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Author Shapiro, Amir ♦ Korkidi, Eran ♦ Demri, Amnon ♦ Ben-Shahar, Ohad ♦ Riemer, Raziel ♦ Edan, Yael
Source CiteSeerX
Content type Text
File Format PDF
Subject Domain (in DDC) Computer science, information & general works ♦ Data processing & computer science
Subject Keyword Scaled-down Prototype ♦ Date Palm Tree ♦ Autonomous Field Robot ♦ Robotic Apparatus ♦ Standard Tractor ♦ Several Worker ♦ Small Dead Band ♦ Date Cluster ♦ Lifted Position ♦ Robotic Arm ♦ Guidance System ♦ Short Distance ♦ Image Processing System ♦ Pollinate Date Cluster ♦ Chemical Disposal ♦ Mounted Sprayer ♦ Maximum Accuracy ♦ Many Accident ♦ Proportional Controller ♦ Human Worker ♦ Human Worker Operating ♦ Single Driver ♦ Great Height ♦ Expensive Dedicated Platform ♦ Agricultural Operation
Abstract Agricultural operations at great heights are typically laborious, expensive, and dangerous for human workers. Spraying and pollinating date palm trees, for instance, is currently done manually by a team of several workers from a platform lifted 18 m or more above the ground. This method is extremely unsafe, and many accidents have occurred due to instability when the platform is in a lifted position. In this paper we present the concept of an autonomous field robot that will effectively and accurately spray and pollinate date clusters. A scaled-down prototype has been designed and consists of a visually controlled robotic arm that guides the jet of a mounted sprayer directly to the date clusters completely autonomously and from a short distance. Rather than requiring an expensive dedicated platform, this robotic apparatus can be towed by a standard tractor operated by a single driver, with no human worker operating in the heights. This system can minimize risk of injury, significantly save manpower, and deliver the spray with maximum accuracy, thereby reducing chemical disposal. The spraying guidance system is based on a proportional controller that uses feedback from an image processing system combined with a small dead band. The system was modeled mathematically, and the effect of each component
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research
Education Level UG and PG ♦ Career/Technical Study
Learning Resource Type Article
Publisher Date 2008-01-01