 may also be used in the mobile system 100, such as one or more volatile or non-volatile memories. Example types of data storage devices 115 that may be used in the mobile system 100 include random access memory, read only memory, hard drives, flash memory, or optical disks.

The mobile system 100 also includes a treatment system 120 configured to apply one or more therapeutic agents (such as at least one chemical pesticide and/or at least one biological control agent) to each of one or more plants in the one or more crops. Treatment system 120 includes any suitable structure configured to deliver one or more therapeutic agents to a plant. Details of an example implementation of the therapy system 120 are provided below.

The mobile system 100 further includes a computer and control system 130 with associated software 135. The computer and control system 130 is configured to control the overall operation of the mobile system 100, such as by controlling the movement of the mobile system 100 and the operation of the sensors 110 and the treatment system 120. The computer and control system 130 may execute the software 135 in order to perform its functions. The computer and control system 130 includes 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). The on-board DPU or other processor(s) of the computer and control system 130 may be used, for example, to process the 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 software 135 is illustrated herein as a separate component, the software 135 may be stored internally within the computer and control system 130, such as in a non-volatile memory of the computer and control system 130.

The mobile system 100 may optionally include a communication system/interface 140 that may allow the mobile system 100 to transmit information and data to and/or receive information or commands from one or more external systems or devices. In some embodiments, the communication system/interface 140 may include an external serial connection provided to allow a user to connect a Personal Computer (PC) or other device to the mobile system 100, such as to modify the software 135 on the mobile system 100. Further, in some embodiments, communication system/interface 140 may include at least one wireless radio or other wireless transmitter, receiver, or transceiver that allows wireless communication to and/or from mobile system 100.

The mobile system 100 also includes a propulsion system 150 configured to move the mobile system 100 (such as on the ground or in the air). The propulsion system 150 includes any suitable structure configured to propel or otherwise move the mobile system 100, such as an electric motor, wheels, propellers, and the like. The mobile system 100 further includes a power supply 155 configured to provide operating power to other components of the mobile system 100. Power source 155 includes any suitable structure configured to provide operating power to mobile system 100. In some embodiments, power source 155 includes at least one battery or other energy storage device and associated recharging equipment. In a particular embodiment, the power source 155 includes a power management system configured to provide switching between multiple energy sources. The power management system may also incorporate safety and protection devices.

The mobile system 100 may further include a guidance and positioning system 160, which may be configured to identify the location of the mobile system 100 and support navigation of the mobile system 100. In some embodiments, guidance and positioning system 160 generates a location tag that can be associated with the sensor measurement, where the location tag identifies the location at which the sensor measurement was captured. The location tag may be stored in the data storage device 115 and optionally transmitted with the sensor data via the communication system/interface 140. The guidance and location system 160 includes any suitable structure configured to identify the location of the mobile system 100, 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. It is noted that guidance and positioning system 160 may operate by receiving incoming signals to identify its location or by transmitting outgoing signals that allow other components to identify its location.

Further, the mobile system 100 may include a display and/or user interface 165, which may be used to provide information to the user or receive information from the user. For example, the display and/or user interface 165 may be used to identify current settings of the mobile system 100, sensor measurements captured by the sensors 110, or therapy to be applied by the therapy system 120. The display and/or user interface 165 may also be used to receive user observations of plant conditions, user confirmation of suggested treatments, or other information. The display and/or user interface 165 includes 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 interface 165 may include physical buttons and/or a touch screen.

In some embodiments of the mobile crop monitoring and treatment system 100, the position(s) of one, some, or all of the sensors 110 may be adjustable such that the sensor(s) 110 may be appropriately positioned. Various factors may affect how one or more sensors 110 are positioned, such as the size (e.g., height and/or volume) of the plant being inspected and which area of the plant is to be sensed. In particular embodiments, at least some of the sensors 110 may be automatically (rather than manually) moved and repositioned based on commands from the control system, which may be responsive to input indicating where the sensor(s) 110 should be positioned.

It is noted that the mobile crop monitoring and treatment system 100 herein may be implemented in a variety of ways depending on the particular needs. For example, in some embodiments, such as when mobile system 100 is implemented using robotic ground-based reconnaissance or other ground-based devices, mobile system 100 is implemented as a ground-based platform. In other embodiments, the mobile system 100 is implemented as an airborne platform, such as when the mobile system 100 is implemented using robotic airborne reconnaissance or other air-based devices (e.g., drones). Combinations of methods may also be used, such as when the mobile crop monitoring and treatment system 100 includes a robotic ground-based reconnaissance or other ground-based device operating in conjunction with a robotic air reconnaissance or other air-based device. As a specific example, ecoration Innovative Solutions Inc provides various products that may be used in greenhouses or other locations, such as the OKO manually driven cart (which includes an interactive display that may be used by an operator) and IRIS scottoot robotic reconnaissance. The mobile system 100 may be incorporated into any of these products and used manually or autonomously. For example, in the case of an OKO cart, an operator may drive the cart to a particular location and use an interactive display to dispense one or more chemical pesticides or biological control agents. In the case of IRIS robotic reconnaissance, one or more chemical pesticides or biological control agents may be dispensed in an autonomous manner. In general, the present disclosure is not limited to any particular manual, partially automated, or fully automated chemical pesticide or biological control agent dispensing means.

Although fig. 1 illustrates one example of a mobile crop monitoring and treatment system 100, various changes may be made to fig. 1. For example, the various components shown in fig. 1 may be combined, further subdivided, duplicated, rearranged, or omitted, and additional components may be added according to particular needs.

Fig. 2 illustrates an example crop treatment system 200 that may be incorporated into a mobile crop monitoring and treatment system according to the present disclosure. For example, the crop treatment system 200 may be used to implement, at least in part, the treatment system 120 of the mobile crop monitoring and treatment system 100 of fig. 1. However, it is noted that the crop treatment system 200 may be used in any other suitable mobile system.

As shown in fig. 2, crop treatment system 200 includes at least one chemical pesticide storage container/dispenser 210 configured to receive, hold, and dispense at least one chemical pesticide. For example, each chemical pesticide storage container/dispenser 210 may include one or more containers that receive and hold one or more pesticides or pesticide component materials. Each chemical storage container/dispenser 210 may also include one or more devices for extracting chemical pesticide(s) or component material(s) from the container(s) for use. In this example, the chemical pesticide storage container/dispenser 210 includes a mixer 215, which mixer 215 may be configured to mix pesticide formulations as needed or desired. For example, mixer 215 may be configured to receive different combinations of stored chemical pesticides or component materials and mix the stored chemical pesticides or component materials. Each chemical-pesticide storage container/dispenser 210 includes any suitable structure configured to hold and dispense at least one pesticide or component material. Each mixer 215 includes any suitable structure configured to mix materials.

The crop treatment system 200 also includes at least one solvent and adjuvant storage container/dispenser 220 configured to receive, hold, and provide one or more solvents and/or one or more adjuvants. Solvent refers to a liquid or other material into which at least one chemical pesticide may be dissolved or mixed, and adjuvant refers to a liquid or other material that helps to increase the efficacy of one or more pesticides. Solvent(s) and/or adjuvant(s) may be drawn from solvent and adjuvant storage container/dispenser 220 and combined with one or more pesticides from chemical pesticide storage container/dispenser 210. Each solvent and adjuvant storage container/dispenser 220 includes any suitable structure configured to hold and dispense at least one solvent and/or at least one adjuvant.

Crop treatment system 200 further includes at least one biocontrol agent storage container/dispenser 230 configured to receive, hold, and dispense at least one biocontrol agent. Biocontrol agents refer to one or more living organisms or natural products that can be used to reduce or eliminate pests, diseases, or other problems of plants. For example, each biocontrol agent storage container/dispenser 230 may include one or more containers that receive and hold one or more biocontrol agents. Each biocontrol agent storage container/dispenser 230 may also include one or more devices for dispensing biocontrol agent(s) from the container(s) for use. In this example, biocontrol agent storage container/dispenser 230 includes an agitator and/or aerator 240. The agitator may be used to more evenly distribute one or more biological control agents within container/dispenser 230. The aerator may be used to provide air to one or more biological control agents within the container/dispenser 230. Although not shown here, biocontrol agent storage container/dispenser 230 may include a mixer that may be configured to mix different combinations of biocontrol agents as needed or desired. For example, the mixer may be configured to receive different combinations of stored biocontrol agents and mix the stored combinations of biocontrol agents. Each biocontrol agent storage container/dispenser 230 comprises any suitable structure configured to hold and dispense at least one biocontrol agent.

It is noted that one, some or all of the containers/dispensers 210, 220 and 230 may be divided into multiple compartments for storing different materials or reagents. Further, one, some, or all of containers/dispensers 210, 220, and 230 may include one or more pumps (not shown), wherein each pump is configured to dispense one or more materials from one or more containers. Different example implementations of the containers/dispensers 210, 220, 230 are discussed below, although these implementations are for illustration only.

The crop treatment system 200 also includes a controller 250, and the controller 250 can be used to determine one or more treatments to be applied to each of the individual plants in at least one crop and to control the distribution, formulation, dilution, dosage, and application of such treatments. The controller 250 includes at least one processor or other processing device configured to perform control operations. In some embodiments, the controller 250 may form part of a computer and control system for a broader system of which the crop treatment system 200 is a part, such as when the controller 250 forms part of the computer and control system 130 in the system 100 of fig. 1. In other embodiments, controller 250 may represent a stand-alone computer-based controller or other stand-alone controller. If controller 250 is used in conjunction with another device, such as a computer and an on-board computer processor in control system 130, the described functionality of controller 250 may be distributed. As a particular example, the on-board computer processor may determine a dose and concentration of treatment to be applied to the plant in response to one or more signals from the one or more sensors 110, and the controller 250 may initiate treatment of the plant based on the identified dose and concentration.

Further, the crop treatment system 200 includes at least one robotic arm 260 and an interchangeable applicator 265 configured to apply one or more treatments to individual plants in at least one crop under the control of the controller 250. For example, at least one robotic arm 260 may be used to selectively position one or more applicators 265 at one or more desired locations at or near each treated plant, and one or more applicators 265 may be used to distribute one or more treatments to the plants. Each robotic arm 260 includes any suitable structure configured to move in order to selectively position one or more applicators 265. Each applicator 265 includes any suitable structure configured to apply one or more treatments. For example, the applicator 265 may include different nozzles, hoses, sprayers, rollers, sprayers, aerosolizers, dusters, atomizers, and/or any other suitable applicator. Although not shown here, the applicator 265 and/or the robotic arm 260 may 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. Further, although not shown here, the applicator 265 and/or the robotic arm 260 may include one or more clamps or other structures designed to grasp or otherwise physically manipulate the plant during inspection or treatment. The type of applicator(s) 265 and/or clamp used may vary based on various factors, such as the type(s) of plant(s) to be treated and examined. Further, the robotic arm 260 may be used to carry other components that are not used to dispense chemical pesticides and biological control agents, but may be used to treat plant problems in other ways. For example, the robotic arm 260 may carry at least one Ultraviolet (UV) lamp 270 (such as that which generates UV-c light) because the UV lamp may be used to treat plant diseases such as powdery mildew.

It is noted that the crop treatment system 200 or similar system may be incorporated into a mobile sensing platform for crop health monitoring. Example platforms in which the crop treatment system 200 may be used may include the platform described above with reference to fig. 1, as well as the platforms described in U.S. patent 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 system 200 may be used may include the OKO cart and IRIS scontrobot robotic reconnaissance from ecoration Innovative Solutions Inc.

Although fig. 2 illustrates one example of a crop treatment system 200 that may be incorporated into a mobile crop monitoring and treatment system, various changes may be made to fig. 2. For example, the various components shown in fig. 2 may be combined, further subdivided, duplicated, rearranged, or omitted, and additional components may be added according to particular needs. In addition, certain chemical pesticides and biocontrol agents may be delivered in other ways and need not be stored in a container and sprayed through an applicator. For example, the chemical pesticide or biological control agent may be placed on a pallet and a gripper or other portion of the robotic arm 260 may be used to grasp and deliver the chemical pesticide or biological control agent.

Fig. 3A and 3B illustrate a specific example implementation of a mobile crop monitoring and treatment system 300 according to the present disclosure. The mobile crop monitoring and treatment system 300 herein may include the various components shown in fig. 1 and 2 described above. As shown in fig. 3A, the movement system 300 includes a cart 305 having four wheels 308 (two of which are visible) and a frame 310 mounted to a platform 312. The platform 312 is in turn mounted to a scissor lift 315. Scissor lift 315 allows platform 312, frame 310, and components mounted to platform 312 or frame 310 to be raised and lowered. This may be done, for example, depending on the height of the plants in the crop being examined or treated.

A power source, in this example including a battery 320, is carried on the cart 305. The power supply may provide power to various on-board systems and to power for propelling the mobile system 300. In some embodiments, the movement system 300 may represent a fit for a typical pipe track cart, which is commonly used in gardening and greenhouse applications, and is designed to be maneuvered through small paths and adjustable to a desired height. The tube rail mounting wheels 322 and the tube rail detection sensor 325 may be used to guide the movement system 100 through the crop with the tube rail.

In some cases, the mobile system 300 may be configured to operate in an autonomous manner (without an onboard operator or driver). In other cases, a human (such as a farmer or a grower) may optionally ride on the mobile system 300 on the platform 312, such as while acting as a viewer or manually driving or otherwise operating one or more aspects of the mobile system 300. The steering device 330 may be used to manually steer the mobile system 300, such as when the mobile system 300 is not under automated control, and the mobile controller 332 may be used to manually control the advancement of the mobile system 300.

Mobile system 300 also includes an onboard crop monitoring system that includes various sensors and sensor modules mounted to frame 310. In some embodiments, during operation of the mobile system 300, the position(s) of one, some, or all of the sensor/sensor modules may be adjustable, and the control system may control the position(s) of the sensor (s)/sensor module(s). In this example of the mobile system 300, the mobile system 300 includes a crop health monitoring sensor module 340 and imaging sensors 342 and 345. In some embodiments, crop health monitoring sensor module 340 represents a multi-sensor module that may include various types of sensors contained in a housing. Imaging sensors 342 and 345 may be used to capture images of different parts of the plant. For example, the imaging sensor 342 may be used to image the crop head, and the imaging sensor 345 (whose height may be adjusted by moving it up and down, either automatically or manually, on the mounting bar 348) may be used to image fruit.

The mobile system 300 may include any other or additional sensors. Other sensors on the mobile system 300 may include, for example, physiological sensors, surface analysis sensors, chemical sensors, microclimate sensors, and/or canopy screening sensors. In some embodiments, the mobile system 300 includes: at least one physiological sensor comprising at least one configurable optical probe and at least one adjustable detector; at least one surface analysis sensor comprising at least one full spectrum light source and at least one spectral detector; and at least one chemical analysis sensor (which may include at least one photoionization detector, at least one surface acoustic wave sensor, and/or at least one quartz crystal microbalance sensor). In a particular embodiment, the mobile system 300 includes a multispectral or hyperspectral imaging device, a blade temperature sensor, an evapotranspiration sensor, a surface charge sensor, a terahertz sensor, a spore detection sensor, and/or a tunable microphone.

Mobile system 300 further includes an on-board crop treatment system that includes a plurality of 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 extracted and applied to plants in a crop. In this example embodiment, the mobile system 300 includes three storage containers/dispensers 350a, 350b, and 350c, each of which may have one or more compartments, and may include one or more mixers, aerators, agitators, and/or smart pumps. Example implementations of storage containers and dispensers are described in more detail below with reference to fig. 4A-6B. However, other containers and dispensers and other numbers of containers and dispensers may be used.

The material storage containers/dispensers 350a, 350b, and 350c may be selectively fluidly connected to deliver chemical pesticides, suitable solvents and/or adjuvants, and biological control agents to at least one robotic arm 360, via which robotic arm 360 they are selectively applied to plants in a crop in a targeted, localized manner. Each robotic arm 360 may have multiple degrees of freedom, such as when the robotic arm 360 may rotate, pivot, extend, etc., so that treatment may be selectively applied to desired locations on each individual plant. The robotic arm 360 may include an interchangeable applicator (such as a nozzle or other applicator 265) or clamp 365, which may be changed automatically or on demand and may be adjustable. An alternative applicator or fixture (not shown) may be carried on the mobile system 300 and connected to the robotic arm 360 as desired. Some applicators 365 may have UV lamps at the ends and the robotic arm 360 may direct UV lamp attachments to specific areas of the plant or crop to treat disease.

In some embodiments, the mobile crop monitoring and treatment system 300 (or the mobile system 100 described above) may be controlled and operated from a remote location (such as via wireless communication), and/or may be equipped with one or more onboard computers and controllers for controlling the propulsion of the mobile system and the operation of the sensor-based on-board crop monitoring system and on-board crop treatment system. In this example, mobile system 300 includes two onboard computer-based control systems 370 and 375, and mobile system 300 may operate and control autonomously using these onboard computer-based control systems 370 and 375. For example, these systems 370 and 375 may be used to analyze results from an on-board crop monitoring system, such as based on the output of various sensors, and determine in real time what treatments will be applied to the crop using an on-board crop treatment system. The system 300 also includes an interactive display 380 that can provide information to a human on the mobile system 300. Any suitable information may be displayed, such as information regarding the findings of the on-board crop monitoring system and the treatment being applied by the on-board crop treatment system.

Fig. 3B illustrates a portion 390 of the mobile crop monitoring and treatment system 300 of fig. 3A, and in particular shows three material storage containers/dispensers 350a, 350B, and 350c in close-up view. The three material storage containers/dispensers 350a, 350b, and 350c may be identical to one another or different from one another. This may depend on many factors, such as the material to be dispensed. In some embodiments, the material storage containers/dispensers 350a, 350b, and 350c may be formed from one or more materials that are inert and will not be contaminated or degraded by the material to be stored therein.

Although fig. 3A and 3B illustrate a specific example implementation of the mobile crop monitoring and treatment system 300, various changes may be made to fig. 3A and 3B. For example, the various components shown in fig. 3A and 3B may be combined, further subdivided, duplicated, rearranged, or omitted, and additional components may be added according to particular needs. In addition, the form of the carts and other physical components of the mobile system 300 may be readily changed as needed or desired.

Fig. 4A-6B illustrate an example storage container/dispenser that may be used on a mobile crop monitoring and treatment system and from which at least one treatment may be dispensed, according to the present disclosure. In particular, fig. 4A and 4B illustrate a first example storage container/dispenser 350a, fig. 5A and 5B illustrate a second example storage container/dispenser 350B, and fig. 6A and 6B illustrate a third example storage container/dispenser 350 c. It is noted that these associations of different structures with different storage containers/distributors 350a, 350b, and 350c are for illustration only, and that each storage container/distributor 350a, 350b, and 350c of mobile system 300 may have any suitable structure.

As shown in fig. 4A, the storage container/dispenser 350a includes a cylindrical storage area 410 divided vertically into eight compartments. As shown in fig. 4B, the cross-sectional view of the storage area 410 shows eight compartments 420a-420h, each of which may contain a different chemical pesticide or active ingredient thereof. Note that while the compartments 420a-420h are shown here as being approximately equal in size, this need not be the case. Each compartment 420a-420h is connected to a smart pump 430 via a separate hose 425 or other connector. An on-board computer-based control system or other system may cause the appropriate pesticide or mixture of pesticides or pesticide components to be drawn from one, some or all of the compartments 420a-420h by the smart pump 430 and mixed, if desired, in the mixing zone 440. The selected pesticide or mixture of pesticides or pesticide components may be based on the particular problem that needs to be treated, which may be identified by an on-board sensor-based crop monitoring system. The pesticide or mixture of pesticides or pesticide components is supplied from the mixing area 440 via a supply line 450 to an applicator, such as the applicator 265 on the robotic arm 260 or the applicator 365 on the robotic arm 360.

As shown in fig. 5A, the storage container/dispenser 350b includes a cylindrical storage area 510 divided vertically into two compartments. As shown in FIG. 5B, a cross-sectional view of the storage region 510 shows two compartments 520 a-520B. Note that while the compartments 520-520b are shown here as being of unequal size, this need not be the case. The larger compartment 520a may 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 compartment 520b may contain at least one auxiliary agent. The adjuvants may include, for example, wetting agents, adhesives or binders, penetrants, compatibilizers, and/or ionic or nonionic surfactants. In some embodiments, the materials are given an electrical charge to enhance their adhesion to plant leaves. Each compartment 520a and 520b is connected to a smart pump 530 via a separate hose 525 or other connector. An on-board computer-based control system or other system may cause the appropriate amounts of carrier and adjuvant to be drawn from compartments 520a and 520b, respectively, by smart pump 530, mixed in mixing region 540, and supplied to an applicator, such as applicator 265 on robotic arm 260 or applicator 365 on robotic arm 360, via supply line 550. In some cases, an appropriate dose of pesticide or desired pesticide mixture may be withdrawn from container/dispenser 350a and diluted with a carrier/adjuvant mixture to a desired concentration, and the desired dose may be delivered to at least one desired location on the plant or crop via an applicator. The pesticide(s) and carrier/adjuvant may be combined at, upstream of, or downstream of the applicator.

As shown in fig. 6A, the storage container/dispenser 350c includes a cylindrical storage area 610 vertically divided into four compartments. As shown in FIG. 6B, the cross-sectional view of the storage region 610 shows four compartments 620a-620d, each of which may contain a different biological control agent. Note that while the compartments 620a-620d are shown here as being approximately equal in size, this need not be the case. The biocontrol agent can be in a liquid or solid formulation. In some cases, the biocontrol agent is stored and delivered with a solid particulate carrier such as a fibrous material, powder, or other particulate (e.g., particulate derived from a natural product such as leaf, bark, wood, or mineral). The carrier may help protect fragile living organisms and help disperse the organisms during delivery to the plant. Each compartment 620a-620d is connected to a smart pump, blower or fan 630 via a separate hose or tube 625 or other connector. An on-board computer-based control system or other system may cause a smart pump, blower or fan 630 to draw one or more appropriate biocontrol agents from the compartments 620a-620d and, if desired, mix in the mixing zone 640. The selected biocontrol agent or mixture of agents may be based on the particular problem that needs to be treated, which may be identified by an on-board sensor-based crop monitoring system. The one or more biocontrol agents are supplied from the mixing zone 640 via a supply line 650 to an applicator, such as applicator 265 on robotic arm 260 or applicator 365 on robotic arm 360. The dosage of the biocontrol agent(s) may be controlled by a computer-based control system depending on the nature and severity of the problem.

Some biocontrol agents will have a tendency to precipitate or aggregate in specific areas of compartments 620a-620 d. The air-filled hose 660 may be used to blow air into the compartments 620a-620d from time to time or as needed to more evenly distribute the biological control agents (and carrier material, if present) within the compartments 620a-620d prior to dispensing them. In some embodiments, air is supplied to the inflation hose 660 by a smart pump, blower, or fan 630. Other suitable devices or techniques may also be used to more evenly distribute the biocontrol agents within the compartments prior to dispensing them, such as where a propeller or other agitation device may be used.

Although fig. 4A-6B illustrate examples of storage containers/dispensers that may be used on a mobile crop monitoring and treatment system and from which at least one treatment may be dispensed, various changes may be made to fig. 4A-6B. For example, the cylindrical shape and the use of a particular number of compartments are merely examples and may be varied as needed or desired. Each storage container/dispenser may be of any suitable size and shape and may include any suitable number of compartments.

Returning to fig. 3A and 3B, in some embodiments, the robotic arm 360 and the gripper 365 may pick up and apply other treatments stored on the moving crop monitoring and treatment system 300. For example, other treatments may be located on trays or in storage containers. This may occur in response to a command from a computer-based control system.

Further, the embodiment of the mobile crop monitoring and treatment system 300 illustrated in fig. 3A includes three multi-compartment material storage containers/dispensers and has a single robotic arm 360 and interchangeable applicators or clamps 365. However, other embodiments of such systems may include different numbers and/or types and styles of storage containers/dispensers, applicators, and/or clips. In some cases, the at least one carrier and the at least one adjuvant may be withdrawn from the same container as the active agent(s). Further, other embodiments of such systems may include more than one robotic arm and associated applicator or gripper, such as for applying treatments to different plants simultaneously or for applying different treatments to the same plant simultaneously. As described above, each arm applicator/clamp may be independently supplied with pesticide and/or biological control agent from an onboard storage system. Other embodiments of such systems may include a robotic arm having multiple applicators and/or grippers thereon, or a single applicator may have multiple outlets or nozzles.

In some embodiments, the pump used to dispense materials from the on-board material storage system is a multi-channel pump adapted to accurately, simultaneously meter or dose multiple materials (such as multiple chemical pesticides or components, carriers, and adjuvants) in desired and variable ratios. Further, in some embodiments, the specifically therapeutically formulated component materials may 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 the plant. In other embodiments, the desired amount or ratio of component materials are supplied separately to separate applicators (or separate outlets or nozzles on a single applicator) and mixed as they exit the applicator outlets before they reach the plants. In other words, in these embodiments, the mixing region for at least some of the components of a particular therapeutic formulation may be downstream of the applicator outlet. This approach may provide several 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 the treatment from previously treated materials is reduced. In some cases, chemical pesticides 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 potentially harmful pesticides that may remain in the shared supply line. By having a separate supply line, this risk can be mitigated. If a shared supply line is used between the material storage system and the applicator(s), another approach is to flush the shared supply line with water or another solvent (pumped from the storage system) between the administration of different treatments from the mobile system.

In some implementations, the mobile crop monitoring and treatment system 300 is deployed to autonomously scan a row of plants to identify one or more locations of pests or diseases as they move in one direction along the row. Then, as the mobile system 300 moves back along the row of plants, the mobile system 300 can quickly or timely determine the appropriate treatment(s) to be applied via the on-board treatment system. The treatments and doses applied may be specific to each plant or specific regions of an individual plant, and may vary as the movement system 300 moves between plants. This may be repeated for any number of rows. The movement system 300 may be configured such that the position of the plant, cart, robotic arm and applicator are known, allowing the appropriate treatment to be applied precisely where needed. This method allows for timely administration of treatments after plant health issues (such as insect pests or diseases) are detected. Early detection and remediation of problems can greatly improve crop yield.

Conventionally, the entire crop is usually, of course, treated with pesticide(s) and/or biocontrol agent(s), even in the absence of the identified disease or pest. However, it is generally desirable to reduce the amount of chemical pesticides and biocontrol agents used to treat crops, such as due to the cost of chemical pesticides and biocontrol agents and other potential disadvantages, particularly those associated with the use of pesticides. Furthermore, pesticides are routinely applied to crops, and then the biocontrol agent is subsequently applied only after a waiting period of several days. In most cases, delivery of the biocontrol agent is accomplished manually and prophylactically.

The systems and methods described in the present disclosure allow for highly tailored and targeted application of appropriate doses of chemical pesticides and biological control agents at precise locations where they are needed. This can significantly reduce the amount of these materials. Furthermore, such localized or targeted application may allow the simultaneous use of the biological control agent with the chemical pesticide (or directly before or after treatment with the chemical pesticide) to treat the same plant. For example, the biocontrol agent may be applied to an area of the plant proximate to the area of infection or disease being treated with the pesticide. Furthermore, the ability of the systems and methods described herein to formulate on demand and select the appropriate dose on demand in response to information received from a sensor-based crop monitoring system means that treatment can be effectively and efficiently applied in a timely manner.

In some embodiments, the compartments in the storage container are equipped with sensors to indicate the amount of material(s) remaining in each compartment. The mobile system 300 may transmit information from these sensors to alert a user or operator whether the material in the compartment needs to be replenished.

The crop treatment system as described herein may 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 between plants or in response to commands from a controller, which in some embodiments is on a mobile system, and in other embodiments is an external data processing unit or other device or system component. Thus, in some embodiments of the mobile crop monitoring and treatment systems described herein, functions such as data collection, processing, and analysis and control of the system (including operation of the treatment system) are performed on the mobile system by one or more computer processors and control systems. In other embodiments, the mobile system is fully or at least to some extent remotely controlled. An example of the latter is shown in fig. 7.

Fig. 7 illustrates an example crop management system 700 that includes a mobile crop monitoring and treatment system according to this disclosure. In the crop management system 700, at least some processing and analysis of sensor data and control of the mobile system is performed remotely. As shown in fig. 7, the crop management system 700 includes a mobile crop monitoring and treatment system 710 that includes a plurality of sensors and one or more robotic arms for applying treatment to plants. The sensor and the robot arm may be mounted on a vehicle, cart or drone, for example. In some embodiments, mobile system 710 may be the same as or similar to mobile system 100 or 300 described above.

In crop management system 700, mobile crop monitoring and treatment system 710 captures sensor data related to plants in a crop. Some or all of the data may be transmitted to a Data Processing Unit (DPU) 720 via a network 730. In some embodiments, mobile system 710 represents one of a plurality of vehicles or robots, and these vehicles or robots may communicate and exchange information with each other and with DPU 720. DPU 720 analyzes the sensor data and sends information about the crop to an individual 760, such as a grower and/or other party, via one or more end-user devices, such as a smartphone 740 and/or a computer 750. DPU 720 may also send commands to mobile crop monitoring and treatment system 710. The grower or other individual 760 may also send information to DPU 720 and/or commands to mobile system 710 via network 730.

In fig. 7, arrows are used to indicate the transmission of sensor data and/or other information. In some embodiments, crop management system 700 includes or supports a web-based and/or cloud-based system, where communication between mobile system 710, DPU 720, and growers or other individuals 760 or devices is primarily or entirely through wireless communication.

Although fig. 7 illustrates one example of a crop management system 700 that includes a mobile crop monitoring and treatment system, various changes may be made to fig. 7. For example, the various components shown in fig. 7 may be combined, further subdivided, duplicated, rearranged, or omitted, and additional components may be added according to particular needs.

It is noted that in some embodiments, the mobile crop monitoring and treatment systems described herein are designed to operate in the dark (such as at night). This may be beneficial as it may reduce interference with other greenhouse or field operations. Furthermore, in some cases, sensor-based monitoring systems may operate with greater sensitivity at night, as plants tend to hibernate during periods of darkness. During the day, the normal practice of workers caring for crops may temporarily stress the plants, such as by moving the plant head, removing shoots, picking fruits, and the like.

It is also noted that embodiments of the systems and methods described herein may rely primarily on the detection (via sensors) and interpretation (via data analysis) of plant-based signals to provide information about crop health and to determine the appropriate remedial treatment to be applied. In some embodiments, during sensing and data capture, the sensors on the mobile sensing platform are close to the plant, but do not contact the plant or soil. Such non-contact monitoring can help reduce the spread of pests and diseases.

Further, it is noted that the systems and methods for monitoring and assessing crop health described herein can provide rapid and sensitive screening for individual plant health and treatment of plants with reduced human labor and at a much faster rate than humans can manually accomplish. The systems and methods described herein may 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 they perform.

Further, it is noted that embodiments of the techniques, devices, systems, and methods described herein may be used alone or in various combinations as desired. For example, any desired combination of the features of the mobile systems 100, 300, 710 described above may be used in a particular implementation of the 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 does not include a wired, wireless, optical, or other communication link that transmits transitory electrical or other signals. Non-transitory computer readable media include media in which data can be permanently stored and media in which data can be stored and later overwritten, such as rewritable optical disks or erasable storage devices.

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 "communication" and its derivatives encompass 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 … …" and derivatives thereof may mean including, included within … …, interconnected with … …, containing, contained within … …, connected to … … or connected with … …, coupled to … … or coupled with … …, in communication with … …, cooperating with … …, staggered, juxtaposed, proximate to … …, bound to … … or with, having an attribute, having a relationship to or with … …, and so forth. 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 can be used and only one item in the list may be required. For example, "at least one of A, B and C" includes any one 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 this 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 claims scope. The scope of patented subject matter is defined only by the claims that follow. Furthermore, unless the exact words "means for … …" or "step for … …", followed by a participle phrase identifying function, are explicitly used in a particular claim, none of the claims refer to 35 u.s.c. § 112(f) in relation to any appended claims or claim elements. The use of terms such as, but not limited to, "mechanism," "module," "device," "unit," "component," "element," "member," "apparatus," "machine," "system," "processor," or "controller" in the claims is understood and intended to refer to structure known to those of skill in the relevant art, as further modified or enhanced by the features of the claims themselves, and is not intended to refer to 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.

Claims (20)

1. A mobile crop monitoring and treatment system comprising:

a vehicle having a propulsion system;

a plurality of sensors mounted on the vehicle, each sensor configured to capture data related to at least one plant-related parameter when the sensor is positioned proximate to a plant in the crop;

a storage system configured to hold a plurality of therapeutic agents including at least one chemical pesticide and at least one biological control agent on a vehicle;

an application system configured to apply one or more therapeutic agents to a plant; and

a controller configured to control movement of the vehicle and operation of the sensors and the application system, the controller configured to cause the application system to apply the one or more therapeutic agents to the plant in response to one or more signals from the one or more sensors.

2. The mobile crop monitoring and treatment system of claim 1, wherein:

the mobile crop monitoring and treatment system further comprises an onboard computer processor; and is

The controller is configured to cause the application system to apply the one or more therapeutic agents to the plant at a dosage and concentration determined by the on-board computer processor in response to the one or more signals from the one or more sensors.

3. The mobile crop monitoring and treatment system of claim 1, wherein the application system comprises at least one robotic arm and at least one applicator.

4. The mobile crop monitoring and therapy system of claim 3, wherein the storage system comprises:

at least one chemical pesticide container configured to contain the at least one chemical pesticide;

at least one biocontrol agent container configured to hold the at least one biocontrol agent; and

at least one carrier container configured to hold at least one solvent or carrier.

5. The mobile crop monitoring and therapy system of claim 4, wherein controller is configured to cause the mobile crop monitoring and therapy system to:

extracting the at least one chemical pesticide from the at least one chemical pesticide container;

withdrawing the at least one solvent or carrier from the at least one carrier container; and

combining the at least one chemical pesticide and the at least one solvent or carrier upstream of the at least one applicator.

6. The mobile crop monitoring and treatment system of claim 4, wherein:

the at least one chemical pesticide container comprises a multi-compartment container and a pump;

each compartment of the multi-compartment container is configured to contain a different pesticide or pesticide component material; and

the controller is configured to cause the pump to selectively draw the plurality of pesticides or pesticide component materials from the multi-compartment container and mix the plurality of pesticides or pesticide component materials in the mixing zone.

7. The mobile crop monitoring and treatment system of claim 6, wherein a mixing region is upstream of the at least one applicator.

8. The mobile crop monitoring and treatment system of claim 6, wherein a mixing region is downstream of the at least one applicator.

9. The mobile crop monitoring and treatment system of claim 4, wherein the at least one biocontrol agent container comprises an aerator or an agitator.

10. The mobile crop monitoring and treatment system of claim 3, further comprising:

at least one ultraviolet lamp located on the at least one robot arm.

11. The mobile crop monitoring and therapy system of claim 1, wherein the mobile crop monitoring and therapy system is a ground-based system.

12. The mobile crop monitoring and treatment system of claim 1, wherein the mobile crop monitoring and treatment system is an air transport system.

13. The mobile crop monitoring and therapy system of claim 1, wherein said mobile crop monitoring and therapy system forms part of a robotic reconnaissance.

14. The mobile crop monitoring and therapy system of claim 1, wherein the mobile crop monitoring and therapy system forms part of a cart configured to be driven by an operator.

15. A method for treating a plant in a crop, the method comprising:

assessing the health of plants in a crop by collecting sensor data using an automated vehicle equipped with a plurality of sensors;

processing the sensor data to determine a treatment to be applied to the plant in the crop;

dispensing the treatment from a storage system carried on an automated vehicle, the storage system containing at least one chemical pesticide and at least one biological control agent; and

delivering the treatment to plants in a crop via a robotic arm and applicator carried on an automated vehicle;

wherein the concentration and dosage of the treatment applied to the plants in the crop can be controlled and adjusted by a controller on the automated vehicle.

16. The method of claim 15, wherein the sensor data is processed on an automated vehicle to determine a treatment to be applied to the plant in the crop.

17. The method of claim 15, wherein distributing the therapy from a storage system comprises:

the plurality of chemical pesticides or pesticide component materials withdrawn from the storage system are mixed with at least one carrier to provide the desired formulation.

18. The method of claim 15, wherein distributing the therapy from a storage system comprises:

the plurality of chemical pesticides or pesticide component materials withdrawn from the storage system are mixed with at least one carrier and with at least one adjuvant to provide the desired formulation.

19. The method of claim 15, wherein:

the at least one biocontrol agent is contained in a container in a storage system; and is

The method further includes agitating or aerating the at least one biocontrol agent such that the at least one biocontrol agent is more uniformly dispersed within the container.

20. A mobile crop monitoring and treatment system comprising:

a vehicle having a propulsion system;

a plurality of sensors mounted on the vehicle, each sensor configured to capture data related to at least one plant-related parameter when the sensor is positioned proximate to a plant in the crop;

a storage system configured to hold a chemical pesticide and a biological control agent on a vehicle, the storage system comprising a plurality of containers, at least one container comprising a plurality of compartments, the compartments of the containers collectively configured to store a plurality of materials, including a chemical pesticide or pesticide component material, a biological control agent, one or more solvents, and one or more adjuvants;

one or more applicators configured to apply one or more treatments to the plant;

one or more robotic arms configured to position at least one of the one or more applicators for applying one or more treatments to the plant; and

a controller configured to control movement of the vehicle and operation of the mobile crop monitoring and treatment system, the controller configured to cause the one or more applicators to apply the one or more treatments to the plant in response to one or more signals from the one or more sensors, wherein different treatments are associated with different materials or combinations of materials from the container.