Sensorless Reduction of Cane Oscillations Aimed at Improving Robotic Grapevine Winter Pruning

Andrea Fimiani, Pierluigi Arpenti, Matteo Gatti, Fabio Ruggiero

2023

Abstract

Agricultural sector faces challenges like high labour costs and a shortage of qualified workers for repetitive tasks, leading to increased interest in agricultural robotics. Pruning is a focus for automation efforts worldwide. However, pruning robots struggle with slow and inaccurate vision systems, resulting in slow, costly, and potentially harmful operations for plants. This study aims to provide a reproducible and reliable method for detecting contact with grapevines during pruning, minimising potential damage, and improving vision system speed by reducing cane oscillations. The proposed approach uses a momentum-based observer, eliminating the need for force sensors. Experiments on Vitis vinifera cv. Pinot Noir canes validated this methodology.

Paper Citation

in Harvard Style

Fimiani A., Arpenti P., Gatti M. and Ruggiero F. (2023). Sensorless Reduction of Cane Oscillations Aimed at Improving Robotic Grapevine Winter Pruning. In Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-670-5, SciTePress, pages 640-647. DOI: 10.5220/0012182500003543

in Bibtex Style

@conference{icinco23,
author={Andrea Fimiani and Pierluigi Arpenti and Matteo Gatti and Fabio Ruggiero},
title={Sensorless Reduction of Cane Oscillations Aimed at Improving Robotic Grapevine Winter Pruning},
booktitle={Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2023},
pages={640-647},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012182500003543},
isbn={978-989-758-670-5},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Sensorless Reduction of Cane Oscillations Aimed at Improving Robotic Grapevine Winter Pruning
SN - 978-989-758-670-5
AU - Fimiani A.
AU - Arpenti P.
AU - Gatti M.
AU - Ruggiero F.
PY - 2023
SP - 640
EP - 647
DO - 10.5220/0012182500003543
PB - SciTePress