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Checklist of these steps can be found here

1. Prior Day Preparations

1. Charge flash battery

2. Charge Amiga batteries

3. Prepare supplies

   1. Color checkers (x2)

   2. Measuring tape

   3. Small step ladder

2. Supplies

3. Potting area maintenance

3.1 Debris removal

Before image collection begins, ensure that the potting area is free of debris. Follow these steps to maintain a clean workspace:

• Use a leaf blower to clear debris from the surface of the landscape fabric.

  • Be cautious to avoid blowing directly into the pots, as this may displace soil or damage plants.

• Inspect the area for any remaining loose material or obstructions and remove them manually if necessary.

A clean potting area is essential for accurate image collection and preventing unwanted elements from interfering with data quality.

3.2 Individual plant spacing

Proper plant spacing is critical to ensure accurate image collection and minimize occlusions. Follow these guidelines:

1. Avoid plant overlap—thin out plants wherever overlap occurs. Be generous when thinning to maintain clear separation.

2. Prepare the first species groups (8–10 rows) before starting the BBot imaging process.

   1. These initial rows must be fully cleaned and spaced properly before imaging begins.

3. Continue spacing adjustments while the BBot is running.

   1. Once the first group is set, you may clean and adjust the remaining rows as imaging progresses.

Maintaining proper plant spacing reduces errors and ensures high-quality, usable images.

3.3 Weed Potting Area

Discard non-target weeds or plants with overlapping leaves by uprooting, shaking off soil, and placing into a bucket or bag.

Do not leave removed weeds or plants on pots or on the landscape fabric. Anything green will be detected, therefore everything that should not be imaged must be removed.

1. Eliminate non-target weeds from both the pots and the surrounding landscape fabric:

   1. Inside the pots – Check for and remove any non-target weeds.

   2. Underneath the pots – Lift pots if necessary to remove any hidden weeds.

   3. On the landscape fabric – Remove any weeds growing in or around the area.

2. Proper disposal – Uproot unwanted plants, shake off excess soil, and place them in a designated disposal bucket or bag. Do not leave removed plants on pots or the landscape fabric, as anything green may be detected in the images.

3.4 More examples of non-target weeds and dirty potting areas

Expand
title Dropdown to see examples
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4. Camera/Flash/BBot Setup

4.1 Attaching the Camera & Flash

4.2 Configuring the SVCam

Section here about connecting the SVCam before the bbot is turned on.

4.21 Check Camera and Flash Settings

Make sure that the camera settings match what is listed in the camera settings table

1. Check aperture is correct

2. Check that the focus is correct

3. Check the flash power

4. Check height of the lens from the potting soil surface using a measuring tape

5. Place the color checker in frame of the starting position

6. Open the BBot app on the BBot interface and press the “take image” button to take a test image.

4.22 Camera and Flash Settings Table

1. To avoid the Amiga /BBot frame being in the images, we start the starting camera at a position further in the X-axis, must be further away from its right/leftmost position, which I am referring to as “0”. To get the camera into proper “0 cm”.

2. Beginning in the “0 cm” position, move it the camera to the “0” position so that it is at its standard starting place, and then move it whatever distance your site species in the table below (the “xappropriate distance relevant to the site location (refer to the “X-axis starting” column in the Settings Table ).

3. If you are changing your species map (or need to replace it, as sometimes it will clear itself when restarting the app or BBot), use the “Species Map” tab to build it. Use Enter the information in the table corresponding to your site to build the species map. At the moment, what you select for the “species” itself does not matter (

   1. Currently, the selected species is unimportant, as we do not use

   that metadata and there are limited options). Just make

   1. those metadata. Be sure to

   select

   1. have a species

   from the list

   1. selected. If

   you leave

   1. it is left as “none”, the BBot will not take images there.

   2. After

   making your

   1. inputting the settings, click

   add rows

   1. “Add Rows” and

   your

   1. a map will appear on the right side of the screen.

   If it looks good to you, then

   2. If looking accurate, press “Save.” If

   you do

   1. not

   press save

   1. saved,

   then the

   1. a map will not appear in the “Traversal” tab and

   you

   1. it will

   have

   1. need to

   rebuild it

   1. be rebuilt.

Check and Adjust BBot App Settings

BenchBot App

Settings Table

4.3

BBot Setup

4.

31 Gantry setup

• Slides into internal track as it is easy to miss.

• When turning from “Unlocked” to “Off”, gentle pressure must be applied towards the battery.

• A peg will push out of the underside of the battery, entering a hole in the metal panel of the Amiga.

• Boot up will commence.

• When choosing a starting place, make sure the camera is above the first row.

• Pausing the BBot during batch collection to adjust alignment is okay.

1. The light on the joystick will be orange or blue. When on, the BBot can control itself (Y-axis), but the joystick will be unresponsive.

2. To use the joystick, turn this off.

2.2 Spec setup

NC:

X-axis: +52cm from wheel (starting point)

Y-axis: Place where camera is directly above first row of pots.

X-axis: _________

Y-axis: _________

Z-axis: _________

MD:

X-axis: _________

Y-axis: _________

Z-axis: _________

5. Test Image Collection

Place color checkers in appropriate starting position.

Take test image and validate everything is in order.

Enter number of species, pots, pot spacing, etc. Begin Image Acquisition

4. Weed Potting Area

Discard non-target weeds or plants with overlapping leaves by uprooting, shaking off soil, and placing into a bucket or bag. Do not leave removed weeds or plants on pots or on the landscape fabric. Anything green will be detected, therefore everything that should not be imaged must be removed.

1. Remove overlapping target weeds in all pots

2. Remove non-target weeds from pots and landscape fabric

   1. Check inside the pots for non-target weeds

   2. Check and remove weeds growing from underneath the pots

   3. Check for and remove weeds growing on the landscape fabric

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1. Make sure flash is triggering

2. Make sure there are not obvious signs of poor quality in the images using the interface

3. Make sure the BBot wheels base is not in the image frame.

6. Begin the Batch

1. Place 2 Color Checkers in the potting area. Place one roughly 15cm ~15cm above the pot surface using something to prop it up the color checker. Place the other at the height of the pot surface. Shown below.

Image Removed

2. Enter number of species, pots, pot spacing, etc.

3. Start BBot collection via the “run” button on the “Traversal” tab

4. Stick around for at least the first two rows to ensure everything is working properly.

   1. If the BBot is not

   rolling

   1. moving forward after a row,

   then

   1. check the

   auto

   1. Auto button on the Amiga interface. It is likely

   in the wrong state

   1. turned off (the joystick light should be blue or orange, not white).

5. Move the color checker , once it will no longer be in anymore images, to a new spot ahead of the BBot. I personally when the BBot has passed over it. Bring it to a new are that has yet be imaged. It is good practice to put it at the start of every species. It is good to have the color checker in a batch several times, as lighting conditions do change throughout the day.Every now and then, when

6. When BBot reaches the ends of a row, check these outermost photos to make sure the pot is fully in the frame and no Amiga is in frame. If either of these happened, then your camera may not be parallel to the ground, or you may need to adjust BBot’s position with the joystick.

7. Depending on site, you may have to replace the flash battery every once and a while.

   1. At MD, our BBot does not charge the flash as it goes along, so the battery is not gaining any charge. I find that the Battery lasts about 2.5 species normally, so I like to change it out at the end of the second species and the end of the fourth species. Make sure to pause the BBot traversal before doing so, and also when you slip the new battery in, turn the flash on. The flash does not automatically turn on (even if it was still on when your removed the old battery), so you will have to manually turn it on again. Always have your flash batteries charging in case you are ready at any moment.

2. for the Amiga. If the wheels or frame are in the image, you will need to readjust the camera angle or starting point on the X-axis.

7. Packing-Up

1. Return BBot to its starting position.

2. Reapply lens cap to camera lens if needed

3. Unplug the camera cable, and screw the USB-port cap back onto the BBot box.Turn off the BBot and remove batteries, then unplug the camera and other cords.

4. Leave the BBot on for sometime to allow images to transfer

5. Be sure to replace the protective covers on plugs and cords.

5. Take the camera off the BBot

5. by disengaging the triangle mounting

5. , paying mind to the weight of the camera.

6. Pack away any accessories

5. (Color Checker,

5. measuring tapes, etc.).

5. Bring everything inside, and charge all batteries so that they are ready for the next batch collection.

8. Troubleshooting

8.1 Basic Troubleshooting Tips:

• Check the emergency breaks. Make sure they aren’t active. They should be lifted so that you can see a strip of black below them, indicating the brakes are not on.

• Check wi-fi connection. On the top right corner of the BBot interface. If no signal, Advanced wi-fi settings can be assessed in settings if there is no signal.

• Check Amiga settings. Make sure they are properly set.

• Check camera & flash. Make sure they are turned on and plugged in.

• Reboot the system. Remember to turn off BBot before unplugging camera.

8.2 “Missing JPG/RAW” , “Missing JPG” , Image loading indefinitely

It is believed this is caused by an issue with the camera having a proper connection to BBot.

Try to remedy this by:

• Unplugging the camera cable from both ports several times. Try to image after each attempt.

• Dismounting the camera and moving it a little bit. Remove & replace the battery. Doing anything to maybe jostle something back into place.

• Rebooting BBot.

8.3 BBot taking images in same spot, unable to move (X & Y axis motors)

• Restart the BBot app. Simply close and reopen.

8.4 “No images taken”

In the mini-computer (via piKVM)

While in the mini-computer, execute localhost:5000/image in the address bar. This message is returned:

{“text”: “RAW BMP missing”, “imageTaken”: 0}

on the screen it says “Raw BMP missing”

• Cabling - Step by step

1. Power cable → Camera

2. Data cable → Camera

3. Flash cables and Camera

   1. Power Cable → Camera

   2. Camera → Flash

   3. Data ethernet (from camera) → Power Box

• Check cables. Make sure they are plugged in securely.

• Check Minicomputer. Make sure it is properly communicating with the camera.

Examples of Plant Spacing and Non-Target Weeds

Individual plant spacing

Avoid overlapping plants, thinning in every instance of overlap. Be liberal when thinning plants.

Individual pot spacing

• .

Non-target weeds

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