Pruning Twin

Loading the arm and the vine…

Ready

trunk and old wood last year's cane and spur this year's shoots new cane new spur planned cut

Now

Ready

Plan

The plan appears once the vine is scanned.

Result

pending

Checks

3D points picture positions true plan follow the shears

Shoots are this year's growth on last year's cane and spur. The robot keeps one as the new cane and one as the new spur, and removes the other shoots, their side shoots and last year's wood.

Simulation of the arm's motion only: no forces, and the vine does not bend. The arm, the shears and the wrist camera are checked against the wood. reBot arm model: Seeed Studio, CERN-OHL-W 2.0, simplified. Vine layout: 3D2cut Single Guyot (CC BY-NC-SA 4.0), shown for illustration only and not used commercially; a later product is built on our own data.