Team MASTers™Craig Lalumiere

David CoblerMichael 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

Inclinometer Detection Scheme

Imaginary Ring

Deflection Angle Φ

Mast Position

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

If (A/D PTA 1-3) ≤ 1 volt Find Beacon stateTravel around tree stateNO YES

Photo Cell voltage input to on board Computer

150 140 130 120 110 100 90 80 70 60 50 40 30 20 10 00

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9

1

CDS cell Distance Vs. Voltage

Distance (CM)

Volta

ge (V

)

BatteryMain circuit board

Beacon Circuitry

Layout of mechanical components

MastAuger

Beacon

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

Questions?

Mechanical Concepts

Hopper

Hooks & Sensors

Motor

Flag

Search for Tree

Accelerometer Senses Tree

Readjust MASTer to Aim Tangent to Tree

Drop Completion

Flag

Begin MASTer’s Circle Around

Canopy

Begin Dispensing Fertilizer

Sense Stop Beacon

Stop MASTer

Stop Fertilizing Sequence

Pick Up Signal Flag

Power On

Programming Logic Flow Chart