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 heather.stoven@oregonstate.edu

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: nsy.prod@vt.edu               

Skype/Google: nsy.prod.vt

Web:  www.arec.vaes.vt.edu/hampton-roads/

THANK YOU.