Team MASTers™ Craig Lalumiere David Cobler Michael White.
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Transcript of Team MASTers™ Craig Lalumiere David Cobler Michael White.
Robots in Agriculture?Some Background
• Robotic Integration in Agriculture– Planting– Tending– Harvesting
Problem StatementUsing the MARV 2 robotic platform, design
and build an autonomous robot to fertilize the perimeter of an apple tree.
Solution Statement
• Find tree with a spring mounted mast.• Circumnavigate tree using a hunting routine.• Use an auger feed system to distribute
fertilizer.
Beac
on
Micro-Controller
DriverMotor and
Wheel
Inclinometer
Driver
Motor
Fertilizer Dump
magnet
Photo Cell
MASTer
FLAG
MASTer finds a tree.MASTer drops the Flag and Circles the tree leaving fertilizer.
MASTer picks up flag and continues to the next tree.
How it Works!!
State Diagram
ApproachingTree
Rotating
Navigating Tree
Pick Up Beacon
Mast Moved
Tangent To Tree
DetectBeacon
BeaconStowed
Detection Scheme Cont.
• Math– Angle Φ = arccos x Acceleration Value
Gravity Constant
Deflection Angle Φ
Position = 1g = Gravity Constant
Position = Acceleration Measurement
State Diagram
ApproachingTree
Rotating
Navigating Tree
Pick Up Beacon
Mast Moved
Tangent To Tree
DetectBeacon
BeaconStowed
Photo Cell voltage input to on board Computer
150 140 130 120 110 100 90 80 70 60 50 40 30 20 10 00
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CDS cell Distance Vs. Voltage
Distance (CM)
Volta
ge (V
)
Electrical Diagram
12v Batt.
5v Reg. 3.3v Reg.
MCUAnalog Inputs
Accelerometer
Light Sensor
BeaconEl
ectr
o-M
agne
t
Output
Project Assignment
• Michael– Mast and tree detection
• Craig– Beacon dropping system
• David– Hopper and auger system
Timeline
Week 1 Week 2 Week 3 Week 4 Week 5 Week 6 Week 7
Brainstorming
Research
Design
Programming Mechanical assembly
Testing
Budget
Fertilizer Storage Container $20Auger Blade $202 Axis Accelerometer $10PVC Pipe (for mast) $15
Approximate Total $65Our Fees $55