on-the-go caliper and counter device for shade and fruit tree nursery inventory management
TRANSCRIPT
On-the-go Caliper and Counter Device for Shade and Fruit Tree Nursery Inventory
Management
J.S. Owen Jr., W. Shi, S. Singh, H.M. Stoven, K. Lewis
Seasonal Counts for Inventory
Images by Jim Robbins
Automation of Inventory
Processes for Nurseries
Dr. James Robbins – Extension Specialist
Image by Jim Robbins
Caliper as an Estimate of Grade
Tallymaster – 2003
On-the-Fly Tree Caliper
Measurement
2 Class 3 lasers, 60 Hertz camera
On-the-Fly Tree Caliper
Measurement
Capture multiple frames per tree at
varying angles
Caliper
2 Class 3 lasers
Caliper estimation at 60 times per second (60 Hz)
Filtered from light
Algorithm incorporated to process staked trees
Caliper measured at:
distance of 10 to 20” from tree
6” (±2”) above the graft union or soil travelling 3 mph
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)
Unstaked Tree Accuracy
+/- 2.5mm
Unstaked Tree Accuracy
0
20
40
60
80
100
120
140
160
180
200
4 5 6 7 More
Caliper Ests Manual Utool
Num
ber
of
trees
Nursery tree grade
Staked Tree Accuracy
Staked Tree Accuracy
Limitation for staked trees
Need to know the caliper of the stake
Caliper of stake and tree must be significantly different (ratio of
stake caliper to tree caliper)
Left figure shows stakes deemed acceptable, right figure shows
stakes that are not viable.
Staked Tree Accuracy
Counter Software
Graphic User Interface to include user
input, pausing and saving data
On-the-Fly Tree Counter
J frank Schmidt, OR - 45 Sergeant crabapples travelling < 3 mph. Trees
were counted 5 times with an average accuracy of 97%
Willow Drive Nursery, WA - 20 apple small caliper seedlings travelling
approx 2 mph. Trees were counted 10 times with an average accuracy of
95%.
At Dave Wilson Nursery, CA - 50 cherries trees travelling approx 2.5 mph.
Each of the tree cultivars were counted 10 to 20 times with an average
accuracy of 97%
At J frank Schmidt, OR - 45 Gymnocladus seedlings travelling approx 2.5
mph. Each of the tree cultivars were counted 4 times with an average
accuracy of 97%
At J frank Schmidt, OR on 708 Staked 2 year old red pointe maple (½ - 1 ¼
caliper, 12 inch spacing) 91 to 90% accuracy. Low accuracy was result of
a dust film on lens.
Localization
Post-processed
Device: U-blox 6T
Cost: $300 to $400
Sub-meter accuracy
Field tested
○ Spring (WA)
○ Fall (OR)
Tractor track:
raw data in
red
Processed
data in green.
Localization
Tractor’s speed plot: during travel at
~3.0 mph
Localization
http://www.cascrop.com/