Identification of Pruning Branches for for Automated Dormant - - PowerPoint PPT Presentation

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Identification of Pruning Branches for for Automated Dormant - - PowerPoint PPT Presentation

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Identification of Pruning Branches for for Automated Dormant Pruning M Manoj Karkee j K k Assistant Professor Biological Systems Engineering Department Biological Systems Engineering Department Center for Precision and Automated

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Identification of Pruning Branches for

M j K k

for Automated Dormant Pruning

Manoj Karkee Assistant Professor Biological Systems Engineering Department Biological Systems Engineering Department Center for Precision and Automated Agricultural Systems Washington State University

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IEEE RAS Ag Robotics and Automation Webinar May 6, 2013

  • Removal of unwanted branches from

PRUNING

Removal of unwanted branches from trees

  • Improves fruit quality and tree health

Improves fruit quality and tree health

  • Maintains canopy shape and size
  • Labor intensive and laborious
  • ~30% of pre-harvest cost in apples

30% o p e a est cost app es

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Specialty Crop Engineering Solutions Workshop Pittsburgh, PA; Nov 28, 2012

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Specialty Crop Engineering Solutions Workshop Pittsburgh, PA; Nov 28, 2012

Simpler tree architectures open up Simpler tree architectures open up

  • pportunity for automated pruning
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SLIDE 5

Specialty Crop Engineering Solutions Workshop Pittsburgh, PA; Nov 28, 2012

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IEEE RAS Ag Robotics and Automation Webinar May 6, 2013

Automated Selective Pruning

LONG- TERM GOAL

g

SPECIFIC OBJECTIVE SPECIFIC OBJECTIVE

Identify Branches for Automated Pruning

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SLIDE 7

IEEE RAS Ag Robotics and Automation Webinar May 6, 2013

  • Study Manual Pruning

STEPS Study Manual Pruning

  • Reconstruct 3D Skeleton of Trees
  • Identify Pruning Branches

Identify Pruning Branches

  • Compare with Manual Pruning
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SLIDE 8

IEEE RAS Ag Robotics and Automation Webinar May 6, 2013

  • Alan Bros. Inc, Prosser, WA

STUDY SITE

  • Tall Spindle Architecture
  • Inter-row – 2.44m, inter-plant - 0.45m

Inter row 2.44m, inter plant 0.45m

  • Fourth Year
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Specialty Crop Engineering Solutions Workshop Pittsburgh, PA; Nov 28, 2012

HUMAN PRUNING EVALUATION

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Specialty Crop Engineering Solutions Workshop Pittsburgh, PA; Nov 28, 2012

HUMAN PRUNING EVALUATION

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IEEE RAS Ag Robotics and Automation Webinar May 6, 2013

WOOD REMOVAL BY WORKERS WOOD REMOVAL BY WORKERS

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In Addition

Interaction with Horticulturists and Growers

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IEEE RAS Ag Robotics and Automation Webinar May 6, 2013

Pruning is quite subjective; but some OUTCOME Pruning is quite subjective; but some common guidelines can be formulated!!

Two Guidelines

  • Remove long branches

Remove long branches

  • Remove old/large branches
  • Remove closely spaced

branches

  • Remove overlapping branches
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SLIDE 14

IEEE RAS Ag Robotics and Automation Webinar May 6, 2013

Pruning Branch ID:

Functional Block Diagram

I I Sk l Image Acquisition Image Preprocessing Skeletonization Skeleton Analysis

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IEEE RAS Ag Robotics and Automation Webinar May 6, 2013

IMAGE ACQUISITION

3D Camera Pan-Tilt System

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IEEE RAS Ag Robotics and Automation Webinar May 6, 2013

PREPROCESSING

Noise Filtering Stitching

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IEEE RAS Ag Robotics and Automation Webinar May 6, 2013

SKELETONIZATION SKELETONIZATION

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IEEE RAS Ag Robotics and Automation Webinar May 6, 2013

PRUNING BRANCH IDENTIFICATION

Remove Remove

  • Long branches
  • Closely spaced

Closely spaced branches

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SLIDE 19

IEEE RAS Ag Robotics and Automation Webinar May 6, 2013

SUMMARY

Based on branch length and spacing criteria

  • Achieved 86% accuracy in identifying pruning

branches

  • Percentage wood removal was within 2% of

most experience worker

Video

http://www.youtube.com/watch?v=s12YytfKDU4

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Specialty Crop Engineering Solutions Workshop Pittsburgh, PA; Nov 28, 2012

ONGOING AND FUTURE EFFORTS

  • Pruning Point Localization
  • Computational Optimization

Computational Optimization

  • End Effector Evaluation
  • Robotic System Development
  • Robotic System Development
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Thank You

Manoj Karkee manoj.karkee@wsu.edu