U.S. patent application number 15/350579 was filed with the patent office on 2017-03-02 for systems and methods for deactivating plant material outside of a growing region.
This patent application is currently assigned to Elwha LLC. The applicant listed for this patent is Elwha LLC. Invention is credited to Roderick A. Hyde, Jordin T. Kare, Lowell L. Wood, JR..
Application Number | 20170060131 15/350579 |
Document ID | / |
Family ID | 55178641 |
Filed Date | 2017-03-02 |
United States Patent
Application |
20170060131 |
Kind Code |
A1 |
Hyde; Roderick A. ; et
al. |
March 2, 2017 |
SYSTEMS AND METHODS FOR DEACTIVATING PLANT MATERIAL OUTSIDE OF A
GROWING REGION
Abstract
A system for deactivating plant material outside of a growing
region to prevent propagation of designated plant material outside
of the growing region includes an imaging sensor configured to
remotely detect plant material outside of the growing region, a
vehicle including a sampling implement configured to collect a
sample of plant material, a plant sensor configured to analyze the
sample of plant material, a deactivation device configured to
deactivate plant material, and a controller configured to direct
the vehicle to the plant material detected by the imaging sensor,
cause the sampling implement to collect the sample from the
detected plant material, cause the plant sensor to analyze the
sample, and, when the sample is determined to be designated for
deactivation, cause the deactivation device to deactivate the
detected plant material.
Inventors: |
Hyde; Roderick A.; (Redmond,
WA) ; Kare; Jordin T.; (San Jose, CA) ; Wood,
JR.; Lowell L.; (Bellevue, WA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Elwha LLC |
Bellevue |
WA |
US |
|
|
Assignee: |
Elwha LLC
Bellevue
WA
|
Family ID: |
55178641 |
Appl. No.: |
15/350579 |
Filed: |
November 14, 2016 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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14448750 |
Jul 31, 2014 |
9510586 |
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15350579 |
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14448746 |
Jul 31, 2014 |
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14448750 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A01M 21/02 20130101;
A01G 22/00 20180201; A01M 7/0089 20130101; A01M 7/0042 20130101;
G05B 15/02 20130101; G05D 1/0094 20130101; A01M 21/043 20130101;
G01N 33/0098 20130101; G05D 1/0219 20130101; A01M 21/04 20130101;
A01G 7/00 20130101; G06K 9/00791 20130101 |
International
Class: |
G05D 1/00 20060101
G05D001/00; A01M 7/00 20060101 A01M007/00; A01M 21/02 20060101
A01M021/02; G06K 9/00 20060101 G06K009/00; A01G 7/00 20060101
A01G007/00; G01N 33/00 20060101 G01N033/00; G05D 1/02 20060101
G05D001/02; A01M 21/04 20060101 A01M021/04; A01G 1/00 20060101
A01G001/00 |
Claims
1. A system for deactivating plant material outside of a growing
region to prevent propagation of designated plant material outside
of the growing region, comprising: an imaging sensor configured to
remotely detect plant material outside of the growing region; a
vehicle including a sampling implement configured to collect a
sample of the plant material; a plant sensor configured to analyze
the sample of the plant material; a deactivation implement
configured to deactivate the sample of the plant material; and a
controller configured to direct the vehicle to the sample of the
plant material detected by the imaging sensor, cause the sampling
implement to collect the sample of the plant material, cause the
plant sensor to analyze the sample of the plant material, and cause
the deactivation implement to deactivate the sample of the plant
material in response to determining that the sample of the plant
material is designated for deactivation.
2. The system of claim 1, wherein the plant material comprises at
least one of a plant, a reproductive component of a plant, or a
transgenic plant material.
3. The system of claim 1, wherein the deactivation implement is
configured to physically destroy the sample of the plant
material.
4. The system of claim 1, wherein the deactivation implement is
configured to physically collect and remove the sample of the plant
material.
5. The system of claim 1, wherein the deactivation implement is
separate from the vehicle.
6. The system of claim 1, wherein the deactivation implement is
mounted to the vehicle.
7. The system of claim 1, wherein the imaging sensor is configured
to detect plant material responsive to nonvisible light.
8. The system of claim 1, wherein the imaging sensor is configured
to detect plant material responsive to visible light.
9. The system of claim 1, further comprising: a display configured
to display data related to the sensor.
10. The system of claim 1, further comprising: a communication
device configured to transfer data to a remote device.
11. The system of claim 1, further comprising: a mapping device,
wherein the controller is further configured to receive data from
the mapping device and plot the growing region.
12. The system of claim 1, wherein the plant sensor comprises a
biosensor.
13. A system for deactivating a plant material outside of a growing
region, comprising: an imaging sensor configured to detect the
plant material; a vehicle including a sampling implement for
collecting a sample of the plant material; a plant sensor
configured to analyze the sample of the plant material; a
deactivation implement configured to deactivate the sample of the
plant material; and a controller operatively coupled to the
deactivation implement and configured to direct the vehicle to the
sample of the plant material detected by the imaging sensor, cause
the sampling implement to collect the sample of the plant material,
cause the plant sensor to analyze the sample of the plant material,
determine if the sample of the plant material is designated for
deactivation, and cause the deactivation implement to deactivate
the sample of the plant material in response to determining that
the sample of the plant material is designated for
deactivation.
14. The system of claim 13, wherein the deactivation implement is
configured to physically destroy the sample of the plant
material.
15. The system of claim 13, wherein the deactivation implement is
configured to physically collect and remove the sample of the plant
material.
16. The system of claim 13, further comprising: a communication
device configured to transfer data received from at least one of
the plant sensor or the imaging sensor to a remote device.
17. The system of claim 13, further comprising: a mapping device,
wherein the controller is further configured to receive data from
the mapping device and plot the growing region.
18. The system of claim 13, wherein the plant sensor comprises a
biosensor.
19. A system for deactivating a plant material outside of a growing
region, comprising: an imaging sensor for remotely detecting the
plant material outside of the growing region; a vehicle including a
sampling implement for collecting a sample of the plant material; a
plant sensor for analyzing the sample of the plant material; a
deactivation implement for deactivating the sample of the plant
material; and a controller operatively coupled to the vehicle,
wherein the controller directs the vehicle to the sample of the
plant material, causes the sampling implement to collect the sample
of the plant material, causes the plant sensor to analyze the
sample of the plant material, determines if the sample of the plant
material is designated for deactivation, and causes the
deactivation implement to deactivate the sample of the plant
material in response to determining that the sample of the plant
material is designated for deactivation, so as to prevent
propagation of designated plant material outside of the growing
region.
20. The system of claim 19, further comprising: a mapping device
operatively coupled to the controller, wherein the controller
receives data from the mapping device and plots the growing region
in response to the received data.
Description
PRIORITY APPLICATIONS
[0001] The present application is a Continuation of U.S. patent
application Ser. No. 14/448,750, filed Jul. 31, 2014, which is a
Continuation of U.S. patent application Ser. No. 14/448,746, filed
Jul. 31, 2014, the entire disclosures of which are hereby
incorporated by reference.
[0002] If an Application Data Sheet (ADS) has been filed on the
filing date of this application, it is incorporated by reference
herein. Any applications claimed on the ADS for priority under 35
U.S.C. .sctn..sctn.119, 120, 121, or 365(c), and any and all
parent, grandparent, great-grandparent, etc. applications of such
applications, are also incorporated by reference, including any
priority claims made in those applications and any material
incorporated by reference, to the extent such subject matter is not
inconsistent herewith.
CROSS-REFERENCE TO RELATED APPLICATIONS
[0003] The present application is related to and/or claims the
benefit of the earliest available effective filing date(s) from the
following listed application(s) (the "Priority Applications"), if
any, listed below (e.g., claims earliest available priority dates
for other than provisional patent applications or claims benefits
under 35 USC .sctn.119(e) for provisional patent applications, for
any and all parent, grandparent, great-grandparent, etc.
applications of the Priority Application(s)). In addition, the
present application is related to the "Related Applications," if
any, listed below.
RELATED APPLICATIONS
[0004] None
[0005] The United States Patent Office (USPTO) has published a
notice to the effect that the USPTO's computer programs require
that patent applicants reference both a serial number and indicate
whether an application is a continuation, continuation-in-part, or
divisional of a parent application. Stephen G. Kunin, Benefit of
Prior-Filed Application, USPTO Official Gazette Mar. 18, 2003. The
USPTO further has provided forms for the Application Data Sheet
which allow automatic loading of bibliographic data but which
require identification of each application as a continuation,
continuation-in-part, or divisional of a parent application. The
present Applicant Entity (hereinafter "Applicant") has provided
above a specific reference to the application(s) from which
priority is being claimed as recited by statute. Applicant
understands that the statute is unambiguous in its specific
reference language and does not require either a serial number or
any characterization, such as "continuation" or
"continuation-in-part," for claiming priority to U.S. patent
applications. Notwithstanding the foregoing, Applicant understands
that the USPTO's computer programs have certain data entry
requirements, and hence Applicant has provided designation(s) of a
relationship between the present application and its parent
application(s) as set forth above and in any ADS filed in this
application, but expressly points out that such designation(s) are
not to be construed in any way as any type of commentary and/or
admission as to whether or not the present application contains any
new matter in addition to the matter of its parent
application(s).
[0006] If the listings of applications provided above are
inconsistent with the listings provided via an ADS, it is the
intent of the Applicant to claim priority to each application that
appears in the Priority Applications section of the ADS and to each
application that appears in the Priority Applications section of
this application.
[0007] All subject matter of the Priority Applications and the
Related Applications and of any and all parent, grandparent,
great-grandparent, etc. applications of the Priority Applications
and the Related Applications, including any priority claims, is
incorporated herein by reference to the extent such subject matter
is not inconsistent herewith.
BACKGROUND
[0008] Plants of a particular type may grow within a field or other
predetermined region. These plants may need to be prevented from
spreading beyond the field or other predetermined region, or from
intermixing with or contaminating plants outside of the field or
predetermined region.
SUMMARY
[0009] One exemplary embodiment relates to a system for
deactivating plant material outside of a growing region to prevent
propagation of designated plant material outside of the growing
region. The system includes an imaging sensor configured to
remotely detect plant material outside of the growing region, a
vehicle including a sampling implement configured to collect a
sample of plant material, a plant sensor configured to analyze the
sample of plant material, a deactivation device configured to
deactivate plant material, and a controller configured to direct
the vehicle to the plant material detected by the imaging sensor,
cause the sampling implement to collect the sample from the
detected plant material, cause the plant sensor to analyze the
sample, and, when the sample is determined to be designated for
deactivation, cause the deactivation device to deactivate the
detected plant material.
[0010] Another exemplary embodiment relates to a method of
deactivating plant material to prevent propagation of designated
plant material outside of a growing region. The method includes
establishing a boundary separating a growing region from an
exclusion region, designating a type of plant material to be
deactivated, remotely detecting plant material in the exclusion
region, collecting a sample of the detected plant material,
analyzing the sample of the detected plant material, determining if
the sample is the designated plant material, and when sample is
determined to be the designated plant material, deactivating the
plant material from which the sample was collected.
[0011] Another exemplary embodiment relates to a system for
deactivating plant material outside of a growing region to prevent
propagation of designated plant material outside of the growing
region. The system includes an imaging sensor configured to
remotely detect plant material outside of the growing region, a
vehicle including a sampling implement configured to collect a
sample of plant material, a plant sensor configured to analyze the
sample of plant material, an emitter device configured to
deactivate plant material, and a controller configured to direct
the vehicle to the plant material detected by the imaging sensor,
cause the sampling implement to collect the sample from the
detected plant material, cause the plant sensor to analyze the
sample, and, when the sample is determined to be designated for
deactivation, cause the emitter device to deactivate the detected
plant material.
[0012] Another exemplary embodiment relates to a system for
deactivating plant material outside of a growing region to prevent
propagation of designated plant material outside of the growing
region. The system includes an imaging sensor configured to
remotely detect plant material outside of the growing region, a
vehicle including a sampling implement configured to collect a
sample of plant material, a plant sensor configured to analyze the
sample of plant material, a deactivation implement configured to
deactivate plant material, and a controller configured to direct
the vehicle to the plant material detected by the imaging sensor,
cause the sampling implement to collect the sample from the
detected plant material, cause the plant sensor to analyze the
sample, and, when the sample is determined to be designated for
deactivation, cause the deactivation implement to deactivate the
detected plant material.
[0013] The foregoing summary is illustrative only and is not
intended to be in any way limiting. In addition to the illustrative
aspects, embodiments, and features described above, further
aspects, embodiments, and features will become apparent by
reference to the drawings and the following detailed
description.
BRIEF DESCRIPTION OF THE DRAWINGS
[0014] FIG. 1 is a schematic diagram of a system for deactivating
plant material according to an exemplary embodiment.
[0015] FIG. 2 is a schematic diagram of a system for deactivating
plant material according to another exemplary embodiment.
[0016] FIG. 3 is a block diagram of a processing circuit configured
to control a system for deactivating plant material, according to
an exemplary embodiment.
[0017] FIG. 4 is a schematic diagram of a system for deactivating
plant material according to another exemplary embodiment.
[0018] FIG. 5 is a schematic diagram of a system for deactivating
plant material according to another exemplary embodiment.
[0019] FIG. 6 is a schematic diagram of a system for deactivating
plant material according to another exemplary embodiment.
[0020] FIG. 7 is a schematic diagram of a system for deactivating
plant material according to another exemplary embodiment.
[0021] FIG. 8 is a schematic diagram of a system for deactivating
plant material according to another exemplary embodiment.
[0022] FIG. 9 is a flow chart of a method of deactivating plant
material according to an exemplary embodiment.
[0023] FIG. 10 is a schematic diagram of a system for deactivating
plant material according to another exemplary embodiment.
[0024] FIG. 11 is a schematic diagram of a system for deactivating
plant material according to another exemplary embodiment.
[0025] FIG. 12 is a schematic diagram of a system for deactivating
plant material according to another exemplary embodiment.
[0026] FIG. 13 is a block diagram of a processing circuit
configured to control a system for deactivating plant material,
according to an exemplary embodiment.
[0027] FIG. 14 is a schematic diagram of a system for deactivating
plant material according to another exemplary embodiment.
[0028] FIG. 15 is a flow chart of a method of deactivating plant
material according to an exemplary embodiment.
[0029] FIG. 16 is a flow chart of a method of deactivating plant
material according to an exemplary embodiment.
DETAILED DESCRIPTION
[0030] In the following detailed description, reference is made to
the accompanying drawings, which form a part hereof. In the
drawings, similar symbols typically identify similar components,
unless context dictates otherwise. The illustrative embodiments
described in the detailed description, drawings, and claims are not
meant to be limiting. Other embodiments may be utilized, and other
changes may be made, without departing from the spirit or scope of
the subject matter presented here.
[0031] In some circumstances, it is advantageous to contain plants
within a specific field or other predetermined region. The plants
to be contained may be undesirable outside of the predetermined
region for one or more reasons including that the plants may
undesirably crossbreed with other plants, may be poisonous or
otherwise harmful to other plants and/or animals, may outgrow or
otherwise force out other plants, or may be considered a nuisance.
Further, such plants may need to be maintained as confidential
(e.g., transgenic or other plants subject to research). In
accordance with various embodiments described herein, such plants
are contained by automatically detecting and deactivating and/or
collecting plant material that has exited the predetermined region.
In accordance with various embodiments described herein, such
plants are contained by detecting plant material outside the
predetermined region, in some embodiments analyzing the detected
plant material, and deactivating and/or collecting plant material
designated for exclusion from the predetermined region. In some
embodiments, all plant material exiting the predetermined region is
designated for deactivation. In other embodiments, a specific type
or types of plants from the predetermined region are designated for
deactivation when detected outside the predetermined region.
"Deactivating" the plant material kills the plant material,
prevents further growth of the plant material, eliminates the plant
material's ability to reproduce, eliminates the plant material's
ability to perform photosynthesis, or otherwise renders the plant
material inert or unable to propagate (e.g., by destroying the
plant's reproductive organs). "Collecting" the plant material
physically gathers the plant material. Collecting is both a type of
deactivating and an action that may be taken in addition to
deactivating.
[0032] Referring to FIG. 1, field or predetermined region 100 is
illustrated. Boundary 105 surrounds field 100 containing plants
110. Boundary 105 is illustrated as a four-sided polygon having
sides 105A, 105B, 105C, and 105D surrounding field 100. However, a
single side or edge (e.g., 105A, 105B, 105C, or 105D) can also be
considered to be boundary. Boundary 105 defines growing region 115
and exclusion region 120, which are located on opposite sides of
boundary 105.
[0033] Several exemplary embodiments of a system for deactivating
plant material are illustrated in FIGS. 1-2, 4, 5-8, and 10-11.
Each system includes one or more sensors that detects plant
material that have exited or are exiting the growing region 115 to
the exclusion region 120 and one or more emitter devices and/or
deactivation implements configured to automatically deactivate
and/or collect the plant material detected by the sensor. Plant
material may be the plant itself, a reproductive component of the
plant, a specific portion of the plant, etc. that is to be
contained within growing region 115 and is unwanted in exclusion
region 120 (i.e., outside of growing region 115). In some
embodiments, the sensors monitor continuously and the emitter
devices and/or deactivation implements react promptly to detected
plant material so that plant material exiting growing region 115 is
identified and deactivated and/or collected expeditiously. In some
embodiments, the sensors may monitor for growing plant material
periodically and the growing plant material may be deactivated
and/or collected periodically.
[0034] Referring to FIGS. 1 and 2, exemplary embodiments of a
system for deactivating plant material 125 are illustrated. System
125 includes sensor 130 and emitter device 135. In some
embodiments, as shown in FIG. 1, sensor 130 and emitter device 135
are incorporated in a common stationary structure. In other
embodiments, as shown in FIG. 2, sensor 130 and emitter device 135
are incorporated into separate stationary structures. System 125
also includes controller or processing circuit 140. Processing
circuit 140 may be in communication with and control one or more
emitters and one or more sensors. Processing circuit 140 includes
processor 145 and memory 150.
[0035] Referring to FIG. 3, a block diagram of processing circuit
140 is shown, according to an exemplary embodiment. Processor 145
may be or include one or more microprocessors (e.g., CPUs, GPUs,
etc.), an application specific integrated circuit (ASIC), a circuit
containing one or more processing components, a group of
distributed processing components (e.g., processing components in
communication via a data network or bus), circuitry for supporting
a microprocessor, or other hardware configured for processing data.
Processor 145 is also configured to execute computer code stored in
memory 150 to complete and facilitate the activities described
herein. Memory 150 can be any volatile or non-volatile
computer-readable storage medium, or combinations of storage media,
capable of storing data or computer code relating to the activities
described herein. For example, memory 150 is shown to include
computer code modules such as a target identifier module 154, an
emitter aimer module 156, and a report generator module 162. When
executed by processor 145, processing circuit 140 is configured to
complete the activities described herein.
[0036] Processing circuit 140 also includes a hardware interface
164 for supporting the execution of the computer code target
identifier module 154, emitter aimer module 156, and report
generator module 162. Interface 164 may include hardware configured
to receive data as input to processing circuit 140 (e.g. from input
device 160) and/or communicate data as output to another computing
device (e.g., to display 155). For example, processing circuit 140
may receive plant data 166 from one or more sensors (e.g., sensor
130), databases, or remote computing devices. Interface 164 may
include circuitry to communicate data via any number of types of
networks or other data communication channels. For example,
interface 164 may include circuitry to receive and transmit data
via a wireless network or via a wired network connection. In
another example, interface 164 may include circuitry configured to
receive or transmit data via a communications bus with other
electronic devices.
[0037] Memory 150 may include plant data 166. In general, plant
data 166 may include any data relating to the characteristics of
one or more plants (e.g., plant type or species, the preferred
method of deactivating the plant species, identifying
characteristics of the plant species including spectroscopic
properties, fluorescence properties, physical properties (e.g.,
size, shape, etc.), biological properties, genetic properties, the
responsiveness of the plant species to non-visible light, genetic
markers found in the plant species, etc.). In some embodiments,
plant data 166 may include sensor data generated by one or more
sensors 130 associated with system 125 (e.g. size, amount, etc. of
the detected plant material). Sensor data may include, but is not
limited to, data regarding the location of the detected plant
material, data regarding the motion of the detected plant material
(e.g., speed, velocity, direction of travel, etc.), data regarding
environmental conditions detected by a sensor (e.g., wind speed,
wind direction, weather type including rain, snow, fog, etc., water
direction, water speed, etc.), and data regarding the boundary
between the growing region and the exclusion region. Plant data 166
may also include user-provided data. User-provided data may
include, but is not limited to, data regarding types of plant
material, data regarding the plant material or materials to be
deactivated, data regarding the boundary between the growing region
and the exclusion region, data regarding the types of plant
materials found within the growing region and within the exclusion
region, and data regarding the components of the system to be
controlled by the processing circuit.
[0038] Memory 150 may include target identifier module 154. Target
identifier module 154 may be configured to determine the location
of detected plant material relative to the emitter. In some
embodiments, target identifier module 154 specifies detected plant
material as targeted for deactivation by the emitter. In some
embodiments, target identifier module 154 plots the boundary
separating the growing region from the exclusion region (e.g., in
response to a user input, in response to a sensor input, for
example, from a GPS sensor, in response to the location of the
emitter, in response to the location of the sensors, etc.)
[0039] Memory 150 may include emitter aimer module 156. Emitter
aimer module 156 may be configured to aim the emitter at the
targeted plant material and activate or fire the emitter at the
targeted plant material. In some embodiments, emitter aimer module
156 causes a movable emitter to move to aim at the targeted plant
material. In some embodiments, emitter aimer module 156 causes a
vehicle to which the emitter is attached to move in order to aim at
the targeted plant material. In some embodiments, emitter aimer
module 156 selects one or more emitters from a group of stationary
emitters for activation. In some embodiments, a separate emitter
activation module is configured to activate or fire the emitter at
the targeted plant material, not the emitter aimer module 156.
[0040] Memory 150 may include report generator module 162. Report
generator module 162 may be configured to track and store data
related to the sensors and/or emitters. In some embodiments, report
generator module 162 stores data related to the number, amount,
quantity, etc. of plant material detected by the sensor, the
direction of plant material exiting the growing region 115, the
portion of the boundary 105 where plant material is exiting the
growing region 115, and generates a report containing this data or
other information (e.g., information generated using this data as
an input) that can be displayed to a user or otherwise output for
other uses.
[0041] In some embodiments, system 125 includes a display 155 and
an input device 160. Display 155 can include a display screen,
multiple visual indicators (e.g., lights or LEDs), or other
appropriate means for providing information to a user. Input device
160 can include a keyboard, a mouse, one or more buttons or
switches, or other appropriate means for providing user inputs to
the system. In some embodiments, display 155 and input device 160
are combined in a single device (e.g., a touch screen, a graphical
user interface, etc.). In some embodiments, system 125 includes a
communication device 165 configured to transfer data between the
memory device 150 and a remote device (e.g., a separate computer,
the internet, a central controller, etc.) and/or other components
of the system (e.g., additional emitters or sensors). Communication
device 165 can use Wi-Fi or other wireless communication methods,
wired communication methods, or include a port for connecting a
memory device (e.g., a USB drive or other disk drive). In some
embodiments, boundary 105 is established by a user input to system
125 via input device 160. In some embodiments, mapping device 167
(e.g., a GPS device) is used to establish boundary 105. In some
embodiments, boundary 105 is established based on detection range
of sensor 130 or sensors included in the system (e.g., the limit of
the sensor's range defines the boundary). Display 155 and input
device 160 may be components of a handheld or portable device
(e.g., a smart phone, tablet, laptop computer, etc.). A portable
device allows the user to make changes or review the performance of
the system from the field or remotely.
[0042] Sensor 130 remotely detects plant material (i.e., at a
distance from sensor 130 itself). Plant material can include the
plant itself, a reproductive component of the plant (e.g., seeds,
pollen, spores, etc.) and can be naturally occurring plant material
or transgenic or genetically modified plant material. In some
embodiments, sensor 130 comprises an imaging sensor. The imaging
sensor is capable of visually detecting and determining the motion
of plant material (e.g., speed, direction, acceleration, etc.). The
imaging sensor may be used in combination with a light source
(e.g., to illuminate plant material or to excite a response (such
as a fluorescent emission) from plant material that is responsive
to UV-light or other light spectrums). In some embodiments, sensor
130 comprises a radar device. The radar device is capable of
detecting and determining the motion of plant material via radio
waves. In some embodiments, sensor 130 comprises a LIDAR device.
The LIDAR device is capable of detecting and determining the motion
of plant material via light waves. In some embodiments, sensor 130
comprises a spectroscope to analyze light (e.g., UV, IR, or other
spectrums of light) reflected from or through plant material 170 to
identify the presence of absence of one or more particular
chemicals (either naturally occurring or genetically modified) in
plant material 170 to identify the plant material.
[0043] In some embodiments, plant material 170 has been
genetically-modified to be particularly susceptible to one or more
specific methods of deactivation. For example, the plant material
may be genetically modified to be particularly susceptible to a
specific type of chemical and therefore easier to deactivate with a
system using that chemical. As another example, the plant material
may be genetically modified to be particularly susceptible to heat
and therefore easier to deactivate with a laser or other heat
delivery method of deactivation. Plant material 170 may also
naturally respond to or be genetically-modified to respond to a
particular stimulus. For example, the plant material may fluoresce
in response to UV-light or other spectrums or may response
physically (e.g., open or close leaves or flowers, etc.) in
response to light (e.g., UV or other spectrums). Accordingly,
sensor 130 may be paired with a light source or other stimulus
source to provoke the response that sensor 130 is capable of
detecting.
[0044] Emitter device 135 may target stationary plant material 170
detected by sensor 130 in exclusion region 120 (e.g., plant
material 170 on the ground). Emitter device may target moving plant
material 170 detected by sensor 130 in exclusion region 120 (e.g.,
airborne or waterborne plant material 170).
[0045] Emitter device 135 comprises a movable emitter 127 that
emits a beam, a spray, a cloud, or other substance to deactivate
plant material. Movable emitter 127 is movable (e.g., rotatable,
translatable) to create one or more degrees of freedom to allow
movable emitter 127 to be aimed at or target plant material 170
detected by sensor 130. After targeting the plant material 170,
movable emitter 127 emits a beam (e.g., laser, microwave,
ultraviolet light, x-ray, particle beam, a beam of chemicals, etc.)
a spray (e.g., a chemical spray, etc.), a cloud (e.g., a cloud or
fog of aerosol chemicals, etc.), a projectile (e.g., a breakable
capsule or bullet containing a chemical), a high temperature stream
(e.g., hot air as a stream or jet, steam as a stream or jet, fire
as a stream or jet (e.g., a flamethrower), etc.) or another
substance to deactivate the targeted plant material 170
(collectively, an "emission"). As shown in FIG. 1, in some
embodiments, movable emitter 127 comprises a movable beamed energy
emitter (e.g., a laser emitter, a microwave emitter) that emits
beam 129 to deactivate plant material 170 (shown in FIG. 1 as
stationary reproductive components located in exclusion region 120)
by heating the plant material. In other embodiments, movable
emitter 127 comprises a movable chemical emitter (e.g., for
emitting a chemical spray or for emitting an aerosol chemical) for
deactivating the plant material with chemicals (e.g., pesticides,
herbicides, other appropriate biological agents, etc.). In other
embodiments, movable emitter 127 comprises a movable high
temperature emitter (e.g., a movable torch for emitting a hot air
stream or jet, a steam stream or jet, a stream or jet of fire) for
deactivating the plant material by heating the plant material. In
some embodiments, system 125 includes multiple emitter devices 135,
each employing a different one of the methods for deactivating
plant material described above. In this way, a combination of
methods for deactivation can be used when attempting to deactivate
plant material. In other embodiments, system 125 includes multiple
emitter devices 135, each employing the same method for
deactivating plant material. In this way, the multiple emitter
devices 135 provide redundancy in case of failure or malfunction of
one of the emitter devices 135.
[0046] Referring to FIG. 4, system 225 is an exemplary embodiment
of another stationary system for deactivating plant material.
System 225 is similar to system 125 and may include, in various
embodiments, components similar to those described above with
respect to system 125.
[0047] System 225 includes sensor 230 and emitter device 235, which
are incorporated in separate structures. Emitter device 235
includes multiple fixed emitters 237, each of which defines a
deactivation zone 239 in which the corresponding emitter may emit a
beam, a spray, a cloud, or another emission as described above to
deactivate plant material. Processing circuit determines the
deactivation zone 239 in which the detected plant material 170 is
located and aims at or targets the detected plant material 170 by
selecting the corresponding fixed emitter 237 for activation to
deactivate the detected plant material 170. In some embodiments,
deactivation zones 239 of adjacent fixed emitters 237 overlap.
Activating the fixed emitter 237 causes it to emit an emission as
described above. In some embodiments, fixed emitter 237 comprises a
fixed beamed energy emitter (e.g., a laser emitter, a microwave
emitter). As shown in FIG. 4, in other embodiments, fixed emitter
237 comprises a fixed chemical emitter that emits a cloud of
aerosol chemicals 241 (e.g. a herbicide) to deactivate plant
material 170 (shown in FIG. 4 as windborne reproductive components
traveling in exclusion region 120 in the direction shown by the
arrow). In other embodiments, a fixed chemical emitter emits a
chemical spray. In some embodiments, the duration and amount of
chemical emission is varied based on input from sensor 230 (e.g.,
in response to amount of plant material detected) or other sensors
(e.g., a wind speed and direction sensor so that the chemical
emission is not blown away before reaching the targeted detected
plant material).
[0048] Referring to FIG. 5, system 325 is an exemplary embodiment
of a mobile system for deactivating plant material. System 325 is
similar to system 125 and may include, in various embodiments,
components similar to those described above with respect to system
125.
[0049] System 325 includes sensor 330, emitter device 335, and
ground vehicle 343. In some embodiments, as shown in FIG. 5, sensor
330 and emitter device 335 are mounted to ground vehicle 343. In
other embodiments, only one of sensor 330 and emitter device 335 is
mounted to ground vehicle 343 with the other incorporated in a
separate structure (e.g., a stationary mounting structure, a second
vehicle, etc.). Ground vehicle 343 is capable of moving over the
ground. Ground vehicle 343 may include one or more wheels, tracks,
legs, or other devices (e.g., hover devices) suitable for movement
on or over ground. Ground vehicle 343 may be configured to patrol
boundary 105. The patrol can be uniformly distributed along
boundary 105 or concentrated along a particular targeted portion of
boundary 105 (e.g., boundary side 105B). A vehicle may continuously
or periodically patrol the boundary, or may be directed to specific
portions of the boundary or exclusion area by a controller upon
detection of plant material by a sensor. Also, the same vehicle may
be dispatched on patrols of multiple boundaries (e.g., for a large
field having multiple exclusion areas). In some embodiments, as
shown in FIG. 5, emitter device 335 comprises movable emitter 327.
In other embodiments, emitter device 335 is a fixed emitter. As
shown in FIG. 5, movable emitter 327 is a chemical emitter emitting
chemical spray 345 to deactivate the targeted plant material (shown
as stationary reproductive components located in exclusion region
120).
[0050] Referring to FIG. 6, system 425 is another exemplary
embodiment of another mobile system for deactivating plant
material. System 425 is similar to systems 125 and 325 and may
include, in various embodiments, components similar to those
described above with respect to systems 125 and 325.
[0051] System 425 includes sensor 430, emitter device 435, and
water vehicle 447. Water vehicle 447 (e.g., a boat, a hovercraft,
etc.) is capable of moving through or over water (e.g., stream
449). As shown in FIG. 6, movable emitter 427 is a beamed energy
emitter emitting beam 429 to deactivate the targeted plant material
170 (shown as waterborne reproductive plant material traveling in
exclusion region 120 in the direction shown by the arrow).
[0052] Referring to FIG. 7, system 525 is another exemplary
embodiment of another mobile system for deactivating plant
material. System 525 is similar to systems 125, 325, and 425 and
may include, in various embodiments, components similar to those
described above with respect to systems 125, 325, and 425.
[0053] System 525 includes sensor 530, emitter device 535, and air
vehicle 551. Air vehicle 551 (e.g., a helicopter, a plane, an
unmanned aerial vehicle ("UAV"), a balloon, etc.) is capable of
moving through the air. UAVs may include vertical-takeoff and
landing aircraft, fixed wing aircraft, helicopters, etc. Different
types of UAV may be piloted autonomously by an onboard controller
or computer or may be piloted by the remote control of a pilot on
the ground or in another vehicle. A UAV may be a component of a
unmanned aircraft system ("UAS") that also includes control system
(e.g., a ground control station), a control link between the UAV
and the ground control station (e.g., a radio control link, a
specialized datalink, etc.), and may include other related support
equipment (e.g., equipment for servicing the UA, equipment
associated with takeoff and landing of the UAV, etc.). As shown in
FIG. 7, fixed emitter 537 is a chemical emitter emitting a cloud of
aerosol chemicals 541 to deactivate the targeted plant material 170
(shown as airborne reproductive components traveling in exclusion
region 120 in the direction shown by the arrow).
[0054] Referring to FIG. 8, system 625 is an exemplary embodiment
of another stationary system for deactivating plant material.
System 625 is similar to systems 125 and 225 and may include, in
various embodiments, components similar to those described above
with respect to systems 125 and 225.
[0055] System 625 includes multiple sensors 630 and emitter device
635, which are incorporated in separate structures. Emitter device
635 is configured to automatically deactivate plant material 170
detected by one or more of sensors 630. As shown in FIG. 8, emitter
device 635 comprises movable beamed energy emitter 627 that emits
beam 629 to deactivate plant material 170 (shown as airborne
reproductive components traveling in exclusion region 120 in the
direction shown by the arrow). Multiple sensors 630 may be arranged
as a sensor fence or picket line along a portion of the boundary
105. In some embodiments, such a sensor fence may be used to define
the boundary 105. In some embodiments, sensors of two or more types
may be employed (e.g., optical and radar sensors). In some
embodiments, sensors may be employed in two or more configurations
(e.g., fixed sensors which provide initial detection and
approximate location of plant material, and sensors mounted on
ground or air vehicles which provide additional location sensing
for aiming and activating vehicle-mounted emitters). Multiple
sensors 630 can be combined in different manners. For example,
multiple sensors of the same type could be used for redundancy.
Multiple sensors of different types could be used to detect
different types of plant materials or to use multiple methodologies
to detect the same type of plant material. Multiple sensors can
also be used to perform complimentary tasks. For example,
relatively long range radar could detect plant material leaving the
boundary and then a vehicle with a relatively shorter range sensor
for determining the type of plant material could be dispatched to
identify the plant material based on the location of the plant
material detected by the radar. In some embodiments, sensors may be
employed in two or more configurations, e.g., a fixed sensor which
provides initial detection and approximate location of the plant
material, and sensors mounted on a vehicle which provides
additional location sensing for aiming and activating a
vehicle-mounted or fixed location emitter.
[0056] Referring to FIG. 9, a method of deactivating plant material
700 is illustrated according to an exemplary embodiment. In some
embodiments, method 700 is implemented by one or more of systems
125, 225, 325, 425, 525, 625, 825, and 925. A boundary (e.g.,
boundary 105) is established separating a growing region (e.g.,
growing region 115) from an exclusion region (e.g., exclusion
region 120) (step 705). Plant material (e.g. plant material 170) is
detected (e.g., by sensor 130) in the exclusion region (step 710).
The detected plant material is targeted (e.g., by emitter device
135) (step 715). An emission as described above is emitted at the
targeted detected plant material to deactivate the targeted
detected plant material (step 720). Alternatively, a deactivation
implement (e.g., deactivation implement 831 described below) is
used in place of or in addition to the emission to deactivate the
targeted detected plant material.
[0057] In some embodiments, method 700 also includes establishing a
targeted portion (e.g. side 105B) of the boundary (e.g., boundary
105) (step 725). In some embodiments, the targeted portion of the
boundary is identified in response to known circumstances likely to
result in plant material exiting the growing region to the
exclusion region at the targeted portion of the boundary. For
example, wind direction may dictate the direction and location from
which airborne plant material can be expected to exit the growing
region. As another example, moving sources of water (e.g., stream
449) are known to flow in a specific direction, which will dictate
the direction and location from which waterborne plant material can
be expected to exit the growing region. As another example, the
reproductive cycle of the plants (e.g., plants 110) within
different portions of the growing region is known and the portions
of the boundary close to the portions of the growing region
expected to produce reproductive components (e.g., seeds, pollen,
spores) would be the targeted portion of the boundary. Targeting
(steps 715) and emitting (step 720) is concentrated on the targeted
portion of the boundary (e.g., by increasing vehicle patrol time
along the targeted portion of the boundary, by increasing number of
sensors and/or emitter devices along the targeted portion of the
boundary, etc.) (step 730). In this way, more plant material
deactivating resources are brought to bear along the targeted
portion of the boundary.
[0058] Referring to FIG. 10, system 825 is another exemplary
embodiment of another mobile system for deactivating plant
material. System 825 is similar to systems 125, 325, 425, and 525
and may include, in various embodiments, components similar to
those described above with respect to systems 125, 325, 425, and
525.
[0059] System 825 includes sensor 830, deactivation implement 831
and ground vehicle 843. Deactivation implement 831 is configured to
physically deactivate plant material by physically destroying plant
material and/or physically capturing and removing plant material
from the exclusion region 120. For example, the deactivation
implement 831 may be one or more shovels, spades, hoes, picks,
blades, nets, sieves, manipulator arms, vacuums, or other device
suitable to destroy and/or collect plant material. As shown in FIG.
10, deactivation implement 831 is a shovel. In embodiments where
deactivation implement 831 physically collects and removes plant
material (e.g., with a shovel, spade, net, sieve, manipulator arm,
or vacuum), ground vehicle 843 may include a collection chamber 833
for storing plant material collected by deactivation implement 831.
As shown in FIG. 10, sensor 830 and deactivation implement 831 are
mounted to ground vehicle 843. In other embodiments, one or more
sensors 830 are mounted remotely from ground vehicle 843 in a
separate structure (e.g., a stationary mounting structure, a second
vehicle, etc.). In some embodiments, ground vehicle 843 is replaced
by a water vehicle or an air vehicle. In some embodiments,
deactivation implement 831 is included in place of an emitter
device (e.g., emitter device 135). In other embodiments,
deactivation implement 831 is included in addition to one or more
emitter devices. In this way, the emitter device may be used to
deactivate plant material and the deactivation implement 831 may be
used to destroy and/or collect the deactivated plant material.
Capturing the plant material may be valuable when the plant
material needs to be maintained as confidential, by not only
deactivating the plant material in the exclusion region 120, but
then also collecting the deactivated plant material, thereby
maintaining the confidentiality of even the deactivated plant
material. In some embodiments, system 825 includes more than one
deactivation implements.
[0060] Referring to FIG. 11, system 925 is an exemplary embodiment
of another stationary system for deactivating plant material.
System 925 is similar to systems 125, 225, and 625 and may include,
in various embodiments, components similar to those described above
with respect to systems 125, 225, and 625.
[0061] System 925 includes one or more sensors 930 configured to
detect plant material, and two or more emitter devices, one of
which functions as a identifier device 957 and the other of which
functions as a deactivator emitter 959, and identification sensor
961. The identifier device 957 identifies or marks the plant
material detected by sensor 930 by providing an identification.
This identification may take the form of a targeting beam emitted
by a beamed energy emitter (e.g., a laser emitter emitting a
targeting laser beam) that can be detected by identification sensor
961 (e.g., a laser detector or laser seeker), a physical marking
such as a paint or dye emitted by a physical marking emitter that
can be detected by identification sensor 961 (e.g., visible to an
imaging sensor or detectable by another appropriate type of sensor
to identify the physically marked plant material), or the storing
of location information (e.g., on a coordinate system describing
the exclusion region 120, as a GPS coordinate, etc.) in memory
(e.g., in memory 150 as plant data 166) that can be identified by
retrieving the location information from memory. The physical
marking may respond to electromagnetic radiation (visible light,
nonvisible light like ultraviolet or infrared, etc.), with a
response for example, through fluorescence or phosphorescence. This
response may be detected by identification sensor 961 (e.g., an
imaging sensor, a light sensor, or other appropriate type of sensor
to identify the response).
[0062] The deactivator emitter 959 is targeted or aimed at the
identified plant material as detected by identification sensor 961
and activated to emit an emission as described above to deactivate
the targeted plant material.
[0063] In some embodiments, as shown in FIG. 11, identifier device
957 is a beamed energy emitter as described above that emits a
targeting beam 963, and deactivator emitter 959 is also a beamed
energy emitter that emits a deactivating beam 969 having a higher
power output than targeting beam 963. In use, sensor 930 detects
plant material 170 in exclusion region 120. The identifier device
957 targets the detected plant material 170 and emits targeting
beam 963. Identification sensor 961 detects targeting beam 963
hitting the targeted plant material 170. Deactivator emitter 959 is
targeted at the identified plant material in response to signals
from identification sensor 961 and emits deactivating beam 969 to
deactivate the identified plant material.
[0064] Alternatively, system 925 may be implemented as a mobile
system similar to mobile systems 325, 425, 525, and 825 described
above. In such mobile systems, the identifier device 957 may be
mounted to the vehicle or mounted remotely from the vehicle in a
separate structure (e.g., a stationary mounting structure, a second
vehicle, etc.).
[0065] Exemplary embodiments of a system for deactivating plant
material are illustrated in FIGS. 12 and 14. Growing plant material
may be plants, sprouts, seeds, runners, portions of a plant, etc.
that have begun to grow in the exclusion region 120 (i.e., outside
of growing region 115). In some embodiments, all growing plant
material is designated for exclusion from the exclusion region 120.
In other embodiments, specific growing plant material is designated
for exclusion from the exclusion region 120 (e.g., transgenic plant
material that is desired to be contained exclusively within the
growing region 115). In some embodiments, the sensors may monitor
for growing plant material periodically and the growing plant
material may be deactivated and/or collected periodically. The
timing of these monitoring and deactivating/collecting operations
may vary depending on the types of sensors used to detect the plant
material and on the type of equipment used to carry out the
deactivation and/or collection operation. For example, monitoring
could be carried out hourly, daily, weekly, or monthly and
deactivating/collecting could be carried out on the same or
different time scales.
[0066] Referring to FIG. 12, an exemplary embodiment of a system
for deactivating plant material 1025 is illustrated. System 1025
includes sensor 1030 and emitter device 1035. In some embodiments,
as shown in FIG. 12, sensor 1030 and emitter device 1035 are
incorporated in a common stationary structure. In other
embodiments, sensor 1030 and emitter 1035 are incorporated into
separate stationary structures. System 1025 also includes
controller or processing circuit 1040. Processing circuit 1040 may
be in communication with and control one or more emitters and one
or more sensors. Processing circuit 1040 includes processor 1045
and memory 1050.
[0067] Referring to FIG. 13, a block diagram of processing circuit
1040 is shown, according to an exemplary embodiment. Processor 1045
may be or include one or more microprocessors (e.g., CPUs, GPUs,
etc.), an application specific integrated circuit (ASIC), a circuit
containing one or more processing components, a group of
distributed processing components (e.g., processing components in
communication via a data network or bus), circuitry for supporting
a microprocessor, or other hardware configured for processing data.
Processor 1045 is also configured to execute computer code stored
in memory 1050 to complete and facilitate the activities described
herein. Memory 1050 can be any volatile or non-volatile
computer-readable storage medium, or combinations of storage media,
capable of storing data or computer code relating to the activities
described herein. For example, memory 1050 is shown to include
computer code modules such as a plant designator module 1052, a
target identifier module 1054, an emitter aimer module 1056, a
deactivation confirmation module 1058, and a report generator
module 1062. When executed by processor 1045, processing circuit
1040 is configured to complete the activities described herein.
[0068] Processing circuit 1040 also includes a hardware interface
1064 for supporting the execution of the computer code plant
designator module 1052, target identifier module 1054, emitter
aimer module 1056, deactivation confirmation module 1058, and
report generator module 1062. Interface 1064 may include hardware
configured to receive data as input to processing circuit 1045
(e.g. from an input device) and/or communicate data as output to
another computing device (e.g., to a display). For example,
processing circuit 1040 may receive plant data 1066 from one or
more sensors (e.g., sensor 1030), databases, or remote computing
devices. Interface 1064 may include circuitry to communicate data
via any number of types of networks or other data communication
channels. For example, interface 1064 may include circuitry to
receive and transmit data via a wireless network or via a wired
network connection. In another example, interface 1064 may include
circuitry configured to receive or transmit data via a
communications bus with other electronic devices.
[0069] Memory 1050 may include plant data 1066. In general, plant
data 166 may include any data relating to the characteristics of
one or more plants (e.g., plant type or species, the preferred
method of deactivating the plant species, identifying
characteristics of the plant species including spectroscopic data,
the responsiveness of the plant species to non-visible light,
genetic markers found in the plant species, etc.). In some
embodiments, plant data 1066 may include sensor data generated by
one or more sensors 1030 associated with system 1025 (e.g. size,
amount, shape, color, chemical makeup, location, results of
analysis on a sample, etc. of the detected plant material). Sensor
data may include, but is not limited to, data regarding the type of
plant material detected by a sensor, data regarding the location of
the detected plant material, data regarding the motion of the
detected plant material (e.g., speed, velocity, direction of
travel, etc.), data regarding whether the detected plant material
is deactivated (e.g., alive or dead), data regarding environmental
conditions detected by a sensor (e.g., wind speed, wind direction,
weather type including rain, snow, fog, etc., water direction,
water speed, etc.), and data regarding the boundary between the
growing region and the exclusion region. Plant data 1066 may also
include user-provided data. User-provided data may include, but is
not limited to, data regarding types of plant material, data
regarding the plant material or materials to be deactivated, data
regarding the boundary between the growing region and the exclusion
region, data regarding the types of plant materials found within
the growing region and within the exclusion region, and data
regarding the components of the system to be controlled by the
processing circuit.
[0070] Memory 1050 may include plant designator module 1052. Plant
designator module 152 may be configured to designate the plant
material or materials to be deactivated by system 1025. In some
embodiments, plant designator module 1052 may receive a user input
specifying the plant material.
[0071] Memory 1050 may include target identifier module 1054.
Target identifier module 1054 may be configured to determine the
location of detected plant material relative to the emitter. In
some embodiments, target identifier module 1054 specifies detected
plant material as targeted for deactivation by the emitter when the
detected plant material is in the exclusion region and has been
determined to be a specific type plant material (e.g., a sample of
the plant material has been gathered and analyzed to determine the
specific type of plant material). In some embodiments, target
identifier module 1054 plots the boundary separating the growing
region from the exclusion region (e.g., in response to a user
input, in response to a sensor input, for example, from a GPS
sensor, in response to the location of the emitter, in response to
the location of the sensors, etc.)
[0072] Memory 1050 may include emitter aimer module 1056. Emitter
aimer module 1056 may be configured to aim the emitter at the
targeted plant material and activate or fire the emitter at the
targeted plant material. In some embodiments, emitter aimer module
1056 causes a movable emitter to move to aim at the targeted plant
material. In some embodiments, emitter aimer module 1056 causes a
vehicle to which the emitter is attached to move in order to aim at
the targeted plant material. In some embodiments, emitter aimer
module 1056 selects one or more emitters from a group of stationary
emitters for activation. In some embodiments, a separate emitter
activation module is configured to activate or fire the emitter at
the targeted plant material, not the emitter aimer module 1056.
[0073] Memory 1050 may include deactivation confirmation module
1058. Deactivation confirmation module 1058 may be configured to
determine when the targeted plant material has been successfully or
unsuccessfully deactivated by the emitter. In some embodiments,
deactivation confirmation module 1058 receives data from the
sensors and compares that data to data regarding targeted plant
material to determine if the targeted plant material has been
successfully or unsuccessfully deactivated (e.g., if growing plant
material no longer found at the location at which it was previously
detected). In some embodiments, deactivation confirmation module
1058 implements a feedback loop with target identifier module 1054
and emitter aimer module 1056 so that the unsuccessfully
deactivated plant material is retargeted until it has been
successfully deactivated. For example, deactivation confirmation
module 1058 may operate the sensors to confirm that growing plant
material previously targeted for deactivation and/or collection is
no longer present. This confirmation can be made periodically at an
appropriate time (e.g., 1 hour, 6 hours, 1 day, 1 week, etc.)
following the deactivation and/or collection operation. The
appropriate time may vary depending on the types of sensors used to
detect the plant material and on the type of equipment used to
carry out the deactivation and/or collection operation.
[0074] Memory 1050 may include report generator module 1062. Report
generator module 1062 may be configured to track and store data
related to the sensors and/or the emitters. In some embodiments,
report generator module 1062 stores data related to the number of
plant material detected by the sensor, the number of successful
deactivations by the emitter, the number of unsuccessful
deactivations by the emitter and generates a report of the
effectiveness of the emitter or system that can be displayed to a
user or otherwise output for other uses. In some embodiments,
report generator module 1062 stores data related to the number,
amount, quantity, etc. of plant material detected by the sensor,
the direction of plant material exiting the growing region 115, the
portion of the boundary 105 where plant material is exiting the
growing region 115, and generates a report containing this data or
other information (e.g., information generated using this data as
an input) that can be displayed to a user or otherwise output for
other uses.
[0075] In some embodiments, system 1025 includes a display, an
input device, a communication device, and/or a mapping device
similar to those discussed above with respect to system 125.
[0076] Sensor 1030 detects growing plant material (i.e., at a
distance from sensor 1030 itself). In some embodiments, sensor 1030
comprises an imaging sensor. The imaging sensor is capable of
visually detecting and determining the location of growing plant
material. The imaging sensor may be used in combination with a
light source (e.g., to illuminate plant material that is responsive
to UV-light or other light spectrums).
[0077] Emitter device 1035 may target growing plant material 170
detected by sensor 130 in exclusion region 120 (e.g., growing plant
material 170 on the ground). Emitter device 1035 emits an emission
as described above to deactivate the growing plant material. In
some embodiments, system 1025 includes multiple emitter devices
1035, each employing a different one of the methods for
deactivating plant material described above. In this way, a
combination of methods for deactivation can be used when attempting
to deactivate plant material. In other embodiments, system 1025
includes multiple emitter devices 1035, each employing the same
method for deactivating plant material. In this way, the multiple
emitter devices 1035 provide redundancy in case of failure or
malfunction of one of the emitter devices 1035. In some
embodiments, a vehicle as described above is used to collect the
deactivated plant material.
[0078] Referring to FIG. 14, system 1125 is another exemplary
embodiment of a system for deactivating plant material. System 1125
is similar to systems 1025 and may include, in various embodiments,
components similar to those described above with respect to system
1025. System 1125 includes imaging sensor 1130, emitter device
1135, processing circuit 1140, vehicle 1143, and plant sensor 1146.
In some embodiments, emitter device 1135 is omitted from system
1125 and vehicle 1143 deactivates the growing plant material with
an emitter device and/or deactivation implement. In some
embodiments, system 1125 includes multiple imaging sensors 1130,
emitter devices 1135, ground vehicles 1143, and/or plant sensors
1146.
[0079] Sensor 1130 comprises an imaging sensor as described above
for visually detecting and determining the location of growing
plant material. Sensor 1130 may detect multiple instances of
growing plant material in exclusion region 120. The location of
detected growing plant material may be stored as plant data by
processing circuit 1140. Sensor 1130 may be a component of the same
structure as emitter device 1135, a component of vehicle 1143, or
part of a separate freestanding support or housing. System 1125 may
include multiple imaging sensors.
[0080] Processing circuit 1140 may be found in the same unit or
housing as sensor 1130, emitter device 1135, vehicle 1143, sensor
1146, or as a separate component (e.g., as a component of a control
station). Sensor 1130, emitter device 1135, vehicle 1143, and
sensor 1146 may be in wireless communication with processing
circuit 1140.
[0081] Vehicle 1143 includes sampling implement 1148 for collecting
a sample of growing plant material 170 for analysis by plant sensor
1146. Sampling implement 1148 is configured to physically collect a
sample from growing plant material 170. For example, sampling
implement 1148 may be one or more blades, needles, manipulator
arms, vacuums, swabs, wipes, or other device suitable to collecting
plant material sample. Plant sensor 1146 may be onboard vehicle
1143 or at another location (e.g., a control station). Vehicle 1143
may be a ground vehicle or an air vehicle.
[0082] In some embodiments, sensor 1146 comprises a spectroscopic
sensor. The spectroscopic sensor (e.g., a spectrometer, a
spectrophotometer, a spectrograph, a spectral analyzer, etc.) is
capable of detecting and identifying a signature indicative of
plant material via spectroscopy (e.g. optical spectroscopy,
ultraviolet spectroscopy, infrared spectroscopy, X-ray
spectroscopy, active spectroscopy, laser-induced breakdown
spectroscopy, etc.). In some embodiments, sensor 1146 comprises a
biosensor. The biosensor is capable of detecting and identifying a
component or analyte of the plant material indicative of the plant
material. In some embodiments, the component may be responsive to
nonvisible light (e.g. ultraviolet or infrared light). In some
embodiments, the component is a genetic marker. In some
embodiments, the genetic marker is naturally occurring. In other
embodiments, the plant material has been genetically modified to
express, contain, or otherwise incorporate the genetic marker. In
some embodiments, the biosensor may identify a component or analyte
of the plant material indicative of the plant material (e.g., by
direct analysis of the plant material following physical collect of
a sample of the plant material by a manipulator arm, a shovel, a
spade, a vacuum, or other appropriate sample collection device).
Genetic markers may in some cases be selected to produce readily
detectable characteristics of the plant material (e.g.,
fluorescence of green fluorescent protein, or production of a
distinctive surface coloration or other physical feature of plants
or seeds). In other cases, genetic markers may be natural or
artificial gene patterns (e.g., mutations for resistance to a plant
disease, which produce no externally detectable features but which
can be detected by appropriate biological or biochemical analysis
(e.g., polymerase chain reaction)). An artificial gene pattern may
be selected so that the gene pattern expresses a phenotype (e.g.,
fluorescing in response to exposure to light) detectable by a
sensor. For example, green fluorescent protein (GFP) is a protein
that exhibits bright green fluorescence when exposed to light in
the blue to ultraviolet range. Other detectable phenotypes includes
distinctive shapes or sizes of the plant material (e.g., height to
width ratio of the plant or a component of the plant), the color of
the plant material and the presence or absence of one or more
specific chemicals. Different types of biosensors are able to
perform remote analysis and local analysis of a sample of plant
material. Both these types of analysis may be spectroscopic.
Different types of biosensors may detect a gene or gene pattern
itself (e.g., with polymerase chain reaction, or other appropriate
technique) or detect the expression of the gene or gene pattern. As
discussed above, the expression may be physical, chemical, or
biological. For example, the expression may be a protein that is
relatively easy to identity.
[0083] Data regarding samples, the location of the plant material
from which each sample was taken, results of analysis performed by
sensor 1146, etc. is stored in the processing circuit 1140 (e.g.,
as plant data).
[0084] Sensor 1146 may be capable of detecting more than one type
of plant material; however, system 1125 deactivates specific types
of plant material 170 (e.g., a specific species, strain, etc. of
plant). For example, sensor 1146 may be capable of detecting
several types of plants, but only a specific genetically-modified
plant is specified as the growing plant material for system 1125 to
deactivate. The specific plant material designated to be
deactivated may be specified manually by a user or automatically by
system 1125. In some embodiments, the plant material is selected
from a list of possible plant materials to be designated. In some
embodiments, the user uses an input device to specify the plant
material. In some embodiments, the plant material has been
genetically-modified to be particularly susceptible to one or more
specific methods of deactivation. For example, the plant material
may be genetically modified to be particularly susceptible to a
specific type of chemical and therefore easier to deactivate with a
system using that chemical. As another example, the plant material
may be genetically modified to be particularly susceptible to heat
and therefore easier to deactivate with a laser or other heat
delivery method of deactivation.
[0085] When sensor 1146 determines that a sample of plant material
is the specific plant material designated to be deactivated, system
1125 automatically deactivates the plant material from which the
sample was taken. Emitter device 1135 may be used to deactivate the
plant material. Vehicle 1143 may include an emitter device and/or a
deactivation implement so that vehicle 1143 may be used to
deactivate and/or collect the plant material. In some embodiments,
vehicle 1143 includes an identifier device (e.g., similar to
identifier device 957 described above) that identifies or marks the
plant material by providing an identification. Identifier device
may mark all plant material from which a sample is taken or may
mark only the plant material for which its sample is determined to
be the designated plant material. This identification may take the
form of a physical marking such as a paint or dye emitted by a
physical marking emitter that can be detected by sensor 1130 or a
separate identification sensor located on vehicle 1143 or elsewhere
(e.g., visible to an imaging sensor or detectable by another
appropriate type of sensor to identify the physically marked plant
material), or the storing of location information (e.g., on a
coordinate system describing the exclusion region 120, as a GPS
coordinate, etc.) in memory (e.g., as plant data) that can be
identified by retrieving the location information from memory. The
physical marking may respond to electromagnetic radiation (visible
light, nonvisible light like ultraviolet or infrared, etc.), with a
response for example, through fluorescence or phosphorescence. This
response may be detected by sensor 1130 or a separate
identification sensor (e.g., an imaging sensor, a light sensor, or
other appropriate type of sensor to identify the response).
[0086] Vehicle 1143 may be controlled to perform various types of
patrols from plant material in the exclusion region 120. For
example, vehicle 1143 may be dispatched on a sampling patrol in
which it gathers samples from each instance of growing plant
material identified by sensor 1130. Sensor 1146 analyzes these
samples. Vehicle 1143 may then be dispatched on a deactivation
patrol in which it deactivates the instances of plant material that
are determined to need deactivation based on analysis by sensor
1146. Alternatively, sampling and deactivating could be combined in
a single patrol. Certain types of vehicles, such as small
vertical-takeoff-and-landing UAVs, may be particularly well suited
to performing physical sampling missions quickly and at low cost.
Such a UAV may also be able to carry plant analysis sensors and/or
deactivation equipment, or may be supplemented with one or more
fixed base stations having sample analysis sensors and/or larger
UAVs carrying deactivation equipment. Multiple vehicles may be used
to perform complimentary tasks. For example, a first vehicle could
conduct regular patrols to identify plant material to be
deactivated and a second vehicle could be dispatched periodically
to deactivate plant material targeted for deactivation based on the
first vehicle's identification. One or more vehicles may also be
used with a base station to perform complimentary tasks. For
example, a first vehicle could conduct regular patrols to gather
plant material samples and return to the base station where the
gathered samples are analyzed (e.g., a spectroscopic analysis). The
first vehicle, or a second vehicle, could then be dispatched to
deactivate targeted plant material based on the analysis performed
at the base station.
[0087] Referring to FIG. 15, a method of deactivating plant
material 1200 is illustrated according to an exemplary embodiment.
In some embodiments, method 1200 is implemented by system 1025. A
boundary (e.g., boundary 105) is established separating a growing
region (e.g., growing region 115) from an exclusion region (e.g.,
exclusion region 120) (step 1205). Growing plant material (e.g.
plant material 170) is detected (e.g., by sensor 1030) in the
exclusion region (step 1210). The detected plant material is
targeted (e.g., by emitter device 1035) (step 1215). An emission as
described above or other substance to deactivate plant material, is
emitted at the targeted detected plant material to deactivate the
targeted detected plant material (step 1220). Alternatively, a
deactivation implement is used in place of or in addition to the
emission to deactivate the targeted detected plant material.
[0088] In some embodiments, method 1200 also includes establishing
a targeted portion (e.g. side 105B) of the boundary (e.g., boundary
105) (step 1225). In some embodiments, the targeted portion of the
boundary is identified in response to known circumstances likely to
result in plant material exiting the growing region to the
exclusion region at the targeted portion of the boundary. For
example, wind direction may dictate the direction and location from
which airborne plant material can be expected to exit the growing
region. As another example, moving sources of water (e.g., stream,
river, etc.) are known to flow in a specific direction, which will
dictate the direction and location from which waterborne plant
material can be expected to exit the growing region. As another
example, the reproductive cycle of the plants within different
portions of the growing region is known and the portions of the
boundary close to the portions of the growing region expected to
produce reproductive components (e.g., seeds, pollen, spores, etc.)
or runners would be the targeted portion of the boundary. Targeting
(steps 1215) and emitting (step 1220) is concentrated on the
targeted portion of the boundary (e.g., by increasing vehicle
patrol time along the targeted portion of the boundary, by
increasing number of sensors and/or emitter devices along the
targeted portion of the boundary, etc.) (step 1230). In this way,
more plant material deactivating resources are brought to bear
along the targeted portion of the boundary.
[0089] Referring to FIG. 16, a method of deactivating plant
material 1300 is illustrated according to an exemplary embodiment.
In some embodiments, method 1300 is implemented by system 1125. A
boundary (e.g., boundary 105) is established separating a growing
region (e.g., growing region 115) from an exclusion region (e.g.,
exclusion region 120) (step 1305). A specific type or types of
plant material are designated as those to be deactivated by the
system (e.g., by a user input) (step 1310). Growing plant material
(e.g. plant material 170) is detected (e.g., by sensor 1130) in the
exclusion region (step 1315). A sample is collected from the
detected growing plant material (e.g., by sampling implement 1148
of vehicle 1143) (step 1320). The sample is analyzed (e.g., by
plant sensor 1146) (step 1325) to determine if the growing plant
material it was sampled from is the designated plant material (step
1330). If the sample is not the designated plant material, this
information may be stored as data (e.g., as plant data by
processing circuit 1140) (step 1335) or no further action may be
taken. The stored data may be used so that the growing plant
material determined to not be the designated plant material is not
subsequently sampled by the system. If the sample is the designated
plant material, the growing plant material from which the sample
was taken is targeted for deactivation (step 1340). The targeted
designated plant material is then deactivated (e.g., by emitter
device or deactivation implement) (step 1345). In some embodiments,
the deactivated plant material is then collected (e.g., by vehicle
1143).
[0090] The present disclosure contemplates methods, systems and
program products on any machine-readable media for accomplishing
various operations. The embodiments of the present disclosure may
be implemented using existing computer processors, or by a special
purpose computer processor for an appropriate system, incorporated
for this or another purpose, or by a hardwired system. Embodiments
within the scope of the present disclosure include program products
comprising machine-readable media for carrying or having
machine-executable instructions or data structures stored thereon.
Such machine-readable media can be any available media that can be
accessed by a general purpose or special purpose computer or other
machine with a processor. By way of example, such machine-readable
media can comprise RAM, ROM, EPROM, EEPROM, CD-ROM or other optical
disk storage, magnetic disk storage or other magnetic storage
devices, or any other medium which can be used to carry or store
desired program code in the form of machine-executable instructions
or data structures and which can be accessed by a general purpose
or special purpose computer or other machine with a processor. When
information is transferred or provided over a network or another
communications connection (either hardwired, wireless, or a
combination of hardwired or wireless) to a machine, the machine
properly views the connection as a machine-readable medium. Thus,
any such connection is properly termed a machine-readable medium.
Combinations of the above are also included within the scope of
machine-readable media. Machine-executable instructions include,
for example, instructions and data which cause a general purpose
computer, special purpose computer, or special purpose processing
machines to perform a certain function or group of functions.
[0091] Although the figures may show or the description may provide
a specific order of method steps, the order of the steps may differ
from what is depicted. Also two or more steps may be performed
concurrently or with partial concurrence. Such variation will
depend on various factors, including software and hardware systems
chosen and on designer choice. All such variations are within the
scope of the disclosure. Likewise, software implementations could
be accomplished with standard programming techniques with rule
based logic and other logic to accomplish the various connection
steps, processing steps, comparison steps and decision steps.
[0092] While various aspects and embodiments have been disclosed
herein, other aspects and embodiments will be apparent to those
skilled in the art. The various aspects and embodiments disclosed
herein are for purposes of illustration and are not intended to be
limiting, with the true scope and spirit being indicated by the
following claims.
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