View metadata, citation and similar papers at core.ac.uk provided by Organic Eprints Version Description Date Approval D4.1 Robotic Prototype v1.0 Specifications of Robotic Prototype for strip-cropping systems January 24 th , 2019 Juan...
moreView metadata, citation and similar papers at core.ac.uk provided by Organic Eprints Version Description Date Approval D4.1 Robotic Prototype v1.0 Specifications of Robotic Prototype for strip-cropping systems January 24 th , 2019 Juan Jesús Roldán D4.1 Robotic Prototype v1.1 Fixing comments after first internal review February 15 th , 2019 Jaime del Cerro Antonio Barrientos D4.1 Robotic Prototype v2.0 Collect revision suggestions of UPM project partners February 21 st , 2019 Antonio Barrientos The system shall work in strip-cropping systems. The system shall operate on selected winter (for example, leeks, beans and cabbage) and summer crops (i.e., tomato, beans and pumpkin). The system shall move along crop rows with widths in the range of 1-1.4 meters, heights between 0.2 and 0.6 meters and lengths between 10 and 100 meters. The system shall operate without damaging the plants. The system shall collect information of the spatial and time heterogeneities in the crops. The system shall recognize crops and weeds. The system shall determine the type, location and health of the plants. The system shall early detect plant problems. The system shall provide information about the health of the crops, such as some symptoms of diseases: e.g., water stress and abnormal colors. The system shall apply liquid treatments to the crops. The treatments will be applied to the ground around the target plant. The system shall consist of a wheeled cart, a manipulator robot and the required components for sensing and actuation tasks. The system shall have a protection of IP54 against solid particles and liquids. The cart shall consist of a structure of bars with four wheels, similar to the gantry systems used in controlled traffic farming or pivot irrigation systems. The cart shall have an axle track in the range of 1.2 to 1.5 meters to move along the rows without damaging the crops. The cart shall have clear height of 1 to 1.4 meters over the ground to hold the robot, sensors and actuators that must work over the plants. The cart shall have a wheelbase of at least 1 meter to be able to collect data of the plants in a circle with a diameter of 1 meter. The cart shall carry a payload of at least 120 kilograms, which includes the estimated weights of the manipulator (25 kg), the components required to power and control it (25 kg), the tank for the liquid treatments (60 kg), the actuators required to apply them (5 kg) and the sensors and cameras (5 kg). The cart does not have to be autonomous nor motorized. The robot shall hang down from the structure of the cart. The robot shall reach the plants to acquire data and apply treatments. The robot shall be able to place its tool within a circle with a diameter of 1 meter at a height of 0.2 meters over the ground. The robot shall have a reach (i.e., a distance between the base and the tool) of at least 600 millimeters. The robot shall have a precision of at least 10 millimeters in the positioning of its tool. The robot shall have a maximum weight of 50 kilograms, including not only the electromechanical components, but also the power and control equipment. The robot shall have a load capacity of 1.5 kilograms in operation positions to carry out sensing and actuation elements. The robot shall be able to reach most of the points inside the workspace defined by previous requirements with different orientations of the tool. The robot shall be protected from dust and water jets. R401: As a proof of concept, the prototype shall focus on only one sensing technology. The prototype shall integrate a camera to take multispectral images. The prototype shall be able to take pictures of the crops in a circle with a diameter of 1 meter and below the cart with enough resolution to distinguish separate plants. The prototype may integrate other complementary sensing technologies, such as RGB cameras, LIDARs, spectroscopes and stereo cameras. As a proof of concept, the prototype shall focus on only one plant treatment. The prototype shall be able to spray a liquid treatment. The prototype shall actuate on the ground around the plants. The operator shall be able to supervise the operations of the system remotely. The operator shall be able to start/stop the complete system at any moment. The operator shall dictate the targets where specific measurements and treatments are required to the robot. The robot shall plan the movements to reach the goals autonomously.