Robotic Fruit Pruning With Exclusion Zones for Limb Precision
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current automated systems for pruning fruit plants and harvesting fruit fail to maintain premium quality needed for the fresh market, as they either damage the trees or remove fruit inefficiently.
Innovation Solution
A robotic tree pruner and harvester system utilizing a computer-based control system with GPS, GIS, and robotic arms to autonomously select and target individual limbs and fruits, allowing for precise pruning and harvesting while minimizing damage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If automated systems use general toping or straight side cutting to remove limbs, then productivity is improved, but manufacturing precision deteriorates because they cannot selectively prune individual limbs
Solution Approach 1:
The automated pruning system divides the tree into discrete targetable units (individual limbs, branches, and fruit) using GPS location data and image recognition. Each limb is segmented as a separate object with specific coordinates, allowing the robotic arm to selectively prune only the identified target rather than performing general toping or side cutting of entire tree sections.
2Productivity
If automated systems use shaking or knocking to harvest fruit, then productivity is improved, but object-generated harmful factors worsen because fruit quality deteriorates
Solution Approach 1:
The system replaces violent mechanical shaking or knocking methods with a controlled robotic picking mechanism. The robotic arm uses image recognition to locate individual fruit, then applies controlled mechanical force through a picking device that grasps and removes fruit gently, eliminating the damaging effects of tree shaking while maintaining high harvesting productivity.
3Object-generated harmful factors
If manual pruning and harvesting is performed, then object-generated harmful factors are minimized, but productivity deteriorates
Solution Approach 1:
The system enables autonomous operation where the robotic platform independently performs pruning and harvesting tasks without continuous human intervention. The integrated system automatically navigates to trees, identifies targets using GPS and image recognition, executes pruning or harvesting actions, and moves to the next target, thereby achieving both high productivity and minimal damage comparable to careful manual work.
4Productivity
If automated systems remove entire tree sections, then productivity is improved, but loss of substance worsens because non-target limbs are removed
Solution Approach 1:
The system uses real-time feedback from GPS location data and image recognition to continuously identify and verify target limbs before pruning. The robotic arm receives precise coordinate information for each identified limb, allowing it to selectively remove only the specified target while avoiding adjacent non-target limbs, thus eliminating the waste associated with removing entire tree sections while maintaining high pruning speed.
Data Source
AI summary
This disclosure includes a method for pruning a fruit plant. An exemplary method step includes obtaining an image of the fruit plant that has branches. Next, creating exclusion zones surrounding the branches. Then pruning the fruit plant based upon the exclusion zones.