Update: Automation for Bare Root Ornamental and Fruit Tree Inventory
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Transcript of Update: Automation for Bare Root Ornamental and Fruit Tree Inventory
Update: Automation for Bare Root Ornamental and Fruit Tree
Inventory
J.S. Owen Jr., W. Shi, H.M. Stoven, S. Singh, K. Lewis, S. Doane, M. Bergerman
Caliper, Counter and GPS tracking- Year 3 report
Review of goals What is new with Caliper What is new with Counter Location tracking with inexpensive GPS Caliper, Counter and GPS field testing and
demo in WA, OR and CA Outreach Barriers to adoption / Economics analysis
Activities Deliverables Success Criteria
1a. Redesign and reimplement on-the-fly caliper device1b. Design and construct 3-point hitch for caliper in-field testing
1a. New on-the-fly caliper1b. Report on the comparison of caliper device data to actual in WA and OR for bare-root fruit, flowering, and shade trees
1. Caliper measurements within 1/8” (3s) of staked bare root fruit, flowering, and shade trees at 6” (±2”) above the graft union or soil travelling 3 mph or greater using a 3-point hitch
2. Continue refinement and integration of counter device to count bare-root fruit, flowering, and shade trees before harvest; all in-field tests conducted using existing, on-farm equipment while conducting simultaneous production-related tasks
2. Report on the comparison of counter device data to actual in WA and OR for bare-root fruit, flowering, and shade trees
2a. Count trees greater than ¼” (6 mm) caliper with 96% accuracy at 3 mph or greater2b. Count trees greater that ½” (13 mm) caliper with 98% accuracy at 5 mph or greater
3. Conduct field tests in WA and OR at night and day using 3-point hitch
3. Reports of tests conducted 3. Repeated trials, day and night, at OR and WA nurseries implemented and reported
4. Identify hardware or software needed for integration of device(s) that lead to successful commercialization
4. Low-cost counter device with integrated electronics and processing
4. Counter device sale price < $2,000
3-year goals
Caliper - Field New caliper design and built to overcome stake Design and fabricate 3-point hitch for caliper in-
field testing Caliper measurements need to be determined
at:distance of 10 to 20” from tree6” (±2”) above the graft union or soil travellingtravelling 3 mph
Caliper measurements within 1/8” of staked bare root fruit, flowering, and shade trees
Counter - Field Purchase 2 new counters operated by netbook
Imputable size info to increase accuracy? Design and fabricate dual mount for counters on:
Tractor ATV Count trees greater than ¼”
(6 mm) caliper with 96% accuracy at 3 mph or greater Count trees greater that ½” (13 mm) caliper with 98%
accuracy at 5 mph or greater
Caliper Hardware
A new caliperLow power, sharper lasersReduced laser baselineNew steel casing
Improved existing caliperSharper lasersMore accurate calibrationWide field of view
Caliper Software Completely rewrote to improve
efficiency – can process caliper estimation at 60 times per second (60 Hz from 7 Hz last year)
Added process to handle trees with stakes
Created 2 versions – field and warehouse calipers
Added Graphic User Interface (GUI) and features based on grower feedback
Warehouse Caliper GUI User can specify info such as location, tree, grading and
bin capacity Logs data, show running status Shows bin count and alerts user when bin is full
Field Caliper GUI User can specify if stakes are used and diameter of stake Reports optimum measuring distance range and maximum
allowed traveling speed to ensure adequate estimates per tree (approx. 12)
Caliper field tests J Frank Schmidt Nursery, OR
Caliper mounted at the front of tractor
Caliper field tests at J Frank Schmidt nursery on Aug 24-25 2011
Caliper testing scenario:Testing on Red Pointe Maple, 2 years old100 trees measured, total length 112 feet~12 inch spacing in between treesTrees staked with metal stakes (0.25 in)Runs at 1 mph, 2 mph and 3 mphManually measured the caliper of 100 trees as
Ground Truth
Caliper field tests J Frank Schmidt Aug 24-25 2011
Caliper field tests at J Frank Schmidt nursery on Aug 24-25 2011
Findings:Increased number of hits but this configuration is
more sensitive to errors in keeping sensor at constant distance from trees.
Still not able to satisfactorally remove the stake from calculation of diameter.
Caliper field tests at J Frank Schmidt nursery on Aug 24-25 2011
Example: 4 of 23 measurements on one tree Stake does not affect any of 23 estimates
stake
Examples of Failures 3 images of set of 22 estimates
on another tree Stake affects on 6 estimates Having large # of estimates is
important – can compensate for errors in detecting stakes
Caliper field tests at J Frank Schmidt nursery on Aug 24-25 2011
Limitation for staked trees Need to know the stake’s caliper Stake’s caliper must be significant difference than average tree
caliper (ratio of stake caliper to tree caliper) Left figure shows stakes deemed acceptable, right figure shows
stakes that are not viable. Remain unable to measure staked trees regardless.
Commercialization by Crop Tech LLC
Counter Hardware
2011 ImprovementsAdded optics to diffuse laser
beam (by 5X) to get more hits on the trees
Optics dramatically improve performance – accuracy & speed of travel possible
Counter Software Added Graphic User Interface to include user
input, pausing and saving data
Adams County Nursery, PA
J Frank Schmidt
Staked 2 year old red pointe maple
Single row of 708 trees ½ - 1 ¼ caliper 12 inch spacing
Run# Speed #Trees Count Err % Log file
1 3mph 708 681 3.8% runCounterAt.2011-08-25.18:18:59
2 3mph 708 698 1.4% runCounterAt.2011-08-25.18:34:24
3 3mph 708 639 9.7% runCounterAt.2011-08-25.18:56:13
4 3mph 708 696 1.7% runCounterAt.2011-08-25.19:04:42
5 3mph 708 625 11.7% runCounterAt.2011-08-25.19:13:15
6 3mph 708 716 1.1% runCounterAt.2011-08-25.19:19:49
J Frank Schmidt
Staked 2 year old red pointe maple
Single row of 708 trees ½ - 1 ¼ caliper 12 inch spacing
Run# Speed #Trees Count Err % Log file
1 3mph 708 681 3.8% runCounterAt.2011-08-25.18:18:59
2 3mph 708 698 1.4% runCounterAt.2011-08-25.18:34:24
3 3mph 708 639 9.7% runCounterAt.2011-08-25.18:56:13
4 3mph 708 696 1.7% runCounterAt.2011-08-25.19:04:42
5 3mph 708 625 11.7% runCounterAt.2011-08-25.19:13:15
6 3mph 708 716 1.1% runCounterAt.2011-08-25.19:19:49
Dave Wilson Nursery, CA
All almond trees on 5” spacing in row ¼” to 5/16” caliper Nonpareil Almond on Nemaguard rootstock (1/4”) Wood Colony Almond on Nemaguard (5/16”) Honey Royale Almond on Nemaguard (5/16”)
Speed mph
Run1
Run2
Run3
Run4
Run5
Run6
Run7
Run8
Mean Err%
2.5 52 50 53 51 52 - - - 3.2
3.0 51 52 51 53 48 52 49 48 1.0
4.0 52 51 52 47 - - - - 1.0
5.0 54 47 50 51 49 48 - - 0.4
GPS tests for localization
GPS data recording on rows of tall trees with canopy which potentially blocks the view of GPS satellites
Device:○ U-blox 6T
Location tracking with low-cost GPS
GPS data is logged with cheap(<$300)GPS unit while conducting field tasks, such as running caliper or counter
Data is post-processed with correction data from US Govt. the day after collection
Field tested in spring (WA) and fall (OR)
Washington Tree Fruit Nursery Spring 2010
Tractor track: raw data in red
Processed data in green.
J Frank Schmidt Nursery Fall, 2011
Tractor track: raw data in red
Processed data in green.
Processed data jumps by 1m occasionally due to canopy
Tractor’s speed plot: during travel at ~3.0 mph
J Frank Schmidt Nursery Fall, 2011
CASC Research Nursery II, OR
Outreach Numerous stakeholder meetings Presented to Northwest Nursery Improvement Institute (NNII) Demonstration and presentation at Farwest Show Research presented to ANLA on ‘Kick the Dirt’ Educational Sessions Led education Farwest session on Automation and Technology that
included presentation from Clark Seavert on value proposition.
Videos
Counterhttp://youtu.be/DmA_RrgKyqM
Caliperhttp://youtu.be/OxvGJSZn_s8
Heather Stoven: 503.678.1264 or [email protected]
Jim Owen’s New Contact Info
Virginia Polytechnic Institute and State University
Hampton Roads Agricultural Research and Extension Center
1444 Diamond Springs Road, Virginia Beach, VA 23455
Tel: 757.363.3904
Lab: 757.363.3906
Fax: 757.363.3950
Email: [email protected]
Skype/Google: nsy.prod.vt
Web: www.arec.vaes.vt.edu/hampton-roads/
THANK YOU.