Perception Tools for Collaborative and Autonomous Pruning for Bi-Manipulator Robot in Table Grape Vineyards
Robots have found extensive applications in various domains, including social and industrial settings. However, the agricultural sector is still in the early stages of incorporating robotics, fac- ing unique challenges and specialized requirements. Recognizing the potential, initiatives like the CAN...
| Autor: | |
|---|---|
| Tipo de recurso: | tesis de maestría |
| Fecha de publicación: | 2023 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/392833 |
| Acceso en línea: | https://hdl.handle.net/2117/392833 |
| Access Level: | acceso abierto |
| Palabra clave: | Grapes -- Pruning -- Automation Wine and wine making -- Equipment and supplies -- Disseny i construcció Pattern recognition systems -- Software -- Mathematical models -- Disseny i construcció Robot vision Vinya -- Poda -- Automatització Vinicultura -- Aparells i instruments -- Disseny i construcció Visió artificial (Robòtica) Àrees temàtiques de la UPC::Informàtica::Robòtica |
| id |
ES_cfc0e878ca97f310f760df63c6004dce |
|---|---|
| oai_identifier_str |
oai:upcommons.upc.edu:2117/392833 |
| network_acronym_str |
ES |
| network_name_str |
España |
| repository_id_str |
|
| spelling |
Perception Tools for Collaborative and Autonomous Pruning for Bi-Manipulator Robot in Table Grape VineyardsGiacchetti, MarcoGrapes -- Pruning -- AutomationWine and wine making -- Equipment and supplies -- Disseny i construccióPattern recognition systems -- Software -- Mathematical models -- Disseny i construccióRobot visionVinya -- Poda -- AutomatitzacióVinicultura -- Aparells i instruments -- Disseny i construccióWine and wine making -- Equipment and supplies -- Disseny i construccióVisió artificial (Robòtica)Àrees temàtiques de la UPC::Informàtica::RobòticaRobots have found extensive applications in various domains, including social and industrial settings. However, the agricultural sector is still in the early stages of incorporating robotics, fac- ing unique challenges and specialized requirements. Recognizing the potential, initiatives like the CANOPIES project by the European Union aim to tackle precision viticulture challenges and contribute to the development of robotics in agriculture. The project’s ultimate goal is to enable agricultural personnel and robots to collaborate on a variety of agronomic activities, such as harvesting and pruning of table grape vineyards. This challenge exhibits a multiplicity of complex areas including control, human-robot interaction, computer vision, and mechanics. To address these challenges, the project’s objectives are being pursued through the develop- ment and implementation of a collaborative bi-manipulator robot, designed and optimized by multiple European universities. This Master’s Thesis addresses the problem of perception in the pruning procedure, aiming to contribute to the CANOPIES project. Through collaboration with experienced agronomists over the course of approximately one year, innovative instruments integrating classical and reliable computer vision methodologies have been developed. These tools enable the robot to success- fully complete the pruning task and cover essential aspects of robotics in table grape vineyards, including autonomous vineyard software, vine segmentation, trellis wire reconstruction, and pruning point identification. The developed solution has undergone rigorous development and testing using data from Aprilia’s field (Italy) and a lab mock-up setup. After conducting field evaluations, the vineyard soft- ware system has shown promising outcomes. The vine segmentation demonstrates satisfactory performance, while the F1-scores for trellis wire and bud detection reach 88.3% and 66.8% re- spectively. Consequently, the solution effectively fulfills the requirements set by the CANOPIES projectUniversitat Politècnica de CatalunyaSanfeliu Cortés, Alberto20232023-06-2020232023-08-28master thesishttp://purl.org/coar/resource_type/c_bdccNAhttp://purl.org/coar/version/c_be7fb7dd8ff6fe43info:eu-repo/semantics/masterThesisapplication/pdfhttps://hdl.handle.net/2117/392833reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/3928332026-05-27T15:37:01Z |
| dc.title.none.fl_str_mv |
Perception Tools for Collaborative and Autonomous Pruning for Bi-Manipulator Robot in Table Grape Vineyards |
| title |
Perception Tools for Collaborative and Autonomous Pruning for Bi-Manipulator Robot in Table Grape Vineyards |
| spellingShingle |
Perception Tools for Collaborative and Autonomous Pruning for Bi-Manipulator Robot in Table Grape Vineyards Giacchetti, Marco Grapes -- Pruning -- Automation Wine and wine making -- Equipment and supplies -- Disseny i construcció Pattern recognition systems -- Software -- Mathematical models -- Disseny i construcció Robot vision Vinya -- Poda -- Automatització Vinicultura -- Aparells i instruments -- Disseny i construcció Wine and wine making -- Equipment and supplies -- Disseny i construcció Visió artificial (Robòtica) Àrees temàtiques de la UPC::Informàtica::Robòtica |
| title_short |
Perception Tools for Collaborative and Autonomous Pruning for Bi-Manipulator Robot in Table Grape Vineyards |
| title_full |
Perception Tools for Collaborative and Autonomous Pruning for Bi-Manipulator Robot in Table Grape Vineyards |
| title_fullStr |
Perception Tools for Collaborative and Autonomous Pruning for Bi-Manipulator Robot in Table Grape Vineyards |
| title_full_unstemmed |
Perception Tools for Collaborative and Autonomous Pruning for Bi-Manipulator Robot in Table Grape Vineyards |
| title_sort |
Perception Tools for Collaborative and Autonomous Pruning for Bi-Manipulator Robot in Table Grape Vineyards |
| dc.creator.none.fl_str_mv |
Giacchetti, Marco |
| author |
Giacchetti, Marco |
| author_facet |
Giacchetti, Marco |
| author_role |
author |
| dc.contributor.none.fl_str_mv |
Sanfeliu Cortés, Alberto |
| dc.subject.none.fl_str_mv |
Grapes -- Pruning -- Automation Wine and wine making -- Equipment and supplies -- Disseny i construcció Pattern recognition systems -- Software -- Mathematical models -- Disseny i construcció Robot vision Vinya -- Poda -- Automatització Vinicultura -- Aparells i instruments -- Disseny i construcció Wine and wine making -- Equipment and supplies -- Disseny i construcció Visió artificial (Robòtica) Àrees temàtiques de la UPC::Informàtica::Robòtica |
| topic |
Grapes -- Pruning -- Automation Wine and wine making -- Equipment and supplies -- Disseny i construcció Pattern recognition systems -- Software -- Mathematical models -- Disseny i construcció Robot vision Vinya -- Poda -- Automatització Vinicultura -- Aparells i instruments -- Disseny i construcció Wine and wine making -- Equipment and supplies -- Disseny i construcció Visió artificial (Robòtica) Àrees temàtiques de la UPC::Informàtica::Robòtica |
| description |
Robots have found extensive applications in various domains, including social and industrial settings. However, the agricultural sector is still in the early stages of incorporating robotics, fac- ing unique challenges and specialized requirements. Recognizing the potential, initiatives like the CANOPIES project by the European Union aim to tackle precision viticulture challenges and contribute to the development of robotics in agriculture. The project’s ultimate goal is to enable agricultural personnel and robots to collaborate on a variety of agronomic activities, such as harvesting and pruning of table grape vineyards. This challenge exhibits a multiplicity of complex areas including control, human-robot interaction, computer vision, and mechanics. To address these challenges, the project’s objectives are being pursued through the develop- ment and implementation of a collaborative bi-manipulator robot, designed and optimized by multiple European universities. This Master’s Thesis addresses the problem of perception in the pruning procedure, aiming to contribute to the CANOPIES project. Through collaboration with experienced agronomists over the course of approximately one year, innovative instruments integrating classical and reliable computer vision methodologies have been developed. These tools enable the robot to success- fully complete the pruning task and cover essential aspects of robotics in table grape vineyards, including autonomous vineyard software, vine segmentation, trellis wire reconstruction, and pruning point identification. The developed solution has undergone rigorous development and testing using data from Aprilia’s field (Italy) and a lab mock-up setup. After conducting field evaluations, the vineyard soft- ware system has shown promising outcomes. The vine segmentation demonstrates satisfactory performance, while the F1-scores for trellis wire and bud detection reach 88.3% and 66.8% re- spectively. Consequently, the solution effectively fulfills the requirements set by the CANOPIES project |
| publishDate |
2023 |
| dc.date.none.fl_str_mv |
2023 2023-06-20 2023 2023-08-28 |
| dc.type.none.fl_str_mv |
master thesis http://purl.org/coar/resource_type/c_bdcc NA http://purl.org/coar/version/c_be7fb7dd8ff6fe43 |
| dc.type.openaire.fl_str_mv |
info:eu-repo/semantics/masterThesis |
| format |
masterThesis |
| dc.identifier.none.fl_str_mv |
https://hdl.handle.net/2117/392833 |
| url |
https://hdl.handle.net/2117/392833 |
| dc.language.none.fl_str_mv |
Inglés eng |
| language_invalid_str_mv |
Inglés |
| language |
eng |
| dc.rights.none.fl_str_mv |
open access http://purl.org/coar/access_right/c_abf2 |
| dc.rights.openaire.fl_str_mv |
info:eu-repo/semantics/openAccess |
| rights_invalid_str_mv |
open access http://purl.org/coar/access_right/c_abf2 |
| eu_rights_str_mv |
openAccess |
| dc.format.none.fl_str_mv |
application/pdf |
| dc.publisher.none.fl_str_mv |
Universitat Politècnica de Catalunya |
| publisher.none.fl_str_mv |
Universitat Politècnica de Catalunya |
| dc.source.none.fl_str_mv |
reponame:UPCommons. Portal del coneixement obert de la UPC instname:Universitat Politècnica de Catalunya (UPC) |
| instname_str |
Universitat Politècnica de Catalunya (UPC) |
| reponame_str |
UPCommons. Portal del coneixement obert de la UPC |
| collection |
UPCommons. Portal del coneixement obert de la UPC |
| repository.name.fl_str_mv |
|
| repository.mail.fl_str_mv |
|
| _version_ |
1869420111699378176 |
| score |
15.300719 |