Presentation of paper.

1. Alberto Ruiz-Larrea, Juan Jesús Roldán, Mario Garzón, Jaime del Cerro and Antonio Barrientos
ROBOT 2015: Second Iberian Robotics Conference. November 19-21, 2015

2. 1/13
1. Introduction and
objectives
2. State of art
3. Sensory
system
4. Navigation
system
5. Results and
conclusions
Table of contents
1. Introduction and objectives.
2. State of art.
3. Sensory system.
4. Navigation system.
5. Results and conclusions.

3. 2/13
1. Introduction and
objectives
2. State of art
3. Sensory
system
4. Navigation
system
5. Results and
conclusions
1.1. Introduction
Perception
Fixed sensors, sensor
networks and ground
and aerial robots.
Decision
Central
computer.
Actuation
Irrigation, ventilation,
heating and nutrient
supply.

4. 3/13
1. Introduction and
objectives
2. State of art
3. Sensory
system
4. Navigation
system
5. Results and
conclusions
1.2. Objectives
Development of a sensory system on board an
Unmanned Ground Vehicle (UGV) to measure the
ground properties of a greenhouse.
- Analysis of ground variables.
- Selection of sensors and UGV.
- Development of measure platform.
- Development of navigation algorithms.
- Experiments to validate systems.

5. 4/13
1. Introduction and
objectives
2. State of art
3. Sensory
system
4. Navigation
system
5. Results and
conclusions
2.1. Technology in greenhouses
Sensor networks
Advantages:
Simultaneity and low consumption.
Disadvantages:
Rigidity and immobility.
Robots
Models:
- Manipulators.
- Rail robots.
- Ground robots.
- Aerial robots.
Applications:
- Environmental monitoring.
- Planting / harvesting.
- Crop inspection.
- Plant treatment.

6. 5/13
1. Introduction and
objectives
2. State of art
3. Sensory
system
4. Navigation
system
5. Results and
conclusions
2.2. Greenhouse models and variables
Climate models: Henten et al., Linker and Seginer, Stranghellini and Jong.
Plant growth and maturation: Lieberman et al., Ecker, Kirnak et al.
Variables
Air
Ground
Other
Temperature
Humidity
Nutrients
pH

7. 6/13
1. Introduction and
objectives
2. State of art
3. Sensory
system
4. Navigation
system
5. Results and
conclusions
3.1. Sensors
MLX9614:
- Infrared temperature sensor.
- Range: -70 to 380 ºC.
- Accuracy: 0.1ºC.
- Measure angle: 90º.
SEN92355P:
- Resistivity sensor.
- Range: 0-100%.

8. 7/13
1. Introduction and
objectives
2. State of art
3. Sensory
system
4. Navigation
system
5. Results and
conclusions
3.2. UGV
Robotnik Summit XL:
- Differential robot.
- Load capacity: 20 kg.
- Controller:
- Embedded computer.
- Linux + Robot Operating System (ROS).
- Sensors:
- Odometry + IMU + GPS/GLONASS.
- Laser scanner: Range 30m and Angle 270º.
- Navigation:
- Maximum speed: 3 m/s.
- Communications: WiFi.

9. 8/13
1. Introduction and
objectives
2. State of art
3. Sensory
system
4. Navigation
system
5. Results and
conclusions
3.3. Measure platform
Ultrasonic
sensor
Temperature
sensor
Humidity
sensor
Controller Servomotor
Contact
sensor
Fixed nut

10. 9/13
1. Introduction and
objectives
2. State of art
3. Sensory
system
4. Navigation
system
5. Results and
conclusions
4.1. Path planning
Greenhouse:
- Regular layout: crop lines and corridors.
- Irregular elements: plants, tools…
Strategy: Back and forth motions.

11. 10/13
1. Introduction and
objectives
2. State of art
3. Sensory
system
4. Navigation
system
5. Results and
conclusions
4.2. Path following

12. 11/13
1. Introduction and
objectives
2. State of art
3. Sensory
system
4. Navigation
system
5. Results and
conclusions
5.1. Experiments

13. 12/13
1. Introduction and
objectives
2. State of art
3. Sensory
system
4. Navigation
system
5. Results and
conclusions
5.2. Results
Path:
- Measure points: 16.
- Duration: 12 minutes.
- Movement: 4 seconds.
- Stop: 40 seconds.
Maps of ground temperature and humidity:

14. 13/13
1. Introduction and
objectives
2. State of art
3. Sensory
system
4. Navigation
system
5. Results and
conclusions
5.3. Conclusions
Comparison Sensor networks Aerial robots
Advantages
Costs and performance.
Flexibility.
Versatility.
Safety.
Autonomy.
Accessibility to ground.
Disadvantages
Consumption.
Simultaneity.
Speed.
Movement in the air.
A prototype of sensory system on board an Unmanned Ground Vehicle
(UGV) for measuring the ground properties of a greenhouse have been
designed, developed and validated.

15. Alberto Ruiz-Larrea, Juan Jesús Roldán, Mario Garzón, Jaime del Cerro and Antonio Barrientos
ROBOT 2015: Second Iberian Robotics Conference. November 19-21, 2015