Heterogeneous autonomous robotic system in viticulture and mariculture -

project overview

01.07.2021. Zagreb

ConTEL 2021

• Robots in HEKTOR

• Viticulture scenarios

• Mariculture scenarios

• Future work

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Robots in HEKTOR

3

• All-terrain mobile manipulator• Autonomous movement in vineyard

• Operations on the vine – spraying and bud rubbing

• 2 parts – mobile platform and Kinova Gen3 robotic manipulator

• LiDAR, stereo cameras and GPS

• Kinova Gen3 – 7-DoF, torque controlled

Robots in HEKTOR

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• Light Autonomous Aerial Robot –LAAR• Medium-scale carbon-fiber quadcopter

• Dim. – 1.2m x 1.2m x 0.45m, 8-10 kg

• Pixhawk autopilot, Intel NUC on-board computer

• 30 min flight time

• Velodyne VLP-16 LiDAR sensor

• Sony RX100 RGB camera

• Multispectral MicaSense RedEdge-MX sensor

• Thermal camera

Robots in HEKTOR

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• Autonomous Surface Vehicle - ASV • Catamaran type, modular design

• Dim. – 2m x 1m x 1.4m, 100 kg

• Payloads – ROV, TMS, landing platform for LAAR

• 4 x T200 thrusters (1-2 knots)

• Booster motor Minn Kota RT 55 EM (3-4 knots)

• 4-5h of autonomy

• GNSS, IMU, LTE network corrections

• Hikvision IP camera

Robots in HEKTOR

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• Remotely Operated Underwater Vehicle –ROV• Blueye PRO

• Dim. – 48.5cm x 25.7cm x 35.4cm, 9 kg

• 2h of autonomy, up to 300m depth

• Full HD 30 fps camera with ±30deg tilt angle

• 3300lum lights

• IMU, temp. sensor, internal pressure

• WiFi or Ethernet connection

Viticulture scenarios

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• Vineyard monitoring• State of vines, existence of diseases and

yield of grapes

• Different map variants based on data from LAAR

• Coordination between UAV and ground robot

• Creation of point cloud and digital elevation model of vineyard

• LiDAR or photogrammetry process

Viticulture scenarios

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• Vineyard spraying• Optimization of amount of used

chemicals

• Autonomous movement of a mobile manipulator through the rows of vineyard

• Model predictive control (MPC) based vineyard spraying algorithm

Viticulture scenarios

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• Bud rubbing• Removal of unwanted buds and shoots from grape trunks

• Autonomous navigation and positioning of mobile manipulator

• Detection and removal of buds and shoots without damaging the trunk

• Generation of accurate 3D model

Mariculture scenarios

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• Net cage inspection• Autonomous cage inspection from air

(LAAR) and bellow sea level (ASV and ROV)

• LAAR – autonomous detection of cages and positioning above them

• ROV – autonomous navigation around underwater part of the cage

• ASV – docking platform for LAAR and ROV

Mariculture scenarios

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• Fish population modelling• Non-invasive fish sampling based on

video and image data

• Population density and average size of individuals

• Statistical model of the growth of fish

• Information gathered during feeding time

Future work

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• Autonomous vineyard surveillance, spraying, and bud rubbing based on coordinated actions of the mobile manipulator and the UAV.

• Autonomous monitoring of net cages from the air with UAV and from below the surface with ROV coordinated by ASV

• Modelling and estimation of fish population in cages

Thank you for your attention

Research work presented in this article has been supported by the project Heterogeneous autonomous robotic system in viticulture and mariculture (HEKTOR) financed by the European Union through the European Regional Development Fund-The Competitiveness and Cohesion Operational programme (KK.01.1.1.04.0041).

Project web page: http://hektor.fer.hr