# US 10,372,987 B2 · Agricultural method and system using a high resolution sensing device for analyzing and servicing crops > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,372,987 B2 - Document ID: US10372987B2 - Status: Granted - Kind: B2 - Application number: 15/590,601 - Filed: 2017-05-09 - Published: 2018-11-15 - Granted: 2019-08-06 - Earliest claimed: 2017-05-09 - Assignees: International Business Machines Corporation - Applicants: International Business Machines Corporation - Inventors: Rafael R. De Mello Brandao; Marcio F. Moreno; Igor C. Oliveira; Marcelo N. Dos Santos; Leonardo P. Tizzei; Bianca Zadrozny; Maciel Zortea - Web page: https://patentgrep.com/patent/US10372987B2 ## CPC - A01G 7/00: Botany in general - G06F 18/24133: {Distances to prototypes} - G06V 10/764: using classification, e.g. of video objects - G06V 20/188: {Vegetation} - A01B 79/005: {Precision agriculture} - A01G 25/09: Watering arrangements making use of movable installations on wheels or the like - A01G: HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING (picking of fruits, vegetables, hops or the like A01D46/00; propagating unicellular algae C12N1/12) - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - A01B: SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL (making or covering furrows or holes for sowing, planting or manuring A01C5/00; mowers convertible to soil working apparatus or capable of soil working A01D42/04; mowers combined with soil working implements A01D43/12; soil working for engineering purposes E01, E02, E21) ## Abstract A system for observing agricultural samples includes a chassis suspended on an elevated cable or rail, an actuator disposed within the chassis for moving the chassis forward and backward along the elevated cable or rail, a camera mounted on or within the chassis and configured to acquire image data of an area below the elevated cable or rail including an agricultural sample, and a processor disposed within the chassis for receiving image data from the camera, autonomously controlling the actuator to move the chassis along the elevated cable or rail, and assessing a condition of the agricultural sample from the received image data. ## Claims ### Claim 1 A system for observing agricultural samples, comprising: a chassis suspended on an elevated cable or rail; an actuator disposed within the chassis and configured to move the chassis forward and backward along the elevated cable or rail; a camera mounted on or within the chassis and configured to acquire image data of an area below the elevated cable or rail including an agricultural sample; and a processor disposed within the chassis and configured to receive image data from the camera, to detect an anomaly within the agricultural sample from the received image data, and to autonomously control the actuator to move the chassis along the elevated cable or rail to acquire additional data about the detected anomaly using one or more additional sensors. ### Claim 2 (depends on 1) The system of claim 1, wherein the chassis includes at least a first opening through which the elevated cable or rail enters the chassis and at least a second opening through which the elevated cable or rail exits the chassis such that a portion of the elevated cable or rail is fully enclosed by the chassis, and wherein the chassis further includes at least a third opening through which a second elevated cable or rail enters the chassis and at least a fourth opening through which the second elevated cable or rail exits the chassis such that a portion of the second elevated cable or rail is fully enclosed by the chassis. ### Claim 3 (depends on 1) The system of claim 1, wherein solar cells are disposed on the chassis, the chassis additionally comprises a rechargeable power supply for powering the actuator, camera, and processor, and the rechargeable power supply is recharged using power generated from the solar cells. ### Claim 4 (depends on 1) The system of claim 1, wherein the one or more additional sensors are disposed within or on the chassis for acquiring additional information about the agricultural sample or information about an environment of the agricultural sample. ### Claim 5 (depends on 1) The system of claim 1, wherein the one or more additional sensors includes a temperature sensor, a humidity sensor, a pressure sensor, multispectral sensors, hyperspectral sensors, acoustic sensors, laser sensors, spatial location sensors, temporal sensors, ambient light sensors, accelerometers, proximity sensors, or gyroscopic sensors. ### Claim 6 (depends on 1) The system of claim 1, additionally comprising a payload compartment and applicator for delivering contents of the payload compartment to the agricultural sample, autonomously, on the command of the processor. ### Claim 7 (depends on 1) The system of claim 1, additionally comprising a radio transponder for relaying data to a control station or user either directly or over the Internet. ### Claim 8 A method for observing agricultural samples, comprising: receiving training data including a set of images representing normal agricultural samples annotated as such and abnormal agricultural samples annotated as such; training a classifier to distinguish between images of normal agricultural samples and abnormal agricultural samples based on the received training data; using an autonomous agricultural observation system suspended by an elevated cable or rail to acquire image data of an area below the elevated cable or rail, wherein at least a portion of the autonomous agricultural observation system is autonomously controlled based at least in part on the image data; and using the trained classifier to identify an agricultural abnormality within the image data acquired by the autonomous agricultural observation system; sending one or more autonomous vehicles of the autonomous agricultural observation system to acquire additional sensor data to help determine a cause of the identified agricultural abnormality. ### Claim 9 (depends on 8) The method of claim 8, further comprising: using the image data acquired by the autonomous agricultural observation system to refine the trained classifier. ### Claim 10 (depends on 8) The method of claim 8, wherein using the autonomous agricultural observation system suspended by an elevated cable or rail to acquire the image data of the area below the elevated cable or rail includes controlling the autonomous agricultural observation system to move forward and backward along the elevated cable or rail and capturing image data at multiple locations. ### Claim 11 (depends on 8) The method of claim 8, wherein the autonomous agricultural observation system delivers a payload to remediate the identified agricultural abnormality. ### Claim 12 (depends on 8) The method of claim 8, wherein the autonomous agricultural observation system is charged from solar power or from wind power. ### Claim 13 A system for observing agricultural samples, comprising: a chassis suspended on an elevated cable or rail; an actuator disposed within the chassis for moving the chassis forward and backward along the elevated cable or rail; a camera mounted on or within the chassis and configured to acquire image data of an area below the elevated cable or rail including an agricultural sample; and a processor disposed within the chassis for autonomously controlling the actuator and the camera based at least in part on the image data, and using a trained classifier to identify an agricultural abnormality within the acquired image data, wherein the processor is configured to control the actuator to autonomously transfer the chassis from a first elevated cable or rail to a second elevated cable or rail. ### Claim 14 (depends on 13) The system of claim 13, wherein the processor is configured to use the acquired image data to refine the trained classifier. ### Claim 15 (depends on 13) The system of claim 13, wherein the processor is configured to control the actuator to move the chassis and camera to acquire the image data at multiple locations. ### Claim 16 (depends on 13) The system of claim 13, wherein the processor is configured to control additional sensors disposed within the chassis to help determine a cause of the identified agricultural abnormality. ### Claim 17 (depends on 13) The system of claim 13, wherein the processor is configured to deliver a payload to remediate the identified agricultural abnormality.