Backscatter Imaging for Precision Agriculture

Abstract

Methods for characterizing living plants, wherein one or more beams of penetrating radiation such as x-rays are scanned across the plant under field conditions. Compton scatter is detected from the living plant and processed to derive characteristics of the living plant such as water content, root structure, branch structure, xylem size, fruit size, fruit shape, fruit aggregate volume, cluster size and shape, fruit maturity and an image of a part of the plant. Ground water content is measured using the same technique. Compton backscatter is used to guide a robotic gripper to grasp a portion of the plant such as for harvesting a fruit.

We claim: 
     
         1 . A method for characterizing a living plant, the method comprising:
 a. generating a first beam of penetrating radiation;   b. scanning the beam across the living plant;   c. detecting Compton scatter from the living plant derived from the first beam of penetrating radiation to generate a first scatter signal; and   d. processing the scatter signal to derive a first characteristic of the living plant.   
     
     
         2 . A method in accordance with  claim 1 , wherein the beam is collimated in one dimension. 
     
     
         3 . A method in accordance with  claim 1 , wherein the characteristic is chosen from the group of water content, root structure, branch structure, xylem size, fruit size, fruit shape, fruit aggregate volume, fruit maturity and an image of a part of a living plant. 
     
     
         4 . A method in accordance with  claim 1 , wherein scanning the beam includes irradiating the living plant with a pencil beam of penetrating radiation. 
     
     
         5 . A method in accordance with  claim 1 , wherein the penetrating radiation includes x-rays. 
     
     
         6 . A method in accordance with  claim 5 , wherein the x-rays include photons in a range between 50 keV and 220 keV. 
     
     
         7 . A method in accordance with  claim 1 , further comprising acquiring data using a concurrent sensing modality. 
     
     
         8 . A method in accordance with  claim 7 , wherein the concurrent sensing modality is one of the group of sensing modalities including visible, microwave, terahertz and ultrasound. 
     
     
         9 . A method in accordance with  claim 7 , further comprising correcting for at least one of motion and attitude of a conveyance from which the first beam of penetrating radiation is emitted on a basis of the data acquired using a concurrent sensing modality. 
     
     
         10 . A method in accordance with  claim 7 , wherein the data acquired using a concurrent sensing modality is used for registration of an image of the living plant with respect to a frame of reference of the living plant. 
     
     
         11 . A method in accordance with  claim 1 , wherein scanning the beam includes irradiating the living plant with a pencil beam emitted from a conveyance. 
     
     
         12 . A method in accordance with  claim 1 , wherein scanning the beam includes irradiating the living plant from above the living plant. 
     
     
         13 . A method in accordance with  claim 1 , wherein scanning the beam includes irradiating the living plant from a position horizontally displaced with respect to the living plant. 
     
     
         14 . A method in accordance with  claim 1 , wherein generating the beam of penetrating radiation includes generating the beam in a scanner head deployed on an articulated arm. 
     
     
         15 . A method in accordance with  claim 1  wherein a gripper and an x-ray source with pencil beam collimation are disposed on a robotic arm. 
     
     
         16 . A method in accordance with  claim 1 , wherein deriving a characteristic of the living plant includes deriving a characteristic of a root of the living plant. 
     
     
         17 . A method in accordance with  claim 1 , wherein scanning includes emitting the penetrating radiation concurrently into two half spaces. 
     
     
         18 . A method in accordance with  claim 1 , wherein scanning includes directing the beam of penetrating radiation electronically. 
     
     
         19 . A method in accordance with  claim 1 , wherein generating a beam of penetrating radiation includes passing the penetrating radiation through a defining aperture. 
     
     
         20 . A method in accordance with  claim 19 , further comprising adjusting the defining aperture during the course of scanning the beam.