Carnegie Mellon University
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Autonomous Mechanical Thinning Using Scanning LIDAR

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journal contribution
posted on 2011-08-01, 00:00 authored by Matthew Aasted, Reuben Dise, Tara Auxt Baugher, James R. Schupp, Paul H. Heinemann, Sanjiv Singh

Hand thinning is a labor-intensive and expensive peach production practice. Mechanical thinning has been shown to be an economical method of reducing thinning cost. However, current mechanical thinning systems applied to perpendicular V systems require the operator to constantly steer the tractor to maintain engagement. This paper presents a system using a LIDAR to sense the canopy and automatically control the position of a modified Darwin string thinner position to maintain engagement. We demonstrate that the automated system is approximately as good as a human at maintaining canopy engagement by presenting blossom removal counts, and suggest that this may be an economically viable method of augmenting mechanical thinning.




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