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Autonomous Robot for Fertilizing Apple Trees Using MARV 2 Platform

This project presents the design and implementation of an autonomous robot, utilizing the MARV 2 robotic platform, aimed at efficiently fertilizing the perimeter of apple trees. The robot detects trees with a spring-mounted mast and uses a sophisticated navigation routine to encircle each tree. An auger feed system effectively distributes fertilizer during the harvesting process. The design incorporates various sensors, including an inclinometer and photo cells, to ensure precise navigation and fertilizer application while maintaining an organized workflow.

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Autonomous Robot for Fertilizing Apple Trees Using MARV 2 Platform

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Presentation Transcript

  1. Team MASTers™ Craig Lalumiere David Cobler Michael White

  2. Robots in Agriculture?Some Background • Robotic Integration in Agriculture • Planting • Tending • Harvesting

  3. Problem Statement Using the MARV 2 robotic platform, design and build an autonomous robot to fertilize the perimeter of an apple tree.

  4. Solution Statement • Find tree with a spring mounted mast. • Circumnavigate tree using a hunting routine. • Use an auger feed system to distribute fertilizer.

  5. Inclinometer Photo Cell Fertilizer Dump magnet Motor Driver Beacon Motor and Wheel Driver Micro-Controller

  6. MASTer drops the Flag and MASTer picks up flag and MASTer finds a tree. continues to the next tree. Circles the tree leaving fertilizer. How it Works!! MASTer FLAG

  7. State Diagram Approaching Tree Beacon Stowed Mast Moved Pick Up Beacon Rotating Detect Beacon Tangent To Tree Navigating Tree

  8. Inclinometer Detection Scheme Mast Position Imaginary Ring Deflection Angle Φ

  9. Detection Scheme Cont. • Math • Angle Φ = arccos x Acceleration Value Gravity Constant Position = 1g = Gravity Constant Deflection Angle Φ Position = Acceleration Measurement

  10. State Diagram Approaching Tree Beacon Stowed Mast Moved Pick Up Beacon Rotating Detect Beacon Tangent To Tree Navigating Tree

  11. Find Beacon state Travel around tree state NO If (A/D PTA 1-3) ≤ 1 volt YES

  12. Photo Cell voltage input to on board Computer

  13. Layout of mechanical components Main circuit board Beacon Battery Beacon Circuitry Auger Mast

  14. Electrical Diagram 5v Reg. 3.3v Reg. 12v Batt. MCU Accelerometer Analog Inputs Output Light Sensor Beacon Electro-Magnet

  15. Project Assignment • Michael • Mast and tree detection • Craig • Beacon dropping system • David • Hopper and auger system

  16. Timeline

  17. Budget Fertilizer Storage Container $20 Auger Blade $20 2Axis Accelerometer $10 PVC Pipe (for mast) $15 Approximate Total $65 Our Fees $55

  18. Questions?

  19. Mechanical Concepts Hooks & Sensors Hopper Flag Motor

  20. Programming Logic Flow Chart Power On Sense Stop Beacon Drop Completion Flag Search for Tree Stop MASTer Begin MASTer’s Circle Around Canopy Accelerometer Senses Tree Stop Fertilizing Sequence Readjust MASTer to Aim Tangent to Tree Begin Dispensing Fertilizer Pick Up Signal Flag

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