A wearable module for recording worker position in orchards

This paper describes the design and testing of a wearable position recording system for workers in orchards or in protected cultivation environments, where GPS data are typically unavailable. The major goal of the wearable system is to track worker position in relation to trees. This system consists of a pedometer and a small barcode reader and utilizes barcode tags permanently attached to fixed objects of known location (e.g., individual trees in an orchard). The pedometer computes a worker’s relative displacement with respect to a known starting position, and the barcode provides the absolute (starting) position information at regular intervals to keep the localization error at an acceptable level. Evaluations of the accuracy and reliability of the pedometer revealed a 2-3% accumulated error in the estimation of the worker’s position. The use of the pedometer alone was insufficient and could not establish correctly the association between trees and workers. The prototype system was implemented and tested during manual harvest in two commercial peach orchards. The fruit pickers’ movements were captured accurately and the association between producing tree(s) and fruit picker, as well as the sequence of the trees which the picker visited, were established correctly.     

Impact of reader antenna polarisation, distance, inlay design, conveyor speed, tag location and orientation on the coupling of UHF RFID as applied to modified atmosphere packaged meat

Undetected RFID tags make the potential benefits of RFID unattainable. This study aimed to determine the most significant factors that affect RFID and particularly its application to the traceability of meat. Experimental parameters included five RFID tag inlays, two levels of conveyor speeds, five variations of beef sample and an empty container, 12 tags per test sample, three distances and two types of reader antenna polarisations. Tag detection rates were determined in three replicates per combination of test parameters. A GLM ANOVA was carried out on tag detection rate. In decreasing order of significance in terms of the effect on mean tag detection rate were distance, sample, inlay design, conveyor speed and reader antenna polarisation. Interaction of these factors also proved significant, in decreasing order of importance were reader antenna * inlay, sample type * distance, inlay * distance, sample type * inlay, sample type * reader antenna, distance * speed, sample type * speed and finally sample type * distance * speed. Linearly polarised antenna preformed better overall at detecting tags, with 63% mean detection rate compared with circularly polarised antenna with 57% mean detection rate. Varying the tag inlay resulted in mean detection rates of between 62% and 88%. Ideal transponder location on package was reader antenna polarisation dependent, but generally tags facing reader antennas exhibited better detection rate. Results revealed that the under side of the package was the most un-detectable transponder location, considering the placement of reader antennas on top, left and right sides of the sample. Conveyor speed also proved significant with a variation from 0.5 to 1.0 m/s resulting in an average detection rate ranging from 62% to 57%, respectively. Circularly polarised antennas are believed to perform better in cases of random tag orientation on products. It can be concluded that RFID systems implementation in the meat supply chain requires a holistic approach where distances, polarisations, inlay type, meat composition and conveyor speed need to be considered.     

J-50集材拖拉机液压系统的故障诊断——故障树分析方法的应用

J-50集材拖拉机是林区采伐生产的主要设备之一。其液压系统工作的可靠性直接影响到集材生产的工作效率。由于液压系统故障诊断技术发展的局限性,使大多数故障还需利用经验加以判断。但是随着可靠性技术的发展,各种故障诊断方法如故障模式、影响及危害性分析(FMECA)、故障树分析(FTA)等的广泛应用,使设备的有效性得到了很大的提高。本文主要介绍了应用故障树分析方法在建立液压系统主要故障模式的故障树时,应遵循的原则、步骤和要求;并建立了J-50集材拖拉机两种主要故障模式的故障树,仅供参考。     

Machine vision for counting fruit on mango tree canopies

Machine vision technologies hold the promise of enabling rapid and accurate fruit crop yield predictions in the field. The key to fulfilling this promise is accurate segmentation and detection of fruit in images of tree canopies. This paper proposes two new methods for automated counting of fruit in images of mango tree canopies, one using texture-based dense segmentation and one using shape-based fruit detection, and compares the use of these methods relative to existing techniques:—(i) a method based on K-nearest neighbour pixel classification and contour segmentation, and (ii) a method based on super-pixel over-segmentation and classification using support vector machines. The robustness of each algorithm was tested on multiple sets of images of mango trees acquired over a period of 3 years. These image sets were acquired under varying conditions (light and exposure), distance to the tree, average number of fruit on the tree, orchard and season. For images collected under the same conditions as the calibration images, estimated fruit numbers were within 16 % of actual fruit numbers, and the F1 measure of detection performance was above 0.68 for these methods. Results were poorer when models were used for estimating fruit numbers in trees of different canopy shape and when different imaging conditions were used. For fruit-background segmentation, K-nearest neighbour pixel classification based on colour and smoothness or pixel classification based on super-pixel over-segmentation, clustering of dense scale invariant feature transform features into visual words and bag-of-visual-word super-pixel classification using support vector machines was more effective than simple contrast and colour based segmentation. Pixel classification was best followed by fruit detection using an elliptical shape model or blob detection using colour filtering and morphological image processing techniques. Method results were also compared using precision–recall plots. Imaging at night under artificial illumination with careful attention to maintaining constant illumination conditions is highly recommended.     

RFID tags for identifying and verifying agrochemicals in food traceability systems

The objective of this paper is to identify what data should be stored in an automatic recording system to trace the use of agrochemicals. RFID tags are proposed as the most appropriate storage systems. The essential information to store on an RFID tag is as follows: country of registration, chemical type, unique registration number of an agrochemical, container size, specific gravity, unit of measure, and a digital signature. Digital signatures address issues of verification of data integrity and security—a major concern of the agrochemical industry. Detailed data will be drawn from publicly available databases of approved pesticides. Encoding schemes have been designed which can record all of the essential information on commonly available cheap RFID labels. A prototype system to record and transfer data in a traceability system is developed, including hardware and software aspects. The user interface of the system is presented with a sample sequence of user screens to assist the loading of a full pack of agrochemical tagged with an RFID transponder. An experimental trial with practicing agrochemical professionals was undertaken. The user interface proved effective and acceptable. During the trial, more than 250 product identification cycles with RFID were carried out without failure.     

红皮云杉第一代良种选育技术

对红皮云杉优树选择、园址选择、嫁接及嫁接苗培育、定植建园进行了系统研究.对红皮云杉第一代种子园参试无性系的生长情况,树冠、结实性状进行了多性状综合评定,选择出13#、15#、19#等10个27 a生红皮云杉优良无性系,选择出118#、105#、78#、66#等44个15 a生红皮云杉优良无性系.红皮云杉第一代种子园树高、胸径平均遗传增益分别为10.21%和20.24%;优良家系树高、胸径平均遗传增益分别为13.68%和26.10%.对吉林省中部生态区13 a生红皮云杉单亲本子代进行了评定,以树高性状〉CK20%为标准选择出18个优良家系.     

An RFID-based solution for monitoring sprayer movement in an orchard/vineyard

Pesticide application monitoring and long-term data recording in the field is typically the first step in fruit traceability. In a spray monitoring and guiding system, identification of the sprayer movement is a key part of technology. Although Global Navigation Satellite System (GNSS) is a widely used system to obtain location information, in an orchard/vineyard, especially one in which the trees/plants have tall and large canopies, the continuity and stability of the GNSS signal may decrease dramatically and lead to failure of guidance. A Radio Frequency Identification Devices (RFID) solution for identifying sprayer travel was proposed, and a spray monitoring and guiding system was designed based on this solution. In-lab system simulation test and field test results showed that the system could distinguish the travel direction of the sprayer, identify its location in the field, record flow rate information, calculate sprayed volume, and show all the above information on a computer screen in real-time when the RFID reader had successfully registered each RFID card. For the monitoring and guiding system with one antenna on each side, which required the cards and the antennas to be at the same height, the best relative position was found by placing the card parallel to the antenna. The results of tests in the field showed that an improved system with two antennas on each side, which only required the cards to be put in the band with a width of 0.26 m between the centers of the two antennas, worked better with the best antenna angle of 125° when the speed of the sprayer was less than 1.8 m/s.     

一种改进的基于二叉树的防碰撞算法

针对RFID系统中基于二叉树的标签防碰撞算法存在识别时间长、通信数据量大的问题,提出了一种改进的算法.算法充分利用上一次查询的信息,标签根据碰撞位先后应答读写器以减少碰撞的发生.读写器检测到接收的数据中有2个碰撞位即停止接收后续数据,以减少冗余数据的传输.算法将识别范围内所有标签进行分组,并且整个识别过程采用后退策略.仿真结果表明,提出的算法具有较高的识别效率.     

苹果树根茎鼠害的物理挽救措施

日常果园管理中,因管理粗放,果园杂草丛生,造成果树根茎受鼠害而使树势衰弱,甚至死亡,造成巨大的经济损失。通过试验,找到了在生产实践中廉价、便于操作的2种有效挽救措施：①受害的根茎用塑料包严后培土严实,于当年8月上旬解开膜,这种方法使得受害面愈合效果好,受害树能正常挂果;②受害的根茎用报纸包扎4～5层后,再用湿土培严即可,这种方法也可使受害部位愈合良好,受害树能正常生长、挂果,而且取材廉价、方便。另外,温度、湿度、空气是形成层愈伤组织细胞生长的必需外界环境因子,其中任何1个因子达不到要求,都会影响挽救效果。     

初植密度对杉木二代种子园良种生长的影响研究

以杉木二代种子园良种林分为研究对象,对比分析了3种初植密度对杉木平均生长量和蓄积量的影响。结果表明,8a生试验林平均树高、胸径、单株立木材积均值分别为6.52m、9.7㎝和0.03089m3,年均生长量分别为0.81m、1.2㎝和0.00386m3。不同初植密度对林分平均生长及蓄积量影响极显著,其中以选择3086株/hm2的初植密度为最佳,可缩短林分郁闭周期,提早进行间伐,节约生产成本,实现杉木商品林小、中、大径材的可持续利用。     

崇阳杉木无性系种子园球花在树冠中的分布及其配子产量研究

对普通杉木林及崇阳杉木无性系种子园植株球花在树冠中的分布、数量及其配子比例进行了研究，结果表明：种子园中杉木无性系间球花量差异达到极显著水平。年龄与球花量之间呈线性相关，中壮龄杉木林郁闭度越小，雄球花量越小，雌球花量变化不明显，雄雌球花比值则越小，林分组成对球花量的影响不明显。立地条件对球花量的影响显著。杉木无性系单株雌球花和雄球花在树冠中的分布出现分层现象，各部位间球花量的差异达极性水平。球花的数量虽受年龄、母树特性，立地条件及密度的影响，但球花在树冠中的分布总趋势保持不变。单位花粉囊内的花粉数平均为7653．31粒，平均每株产花粉5．6553E＋9粒，约6．0163E＋4mg.全园可产花粉约1．1018E＋13粒，经1．9264＋8mg。平均每株产胚珠46483．25个。全园可产胚珠约1．4884E＋8个。种子园花粉与胚珠比值为1．2166E＋5，即约12万：1。因种子园中花粉相对胚对来说偏多，因紫在进行杉木种子园建设与改造时，应该注意选用生产雌球花较多的无性系植珠作材料， 以提高单位面积种子产量，并在调查授粉效率的基础上，依据胚珠数量可以进行球果及种子产量的预测与预报。     

Implement lateral position accuracy under RTK-GPS tractor guidance

The accuracy of global positioning system receivers can be improved by differential correction systems (DGPS), which deliver sub-meter accuracy. Higher-accuracy, of about 1 cm on-the-go, is delivered by units generally referred to as real-time kinematic (RTK) DGPS systems. RTK-DGPS systems are presently used by commercial companies for automatic guidance of tractors in row-crop operations. Since high-end DGPS systems with high-accuracy are generally very expensive, it is necessary that the commercial benefit be maximized and that any related errors will be minimized. In the present study, the deviations from a predetermined route of a three-point hitch implement mounted on a RTK-DGPS based automatically guided tractor were recorded and were used to validate that the implement deviation is strongly dependent on the distance from the tractor rear axle. The recorded deviations were analyzed for paved and rough surfaces; the latter caused substantially greater deviations. Based on the above hypothesis, a possible way to improve the performance by reducing the deviations at a point on the implement is suggested.     

基于深度视觉和蚁群避障算法的果园精准喷施路径规划方法

为了实现对Y-shaped果树的精准喷施,本文融合了彩色及深度视觉图像,提出了1种基于蚁群避障算法的果园最优行驶路径的规划方法。首先,对彩色图像进行图像分割处理,划分道路及果树树墙障碍区域,得出喷施设备的可行驶区域,提出了喷施行驶范围检测算法;然后,通过对深度图像和彩色图像融合的处理,将Y-shaped果树树冠边缘轮廓精准拟合形成栅格地图,并与蚁群避障算法相结合,提出了最优行驶路径规划算法。最后,对拟合曲线和Y-shaped果树树冠边缘轮廓进行检验,验证算法的拟合程度。实验结果证明,本文提出的路径规划算法可以准确地检测出果树区域,并实现对行驶路径的精准规划。     

基于激光雷达的果园树干检测

为探索激光雷达在农业机器人环境理解和导航中的应用,研究一种基于改进DBSCAN算法的果园树干检测算法。该算法使用自适应密度阈值和聚类半径对不同距离处数据点进行聚类和整合,以克服DBSCAN算法对全局变量值敏感的缺点。针对激光雷达可能扫到地面造成机器人误检的问题,采用机器人航位推算模型计算当前帧数据中待定类的距离,通过与前一帧数据中对应类距离的比较判定待定类的类别,进而对地面干扰类进行排除。试验结果表明:1)机器人正常行走时本算法能够排除噪声准确识别树干类点;2)存在果树分枝或地面干扰时,有少量漏检,平均误判果树数目为-0.13棵,能够区分出地面类和果树类。该研究可以应用到农业机器人果园环境理解和导航中。     

Spatial distribution of water status in irrigated olive orchards by thermal imaging

Information regarding tree water status in irrigated olive orchards is essential for managing growth to optimize yields and olive oil quality. One management practice option is to monitor or sample individual trees and use this information for orchard-scale management. This study assessed the ability of thermal imaging to provide the spatial distribution and variability of tree water status in a commercial irrigated olive orchard, and described strategies and a procedure for choosing which individual trees best represent the orchard. The study employed gradual upscaling from individual trees grown in lysimeters, through a controlled experimental field plot, to a commercial orchard. Thermal imaging of olive trees grown in lysimeters attested the sensitivity of the technique to identify mild-level water stress by correlating crown temperatures to stem water potential. Knowledgeable choice of five or ten representative trees in the experimental plot, based on the histogram distribution obtained for the entire experimental orchard, lead to successful reconstruction of the spatial distribution of canopy temperature, and thus of water status. Positively skewed distributions of crown temperatures found in both the field plot and commercial orchard suggested distinct patterns, where the canopy temperature of the majority of the trees was lower than the average, and a relatively small number of trees had significantly higher temperatures and suggest commercial practicality of the proposed methodology. Thermal imaging can therefore serve as a useful tool for determining representative trees that, if frequently monitored, or instrumented with continuous water status sensors, can provide important information for orchard water management.     

Spatial variation in yield and quality in a small apple orchard

We describe the yield and quality of apples from a 0.8 ha apple orchard located in northern Greece over two growing seasons and consider the potential for site-specific management. The orchard has two apple cultivars: Red Chief (main cultivar) and Fuji (pollinator). Yield was measured by weighing all fruit harvested from groups of five adjacent trees and the position of the central tree was recorded by GPS. Apple quality at harvest was evaluated from samples of the two cultivars in both years for which fruit mass, flesh firmness, soluble solids content, juice pH and acidity of the juice were determined. The variation in tree flowering was also measured in the spring of the second season using a stereological sampling procedure. The results showed considerable variability in the number of tree flowers, yield and quality across the orchard for both cultivars. The number of flowers was strongly correlated with the final yield. These data could potentially be used to plan precise thinning and for early prediction of yield; the latter is important for marketing the fruit. Several quality characteristics, including fruit juice soluble solids content and acid content were negatively correlated with yield. The general patterns of spatial variation in several variables suggested that changes in topography and aspect had important effects on apple yield and quality.     

灌溉对种子园油松生长与开花的影响

在辽宁省兴城种子园对油松无性系9年生树进行连续二年的灌溉试验,5月1日开始每10天(1983年)或7天(1984年)灌溉一次,10月底停止灌溉,每株每次灌溉量0、180和300公斤,灌溉植株当年针叶长度和重量显著增加,第二年高生长增加25.7—34.8％。灌溉使针叶叶绿素含量比对照增加10.2—11.4％,含氮量增加4.8—8.9％。但是,灌溉使针叶含磷量比对照降低6.5—12.9％,含钾量降低0—11.4％。灌溉使雌球花略有增加。     

Yield prediction in apple orchards based on image processing

It has been suggested that apple ( Malus * domestica Borkh) flowering distribution maps can be used for site-specific management decisions. The objectives of this study were (i) to study the flower density variability in an apple orchard using image analysis and (ii) to model the correlation between flower density as determined from image analysis and fruit yield. The research was carried out in a commercial apple orchard in Central Greece. In April 2007, when the trees were at full bloom, photos of the trees were taken following a systematic uniform random sampling procedure. In September 2007, yield mapping was carried out measuring yield per ten trees and recording the position of the centre of the ten trees. Using this data (the measured yield of the trees and the pictures samples, representing the flower distribution), an image processing-based algorithm was developed that predicts tree yield by analyzing the picture of the tree at full bloom. For the evaluation of the algorithm, a case study scenario is presented where the error of the predicted yield was set at 18%. These results indicated that potential yield could be predicted early in the season from flowering distribution maps and could be used for orchard management during the growing season.     

Interpreting orchardists’ talk about their orchards: the good orchardists

In order to implement environmental policies for sustainable and resilient land use we need to better understand how people relate to their agricultural land and how this affects their practices. In this paper I use an inductive, qualitative analysis of data gathered from interviews with kiwifruit orchardists and observations of their orchards to demonstrate how their interpretation of their relationship with their orchards affects their management practices. I suggest that these orchardists experience their orchards as having agency in four different ways—as wild, challenging, needy, and passive—and that these different perspectives result in practices which produce orchards that impact differently on sensory faculties—sight, touch, hearing, taste, and smell. This finding implies that land use policies that seek to change sensory aspects of the land which are in conflict with producers’, farmers’, or growers’ sense of relationship with the land—and how the land “should be”—are unlikely to succeed. That these orchardists produce fruit which is compliant with two comprehensive audit systems—one of which is organic—and also serve an international market, indicates that the constraints of such systems still allow orchardists to exercise autonomy, express their identity, and make sense of their orchard activities in different ways, indicating a potentially resilient and sustainable production system.