SBIR-STTR Award

We propose an innovative robotic technology to tap slash pine trees and collect their oleoresin for processing using an unmanned fully autonomous long-range robotic forest rover as part of the strategy to revive the dormant turpentine industry in the Southeastern United States. This integrated system will replace the labor-intensive work of collecting slash pine oleoresin. The objectives of this Phase 1 project are to design and demonstrate the technical feasibility of the robotic forest rover. They include (1) demonstrating the robot's capability to perform all tasks required for tapping slash pine trees for resin collection. Such tasks include calculating positioning and drilling boreholes; recording the position and orientation of three boreholes using a force/torque sensor on the robot arm; inserting a spray nozzle for argic-chemical liquid treatment; tapping a PVC tube with a preattached collection vessel into one borehole; plugging the 2 remaining boreholes; automatically changing tools for the proper tasks. 2) Use a vision system to demonstrate its capability for image analysis to recognize slash pine tree trunks based on previously taught images and measure the trunk using a digital camera and laser surface scanner. (3) Demonstrate the rover's capability for autonomous navigation under fuel cell power. Autonomous technology to collect oleoresin for processing by the pine chemical industry gives slash pine timber producers in the Southeastern USA another income source beyond pine straw and pulpwood. B & L Naval Stores anticipate licensing the technology for production and direct sales to the forestry industry or use in custom contracts.