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Modelling environment for an electrical driven selective sprayer robot in orchards

Published online by Cambridge University Press:  01 June 2017

A. Linz ,
D. Brunner ,
J. Fehrmann ,
T. Herlitzius ,
R. Keicher ,
A. Ruckelshausen  and
H.-P. Schwarz
A. Linz*
Affiliation:
Competence Center of Applied Agricultural Engineering COALA, University of Applied Sciences Osnabrück, Osnabrück, Germany
D. Brunner
Affiliation:
Hochschule Geisenheim University, Center of Viticulture and Horticulture, Department of Technology, Geisenheim, Germany
J. Fehrmann
Affiliation:
Technische Universität Dresden, Institute for Natural Materials Technology, Chair for Agricultural Systems and Technologies, Dresden, Germany
T. Herlitzius
Affiliation:
Technische Universität Dresden, Institute for Natural Materials Technology, Chair for Agricultural Systems and Technologies, Dresden, Germany
R. Keicher
Affiliation:
Hochschule Geisenheim University, Center of Viticulture and Horticulture, Department of Technology, Geisenheim, Germany
A. Ruckelshausen
Affiliation:
Competence Center of Applied Agricultural Engineering COALA, University of Applied Sciences Osnabrück, Osnabrück, Germany
H.-P. Schwarz
Affiliation:
Hochschule Geisenheim University, Center of Viticulture and Horticulture, Department of Technology, Geisenheim, Germany
*
†E-mail: a.linz@hs-osnabrueck.de
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Abstract

Precise applying of PPP (Plant Protection Products) in orchards and vineyards requires new kinds of sprayer technologies and new methods of sensor data evaluation. In this paper a selective electrical driven sprayer, carried by the autonomous robotic platform elWObot, is introduced. A 3D-Simulation environment and the framework ROS (Robot Operating System) helps developing and testing the interaction between the sprayer and the robot. The calculated leaf wall area (LWA) and the distance from the sprayer to the leaves in the spray region, control the flow-rate and the air-assist of eight adjustable sprayers individually. First field trials showed that the adaption of the software from the simulation to the hardware worked as expected.

Keywords

3D-Simulationservice roboticLIDARselective electrical driven sprayerorchard and vineyard
Type
Agri-engineering
Information
Advances in Animal Biosciences , Volume 8 , Special Issue 2: Papers presented at the 11th European Conference on Precision Agriculture (ECPA 2017), John McIntyre Centre, Edinburgh, UK, July 16–20 2017 , July 2017 , pp. 848 - 853
Copyright
© The Animal Consortium 2017 

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