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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
Image AddedImage AddedImage AddedImage AddedImage AddedImage AddedImage Added

4. Camera/Flash/BBot Setup

4.1 Attaching the Camera & Flash

4.2 Configuring the SVCam

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

1. frame being in

1. images,

1. the starting camera

1. position

1. must be further away from its right/leftmost position,

1. “0 cm”.

2. Beginning in the “0 cm” position, move it the

1. appropriate distance relevant to the site location (refer to the “X-axis starting” column in the Settings Table ).

2. If

1. changing your species map

1. ,

1. use the “Species Map” tab to build it.

1. Enter the information in the table corresponding to your site to build the species map.

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

1. 1. those metadata. Be sure to

1. 1. have a species

1. 1. selected. If

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

   2. After

1. 1. inputting the settings, click

1. 1. “Add Rows” and

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

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

1. 1. not

1. 1. saved,

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

1. 1. it will

1. 1. need to

1. 1. be rebuilt.

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.

5. Test Image Collection

Place color checkers in appropriate starting position.

Take test image and validate everything is in order.

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 ~15cm above the pot surface using something to prop it up. Place the other at the height of the pot surface. Shown below.

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

2. 1. moving forward after a row,

2. 1. check the

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

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

3. Move the color checker

2. 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

2. .

3. When BBot reaches the ends of a row, check these outermost photos

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.

1. Turn off the BBot and remove batteries, then unplug the camera

1. and other cords.

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

3. 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. .

6. 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.