Agriculture Reference
In-Depth Information
Orchard and Vineyard
Production Automation
7
Thomas Burks, Duke Bulanon, Kyu Suk You,
Zhijiang Ni, and Anirudh Sundararajan
CONTENTS
7.1 Introduction .................................................................................................. 150
7.2
Cultural Practices: Mechanization and Automation..................................... 151
7.2.1
Hedging and Pruning Automation in Vineyard Production ............. 151
7.2.2
Hedging and Pruning Automation in Orchard Production............... 153
7.2.2.1 Selective Thinning and Pruning Automation .................... 154
7.2.2.2 Electromechanical Fruit Thinning..................................... 155
7.2.2.3 Robotic Pruning/Thinning................................................. 156
7.2.3
Precision Spraying Applications....................................................... 156
7.3
Mechanical Mass Harvesting of Fruits, Nuts, and Vegetables ..................... 157
7.3.1 Classification of Mechanical Harvesters .......................................... 157
7.3.2 Root Crop Harvesting ....................................................................... 158
7.3.3 Surface Crop Harvesting .................................................................. 160
7.3.4 Bush Crop Harvesting....................................................................... 162
7.3.5 Tree Crop Harvesting ....................................................................... 164
7.3.6 Harvesting Aides and Platforms....................................................... 166
7.3.7 Yield Monitoring .............................................................................. 167
7.4
Robotic Tree Fruit Harvesting ...................................................................... 168
7.4.1
Horticultural Aspects of Robotic Harvesting ................................... 170
7.4.1.1
Plant Population and Spacing ............................................ 170
7.4.1.2
Plant Shape and Size.......................................................... 171
7.4.1.3
Tree Genetics for Optimal Harvesting............................... 171
7.4.2
Design Aspects of Robotic Harvesting............................................. 172
7.4.2.1
Physical Properties and Fruit Removal.............................. 174
7.4.2.2
Machine Vision and Sensing Technologies ....................... 176
7.4.2.3
Robotic Manipulation and Control .................................... 178
7.4.3
Robotic Systems Development ......................................................... 185
7.4.3.1 Harvesting Manipulator ..................................................... 187
7.4.3.2 Vision Sensory System ...................................................... 187
7.4.3.3 Harvesting End Effector .................................................... 189
7.4.3.4 System Architecture........................................................... 189
7.4.3.5
Fruit Picking Trials ............................................................ 191
149
