“Fertibot”

Mike AmbriscoAndrew Bourgeois

Eric HallAaron Minard

Background

Robots in agriculture are emerging

A prototype of the Precision-Ag-in-a-Box sensor suite

gathered data during the field tests.

Disease detecting robots

John Deere and NREC building a fleet of robots for testing

Testing during day and night

National Robotics Engineering CenterIntegrated Auomation for Sustainable Specialty Crops

http://www.rec.ri.cmu.edu/usda/index.html

Problem

Develop an automated robotic system that can distribute 8oz of a granulated fertilizer uniformly around the perimeter at the edge of an apple tree canopy.

Design Solutions

Distribution• “Water Wheel” • Weight SensorsNavigation• Geo-Magnetic CompassFinding the Tree Canopy• Ultrasonic Sensors

Actual Solutions

Distribution• Conveyor• Per degree of travelNavigation• Magnetic Field SensorFinding the Canopy• Ultrasonic Sensors

System Diagram

Programming Overview

Wiring Schematic

Programming State Diagram

Sensors We Are Using

Magnetic Field Sensor Ultrasonic Distance Sensor

Detects the Earth’s magnetic field Strength along X axis and along Y axis.

Detects distance from an object by sending a ping and measuring the return time.

Operation of Ping Sensors

Control of Ping Sensors

Mechanical

Personal Assignments

Mechanical SystemsManager: Andrew BourgeoisAssistants: Mike Ambrisco, Eric Hall, Aaron Minard

Sensor Design and ConfigurationManager: Aaron MinardAssistants: Eric HallTroubleshooting: Andrew Bourgeois

Electrical and Software DesignManager: Andrew Bourgeois, Aaron MinardAssistants: Eric Hall, Mike Ambrisco

Documentation and ResearchEvery member of Team Blue contributed in the research and documentation of the

project.

Time LineCategory Sub Category Week 1 Week 2 Week 3 Week 4 Week 5 Week 6 Week 7 Week 8

Reasearch - X X X X

Discussion - X X X X X X X X

Design - X X X X X X X

Prototypes - X X X

Cad Design - X X X X X

Fabracation -

- Hopper X X X

- Base Frame X X X

- Brackets X X X X X

- Feeder X X X

- Drive System X X

BudgetItem Quantity Cost Total Cost Paid For

12V Motors 2 $17.50 $35.00 $0.00

Motor Controller

1 $119.99 $119.99 $0.00

Conveyer Controller

1 $18.95 $18.95 $0.00

Micro/ accessories

1 $15.00 $15.00 $0.00

Ping Sensors 4 $30.00 $120.00 $0.00

Compass 1 $30.00 $30.00 $0.00

Materials 1 - - $15.00

T-Slotted Aluminum Extrusion

8 ft $26.38 $26.38 $0.00

T-Nuts and Cap Screws

74 $1.85/4 $34.23 $0.00

    Totals $414.55 $15.00

Questions?

DocumentationAll paper documents can be found in the Team Blue notebook