functional and structural assumptions

7/23/2019 Functional and Structural Assumptions

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1

FUNCTIONAL AND STRUCTURAL ASSUMPTIONS OF AUTONOMOUS FARM ROBOT PLATFORM

PRZEMYSŁOWY INSTYTUT MASZYN ROLNICZYCH60-963 Pozn!" #$% S&'o()*+ 31 &,$% 0-61. /1 00" 2% 0-61. /9 3 6

Ro4n RO5ACI7n SZCZEPANIA 7'o8( MACR:8z'; 5RZECHOWIA

14th INTERNATIONAL TECHNICAL

SYSTEMS DEGRADATION CONFERENCE



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@,<=*$,8 n; P'o4' *o4n: 2'o4 Poznn 4,8#',8 <?, ,,n &+,n

&o ;,8=>n #&ono4o#8 'oo& 2o' 8o=n> n; *#$&=?&=on o2 *'o8=;,$:-'o%T<, 'oo& =$$ o,'&, =n 8&n;$on, 4o;,% I& =8 #&o4&=*$$: ,'2o'4o,'&=on8 8o=n>" ,,;=n> n; 8,$,*&=?, 8':=n> o2 *'o8% T<, #8,

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<8, o2 ',8,'*< n; &,8&=n>" n; &<,=' 8*o, ;o,8 no& *o?,' $nn,;&o o&=n &<, 'o,*& *=$=&=,8 &<, 'oo&%



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A*<=,?=n> &<, o,*&=?,8 o2 &<, 'o,*& =$$ ',#=', &<, *<=,?,4,n&o2 &<, 2o$$o=n> 8,*=2=* o,*&=?,8 o2 &<, '*&=*,

• ;,?,$o4,n& o2 'oo& $&2o'4"• 8,$,*&=on o2 ',*=8=on ;'=$$ n; ;,?,$o 4,&<o;8 o2 o8=&=on 8on

8,,;8"• ;,?,$o &oo$8 &o $$o &<, 'o*,88=n> o2 ,,;=n> o&< &<, 8#'2*,

n; &<, 8#'2*, 8*=n> ,&,,n *'o8 =n 'o"• ;,?,$o4,n& o2 &oo$8 &o 8,$,*&=?,$: 8': &<, 8#'2*, n; &<,

8#'2*, o2 &<, 8o=$• ;,?,$o o2 &<, *on&'o$ 8:8&,4 n; *on&'o$ $>o'=&<48 #&ono4o#8

'oo& 2=,$; =n &,'48 o2 &'*&=on n; >'ono4=* 'o*,88,8%



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• &:=*$ o8&*$,8 =n &<, o,n ,'The drive system• ;=,8,$ ,n>=n, n; 30 <"• *+>, <:;'#$=* #48 &o ;'=?, &<, <,,$8" n; $$ ,,*#&=?, '8

'oo&

• 4on=&o'=n> &<, 8&&, o2 &<, o=$ &,4,'&#'," &<, #n&=&: o2 2#,$Way of moving• 4o?, 2o''; n; *+'; & 8,,; o2 0 +4 G <"• <=>< 4n,#?,'=$=&:"• 4=n&=n &<, 8&=$=&: o2 &<, ;,8=>n&,; &<"

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S&';;$, &'*&o'

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<,,$8"• 8*=n> 8':,'"• &oo$ 2o' &'=44=n> 'oo&8"• <,,$8, 2'o4 1% 4 &o % 4"

• ,$,*&'o-<:;'#$=* *on&'o$%

S&';;$, &'*&o' PT00 S&';;$,

Main features



S,$2 'o,$$,; *'o 8':,'8

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• -<,,$ ;'=?,,• 84$$ o#&,' ;=4,n8=on8,• =n;,,n;,n&$: 8&,,'$, <,,$8 o2 &<, &o $,8

<,,$ 8&,,',; $, oo8=&, o' &o on, 8=;,,

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• 8,,;8 ', 0-0 +4 G <,• 8,'&, <:;'o8&&=* ;'=?,8 on ,*< <,,$"

*<n>, &<, &'*+ =;&< from 1%/0 &o % 4.

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E4$,8 o2 ,=8&=n> 8o$#&=on8

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A4zon,n-W,'+, *o4n: =n*o$$o'&=on =&< &<, Un=?,'8=&: Co$$,>,o2 O8n'J*+ n; Ro,'& Bo8*< *o4n:<8 ;,?,$o,; n #&ono4o#8 'oo&

Bon=Ro% T<, 'oo& =8 '=4'=$: #8,; &o*o$$,*& ;& o#& $n&8 n; 4on=&o'&<,=' ;,?,$o4,n& on &<, $n&&=on% T<,#8, o2 'oo& $$o8 2=,$; 8&#;=,8 &o4on=&o' &<, ;,?,$o4,n& o2 ,?,n 8=n>$,

$n& <=*< =$$ 8=>n=2=*n&$: =4'o?, &<,o'+ o2 $n& ',,;,'8%

BoniRob field robot



E4$,8 o2 ,=8&=n> 8o$#&=on8

9

An ,4$, o2 2=,$; 'oo& =8 KHo'&=o&K;,?,$o,; : R84#8 7'>,n8,n n; &,4 2'o4 &<, Un=?,'8=&: o2 A'<#8 =nD,n4'+% Ho'&=o& =8 n #&ono4o#8>'=*#$&#'$ 'oo& &<& #8,8 =n*$#;=n>n?=>&=on 5PS n; ?=8=on 8:8&,4% Cn ,,#=,; =&< ?'=,&: o2 &oo$8 &o ,'2o'4>'=*#$&#'$ &',&4,n&8% U8, o2 &<, 'oo&$$o8 $o,' *on8#4&=on o2 <,'=*=;,8 :

%

HortiBot - A Plant ursing Robot



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T<, 'oo& =$$ <?, 4o;#$' ;,8=>n

The carrier

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n; &<,=' 'o'=&, 8,&&=n> =$$ ',8#$& =n <=>< 4n,#?,'=$=&:



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11

S!rayerS':,' =$$ , $, &o &o ',$=z, ;#'=n> &<, 8o=n> o' ,,;=n>

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SeederFo' ',*=8=on 8,,;=n> 8,,;,' =$$ , $=,; =&< &<, 8,,; o8=&=on',*o';=n> 8:8&,4 =n &<, 2=,$;%

HoeT<, 4=n o'+=n> #n=& =$$ , *&=?, <o, 'oo& 2o' ',*=8, *on&'o$ o2 ,,;8 =n o&< &<, =n&,'-'o8 n; 'o *'o8%



Roo& >#=;n*, 8:8&,4

12

M=n 8,n8o' 8:8&,4 8,; on 8,*=$=z,; 5PS ',*,=?,' 'o?=;=n> o8=&=on=n2o'4&=on =&< n **#'*: o2 $,88 &<n 100 44% T<=8 8:8&,4 =$$ ,#8,; &o

• *on&'o$ 8,,; o2 &<, 'oo&"

• >#=;n*, n; 4=n&,nn*, 'oo& on &<, ;,8=>n&,; &<"• ',*=8=on 8,,;=n> - &<, ,*& =n2o'4&=on on <,', 8o=n> &<, 8,,;8=$$ , #8,; &o #=$; 48 o2 8,,;8" <=*< =$$ , #8,; 8 8#o'&=n>=n2o'4&=on 2o' ',*=8=on ,,;=n>"

• &o *on&'o$ &<, o8=&=on o$ n; o,'&=on o2 +,: *o4on,n&8%



13

To =n*',8, &<, **#'*: o2 &<, 'oo& =$$ , #8,; *4,'8 8:8&,4 =4>,,2o', 'oo& &<& $$o8 ',*=8, ,n&': 'oo& ,&,,n &<, 'o8 o2 $n&8n; &o *o'',*& ;=',*&=on o2 &<, 'oo&% S=4#$&n,o#8$: &<, 8:8&,4 =$$ $8o, #8,; *4,'8 =4>, =44,;=&,$: ,2o', <o,8 *&=?, n; 8':,'% A$8o"=n2o'4&=on 2'o4 &<, **,$,'&=on 8,n8o'8 n; ,n*o;,'8 #=$&-=n <,,$8 =$$, #8,;% To ;,&,'4=n, &<, n>#$' **,$,'&=on =$$ , ',#=',; #n=&8 o2

&<, IMU In,'&=$ M,8#',4,n& Un=&. T<=8 =$$ ,n$,

• &',*&o': *o'',*&=on o2 &<, 'oo&"• ',*=8, o'+ o2 *&=?, <o,"

• o8=&=on ;#8&4,n& n; ',*=8, ;o8=n> o2 $=#=; 2,'&=$=z,' $n& <,$&<'o;#*&8%

Roo& >#=;n*, 8:8&,4



S*<,4, &<, 'oo&

14

System wizyjny 1

System wizyjny 2

Zespół

opryskiwacza

Siewnik punktowy

Pielnik aktywny

GPS

S*<,4, o2 &<, 'oo8,; 'oo&



U8=n> <:;'#$=* ;'=?, 8:8&,4

15

T<, #8, o2 <:;'o8&&=* ;'=?, 8:8&,4 =8 8,; on

•?=$=$=&: o2 ;=22,',n& 8o$#&=on8"•8#8*,&==$=&: &o *on&'o$"•8o$#&=on8 *o44on #8,; =n 4o;,'n o,' &'n84=88=on 8:8&,48 o2

>'=*#$&#'$ 4*<=n,':"•,8, o2 &'n84=88=on 2'o4 ,n>=n, &o &<, <,,$8"•84oo&< >,' 8<=2&=n>"•,$=4=n&=on o2 4,*<n=*$ &'n84=88=on *o4on,n&8"

•&<, =$=&: &o =4$,4,n& ',?,'8, ;'=?,"•;'=?, 4o&o' 'o&,*&=on >=n8& o?,'$o;"



Roo& D'=?, S:8&,4

16

Wheel drive circuit

,#=,; =&< ,n& =8 ?'=$, =$ #4 o'+=n> =n *$o8,; *='*#=& 8:8&,4 =&<',88#', *o4,n8&,; $o; K$o;-8,n8=n>K% S#*< ;=8,$ &<, 'oo& *<88=8 =8 o&=4$",*#8, &<, o,' 8o',; : &<, *<88=8 =8 8&'on>$: ?'=,8 ;,,n;=n> on &<, 8*o,o2 &<, o'+ *''=,; o#&" &<, #$=&: o2 &<, ','&=on o2 &<, 2=,$;" ',88#', n; o&<,'2*&o'8 =n&,'2,'=n> =&< &<, 'oo&% H:;'o8&&=* ;'=?, 8:8&,48 =&< $o; *o4,n8&=on=$$ 4=n&=n *on8&n& '4,&,'8 o2 &<, <:;'#$=* 8:8&,4 ',>';$,88 o2 &<, 8=z, n;

n&#', o2 =&8 $o;" n; $8o $$o 2o' ',*=8, *on&'o$ o2 &<, *&#&o'8% F#'&<,'4o',"&<, #8, o2 *$o8,; 8:8&,4 4+,8 =& o88=$, &o &+, o?,' &<, 2#n*&=on o2 &<, '+,<,,$8% T<, 'oo& ;'=?, <,,$8 ', =n;,,n;,n&$: ;'=?,n : <:;'#$=* 4o&o'8o,',; : ?'=$, 8,,; #4 *on&'o$$,; : 8,'?o ?$?,% T<, 2$,==$=&: o2 &<=8'o*< $$o8 &'=$8 &'*&=on =n ?='&#$$: n: *on2=>#'&=on" &<, o8=&=on o2 &<,<,,$8" o&< 2'o4 =&<o#& n; 2'o4 8$==n>%



17

Po"er steering and actuators circuit

Fo' o,' 8&,,'=n> n; ,&,'n$ ',*,=?,'8 =n8&$$,; 2o' &<, 4=n #4 2=,; 8,,;

#=$=': #48

T<, 8:8&,4 #8,8 ?$?,8" *on&'o$ $o*+8 $,8 $$o =n*$#;=n> n; ,*$#;=n> ,n>=n,8" 8:n*<'on=z&=on o2 &<, ;'=?, <,,$8 &#'n on &<, 8o&" 8,$,*&=on o2 &<, ;=',*&=on o2 &<, ?,<=*$," ;=',*&=n> &<, 8':,'"

<o, o8=&=on *on&'o$%

Roo& D'=?, S:8&,4



18

#n the ne$t stages of the !ro%ect design tasks are !lanned :

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• D,?,$o4,n& o2 &<, 3D 4o;,$ n; &<, ;o*#4,n&&=on n,*,88': 2o' &<,

*on8&'#*&=on o2 &<, ,,'=4,n&$ 4o;,$% T<, *on8&'#*&=on o2 8,$,*&,; &,48',#=', ',$=4=n': ?,'=2=*&=on o2 &<, 8o$#&=on8• D,?,$o4,n& o2 3D CAD 4o;,$8 &oo$ 4o;#$,8 2o' 8o=n>" ,,;=n> n;

8':=n>%D'2&=n> n; =4$,4,n&&=on o2 n ,$,*&'on=* *on&'o$ 8:8&,4 2o' 'oo&

,,'=4,n&$ 4o;,$%• T<, *on8&'#*&=on o2 &<, ,,'=4,n&$ 4o;,$ $$o8 #&ono4o#8 'oo& &o *'':o#& $o'&o': n; 2#n*&=on$ &,8&=n>%

• Co44=88=on=n>" &,8&=n> n; ?$=;&=on o2 &<, ,$,*&'on=* *on&'o$ 8:8&,4 'oo&%• Lo'&o': &,8&8 n; 2#n*&=on$ 4o;,$ o2 &<, ,,'=4,n&$ o'+%

S#44':



B=$=o>'<:

19

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1% CHODOWSI A%" BURDZI^SI Z%" BALCERZA 7%" OŁODZIE7 W%" ORLI L T,',no, oz;: +o(o," M&,'=(:+on2,',n*:n, WITP=S 19/1%

13% 5ARBACI A% = =nn= =,'#n+= 'ozo# n);[ = +on8&'#+*= 48z:n 'oo*z:*<" F$#=; Po,' N,& P#$=*&=on" '+[

19991% 5ARBACI A% = =nn= S&#;=#4 'o,+&on= #+(;[ <:;'#$=*zn:*<" O88o$=n,#4"'+[ 199%



0

FUNCTIONAL AND STRUCTURAL ASSUMPTIONS OF AUTONOMOUS FARM ROBOT PLATFORM

PRZEMYSŁOWY INSTYTUT MASZYN ROLNICZYCH60-963 Pozn!" #$% S&'o()*+ 31 &,$% 0-61. /1 00" 2% 0-61. /9 3 6

Thank you for your attention

14th INTERNATIONAL TECHNICAL

SYSTEMS DEGRADATION CONFERENCE

functional and structural assumptions

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