Here we will track the specific configuration and status of each unique BenchBot by location.
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Image Collection
High overlap mode for generating orthomosaics.
Camera needs to be positioned 1.8 m above the pots during collection
For testing, and aiming for 50% side and font overlap, images should be spaced accordingly:
x-axis distance: 50-55 cm
y-axis distance: 43-45 cm
Values given below are not the actual pot/row spacing on the ground, but instead represent what should be entered into the bbotv3 GUI to achieve sufficient image overlap.
Semi-Field Potting Area Dimensions | Semi-Field Physical Pot Layout | BB App Programmed Settings | Notes | |||||||
|---|---|---|---|---|---|---|---|---|---|---|
Site | Width | length | Num Pots Per Row | Number of Rows | On Center pot spacing | Programmed Number of Rows | Pots Per Row | Pot Spacing | Row spacing | |
MD (BARC) | 6.1m | 39.0m | 77 | 12 | 50 cm | 43 cm | ||||
BARC Test 1 7/8/24 | 6.1m | 39.0m | 40 cm | 25 cm | Amiga not removed from FOV. Successful reconstruction (MD_2024-07-08) | |||||
BARC Test 2 7/9/24 | 6.1m | 39m | 102 | 11 | 50 | 38 | Amiga removed from FOV. Failed reconstruction (only 40 unaligned images) | |||
BARC Test 3 7/11/24 | 6.1m | 39m | 12 | 45 | 30 | Amiga removed from FOV. | ||||
NCSU | 7.0m | 33.5m | 79 | 8 | 53 cm | 38 cm | ||||
NCSU Test 1 7/9/24 | 7.0m | 33.5m | 40 | 19 | 39 | 25 | Start with 3cm offset from home on X axis. Failed reconstruction, however significant improvement. Amiga not removed from FOV | |||
NCSU Test 2 7/11/24 | 40 | 17 | 39 | 25 | Start with 54cm offset Amiga should not appear in pics | |||||
NCSU 7/15/24 to Present | Variable | 15 | 45 cm | 30 cm | Start with 73cm offset Amiga should not appear in pics (but will if the camera is tilted). | |||||
TX | ||||||||||
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To calculate the number of pots per row in your setup, use the following formula: Pots per Row = Travel Available for Image Collection ÷ Pot Spacing However, this calculation often does not result in an even number. To optimize the arrangement, follow these steps:
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NCSU (Method Rd.)
The NCSU BenchBot is currently operating on a newly constructed pad located outside of the Plant Sciences Building. The general pad, watering system, and plants are managed byEsleyther Henriquez Inoaand his team. The BenchBot itself and day to day operation is overseen by Mark Funderburk and his team.
Connectivity Method
Internet connectivity is provided by a dedicated point to point link using Ubiquity radios provided by Jevon Smith (PSI / PSB IT). The BenchBot is behind its own NAT provided by a building router. One end of the link is on top of the PSB roof and is maintained by Jevon. The other side is mounted to the BB and is integrated / maintained by us. The unit on the BB is powered by a dedicated 24V passive POE injector in the Carriage Electronics Enclosure (CEE).
There is also a small Ubiquity AP, also managed by Jevon, mounted to the BB to provide local network access and service internet to operators since the building WiFi has poor signal here.
The Amiga Brain has some site specific tweaks to make the networking work in this environment.
The Service network name is “BenchBot”, and the password can be provided by Mark Funderburk or Priya Jakhar on an as needed basis.
Watering System
10 Sprinkler heads in 2 groups supplied form the buildings landscaping water supply. Automatic Rainbird timer triggers each section 3x per day for 30 min each time.
Important Links
https://docs.google.com/spreadsheets/d/1hHF8rfs_FmxJ3NN68AEIFvJoWfUUDHr8HZfFNhLZf3E/edit?usp=sharing
NCSU BenchBot Specifications | Value |
|---|---|
Gantry width (wheel center to center) | 7.77m (25.5') |
Gantry Height (Min clearance under gantry) | 2.0m (7.0') |
X-Axis Limit Switch to Limit Switch Travel | 7.46m (24.5') |
Sony Camera Image Collection Settings (Adjustments necessary to prevent Amiga frame from being in the images) | |
Offset From Negative (Home) Limit Switch | 56 cm |
Offset From Positive Limit Switch | 43 cm |
Travel Available for Image Collection | 6.57 m |
Physical Configuration (approximate measurements)
BARC
BARC BenchBot Specifications | Value |
|---|---|
Gantry width (wheel center to center) | 6.33 (20.8'') |
Gantry Height (Min clearance under gantry) | 2.0m (7.0') |
X-Axis Limit Switch to Limit Switch Travel | 5.56m |
Sony Camera Image Collection Settings (Adjustments necessary to prevent Amiga frame from being in the images) | |
Offset From Negative (Home) Limit Switch | 19 cm |
Offset From Positive Limit Switch | 41 cm |
Travel Available for Image Collection | 4.96 m |
BBv3 - BARC Config (partsbox.com)
Specification | Value | Notes |
|---|---|---|
Gantry width (wheel center to center) | 20.8 ft | |
Gantry Height (Min clearance under gantry) | 82” |
The BARC site expects to add a second, identical, BenchBotv3 to their new 50ft wide pad later in 2024. This diagram reflects the clearances possible with that setup.
Physical Configuration (approximate measurements)
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Texas
https://docs.google.com/spreadsheets/d/1-aCRfjkK83yY6R9pnCn2wCGlo5JU2bBDv4jpgL5DbW0/edit?usp=sharingBBv3 - TAMU Config (partsbox.com)
Specification | Value | Notes |
|---|---|---|
Gantry width (wheel center to center) | 30.4 ft | |
Gantry Height (Min clearance under gantry) | 82” |
Physical Configuration (approximate measurements)
