BoniRob An Autonomous Mobile Platform for Agricultural Applications

Transcription

1 BoniRob An Autonomous Mobile Platform for Agricultural Applications Slawomir Sander (aka Slawomir Grzonka) Deepfield Robotics (Robert Bosch Start-Up GmbH) 1

2 Megatrends lead to dramatic changes in agriculture Shortage of resources Arable land: 1950: 0.52 ha/person; (2000: 0.26) Fertilizers, e.g. phosphor availability: years Water: 70% of freshwater consumed in agriculture Skilled labor and seasonal workers Growing population: bn. people until 2050 Eating habits are changing, e.g. organic farming ($ 104.5bn) Chemically-resistant weeds result in wasted cropland Agriculture most vulnerable to the impacts of climate change but also one of its reasons Sustainability of way of cultivation becomes essential 2

3 Megatrends lead to dramatic changes in agriculture Shortage of resources Precision Farming Autonomous Machines Growing population, chemically-resistant weeds, healthy food demands Monitor Environment and Plants Agriculture and climate change Reduce Costs / Enable Organic Farming We need a Sustainable Green Revolution 3

4 State-Of-the-Art in Agricultural Robotics Armadillo (2013), Kongskilde Grizzly (2013), Clearpath Robotics HV-100 (2013), Harvest Automation Ladybird (2014), Univ. Sydney 4

5 Evolution of BoniRob Single use case: phenotyping Multi-purpose agricultural robot Rugged design version available for customers 5

6 The BoniRob: A Multi-Purpose Agricultural Robot Powered by batteries and a fuel-based range extender High connectivity (5GHz Wi-Fi, 2.4 GHz Wi-Fi, GSM/UMTS/LTE optional) Slot for Application Module (electrical & data-link to robot) 3D sensing for autonomous navigation in row-based cultivations (optionally navigation based on GPS) Easy exchange of application modules Reconfigurable joints (adaptive trackwidth) BoniRob Quick Facts: Chassis Clear height / Tare weight Track width Wheels, Speed Power Payload On-Board PC Total of 12 degrees of freedom 2.2 m x m x m (height x width x length) (dep. on track width) Approx 0.85 m / approx 1090 kg m (electrically driven) 0.55 m / 0.2 m (diameter / width), speed: up to 150 cm/sec 24V, 230 AH Batteries, 2.6kW Generator, up to 24h operation without refueling 150 kg for customized application module i7-based Industrial PC running Linux. Robot is fully integrated into ROS + Gazebo 6

7 The BoniRob: Basic Modules Navigation, State Estimation + Semantic Localization carrot field corn field Plug & Play!????? field Robot sensors: surround and inertial sensors Bosch Remote control and safety circuit propulsion Drive ECU Steering High Level Navigation ECU Track width Interface to subsystems Different Apps App A sensors / actuators / functions App B sensors / actuators / functions App C High-Level Navigation and Control (Industrial PC, ROS); Simulation in Gazebo Low-Level Control, Safety (embedded real-time system) Customized Application Modules (Communication via ROS) 7

8 Developing new Algorithms for Autonomous Navigation Test in simulation Test in controlled environment Test under real world conditions 8

9 Autonomous Navigation, Semantic Localization, and Mapping 2D Lidar 3D Lidar Probabilistic State Automaton 3D Lidar Trajectory End Point Semantic: Row End Row U. WEISS et.al., Semantic Place Classification and Mapping for Autonomous Agricultural Robots, IROS

10 Scouting and Phenotyping for breeding Growing population: bn. ppl. until 2050 crop yield must increase by ~3% each year currently only ~1.5% increase each year Breeders name it the phenotyping gap we don t know enough about the plant we don t know enough about the environment Today: Suboptimal breeding decisions are taken Autonomous Machines Monitor Environment and Plants 10

11 Phenotyping Application Module Light curtain Imaging light curtain on maize field A. RUCKELSHAUSEN et.al., Sensor and system technology for individual plant crop scouting, ICPA

12 Phenotyping: Soil Penetrometer Application Module 12

13 Soil Penetrometer Module: Delivers Compaction Map Soil Pentrometer App applied with BoniRob in SmartBot project (funding by Interreg) M. GÖTTINGER et.al., GNSS-based navigation for the multipurpose field robot platform BoniRob to measure soil properties, VDI-Tagung,

14 Phenotyping: Picture of the future 14

15 Weed Control: Spraying and Mechanical Weeding Weed Control in the U.S. (Mid 1990): 3.5bn USD for conventional weeding (spraying) 2.5bn USD for alternative methods Between 5%-50% of total costs Today: facing resistances against herbicides Organic weed control up to 20x the costs of conventional weed control (spraying) Today: Organic farming market is 104.5bn USD Precision Farming Reduce Costs / Enable Organic Farming Source: Weeds are plants whose undesirable qualities outweigh their good points,

16 Precision Spraying Application Module 16

17 Mechanical in-row Weed Control weed carrot 17

18 Source: Langsenkamp et al., Tube stamp for mechanical intra-row individual plant weed control, 18th World Congress CIGR (2014) 18

19 AgriApps: Box Tree Nursing Flourish: UAV + BoniRob 19

20 Autonomous Machines Precision Farming Monitor Environment and Plants Reduce Costs / Enable Organic Farming We need a Sustainable Green Revolution Navigation Phenotyping Soil Monitoring Pres. Spraying Weeding Nursing 20

21 What are your ideas? 21

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23 Thank you very much for your attention! Visit us at IROS

24 Acknowledgements 24

25 The people that made it possible! 25