IEEE Robotics & Automation Magazine - March 2015 - 61
Pace Mode-Web Interface
(a)
Figure 11. The autonomous orchard vehicle functions as a "bin dog" for
workers harvesting apples. At the push of a button, the vehicle follows
the workers as they pick the fruit and place it into the bins. When the
bins are full, the vehicle takes them to the end of the row to be loaded
into a truck. (Photo courtesy of Carnegie Mellon University.)
Pace Mode-Web Interface
(b)
Figure 10. The pace mode user interface: (a) the configuration
screen and (b) the monitoring screen.
be traversed, the offset for each passage, and whether the
vehicle should return to its initial position after covering the
entire block. In the Monitoring screen, the user can start and
stop the operation and monitor progress in real time via a
graphical representation of the vehicle and the status of each
row: to be traversed, partially traversed, or completed.
Deployment Examples
The four autonomous orchard vehicles developed for the
CASC project have driven, in total, more than 350 km in
research and commercial orchards in Pennsylvania and
Washington (the largest apple producing state in the country). In the first year of deployment, the vehicles were operated solely by Carnegie Mellon University (CMU) engineers.
As the hardware and software stabilized, we started conducting experiments where the vehicles were used by actual farm
managers and workers in production environments hundreds and even thousands of miles away from the CMU
development site. The representative experiments for each
Figure 12. The workers at the Allan Bros. Orchard in Prosser,
Washington, thin green fruit from atop the orchard vehicle. (Photo
courtesy of Carnegie Mellon University.)
control mode are described in the "Mule Mode," "Scaffold
Mode," and "Pace Mode" sections.
Mule Mode
Mule mode was demonstrated when the orchard vehicle was
used as a "bin dog," carrying apple bins for workers harvesting
fruit. The vehicle performed as expected, following the row and stopping
Two vehicles were
whenever the interface button was pressed. In the
equipped with a scissors
words of the crew manager,
"I can see the practicality
lift to enable workers
[of the bin dog] right away,
and the financial savings of
to ride on it.
not having an operator on
the tractor all the time
moving the bins is going to be very helpful." Figure 11 shows an
experiment in which workers harvest fruit into the bins carried
march 2015
*
IEEE ROBOTICS & AUTOMATION MAGAZINE
*
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