A low cost, modular robotics tool carrier for precision agriculture research

Kjeld Jensen, Søren Hundevadt Nielsen, Anders Bøgild, Ole Juul Jørgensen, Claes Lund Jæger-Hansen, Niels Jul Jacobsen, Rasmus Nyholm Jørgensen

Research output: Contribution to conference without publisher/journalPaperResearch

Abstract

Current research within agricultural crop production focus on using
autonomous robot technology to optimize the production efficiency, enhance
sustainability and minimize tedious, monotonous and wearing tasks. But progress
is slow partly because of the lack of flexible and low cost robotic platforms
suitable for research within precision agriculture.
This paper presents Armadillo, a $50k field robotic tool carrier with a modular
design which makes the robot configurable and adaptable to a wide range of
precision agriculture research projects. Armadillo weighs around 425 kg and
consists of two 18x80 cm footprint track modules each with an integrated 3.5 kW
electric motor, gear and motor controller. The track modules are mounted on
the side of an exchangeable tool platform which allows an adjustable width and
clearing height of the robot. The 48 V lithium power pack lasts 10 hours of
operation.
Armadillos industrial grade Linux based FroboBox computer runs the
FroboMind architecture which is based on the Robot Operating System (ROS) by
Willow Garage. FroboMind is a novel generic architecture that has been
implemented and successfully tested on different field robots. It has been
developed for research within precision agriculture and the design is highly
modular in order to optimize with respect to extensibility, scalability, short
development time and code reuse. All FroboMind software components used for
the Armadillo robot are released as open-source.
A prototype of Armadillo has been developed and tested as part of ongoing
research projects within sustainable and organic weeding in row crops and
orchards. Based on the experiences obtained, the first public version of Armadillo
has been constructed and delivered to the University of Hohenheim, Germany.
Current activities focus on further improving the Armadillo hardware and
software and application to new research projects.
Original languageEnglish
Publication date15. Jul 2012
Number of pages13
Publication statusPublished - 15. Jul 2012
EventInternational Conference on Precision Agriculture - Indianapolis, Indiana, United States
Duration: 15. Jul 201218. Jul 2013
Conference number: 11

Conference

ConferenceInternational Conference on Precision Agriculture
Number11
CountryUnited States
CityIndianapolis, Indiana
Period15/07/201218/07/2013

Fingerprint

Agriculture
Robotics
Robots
Costs
Crops
Electric motors
Gears
Scalability
Lithium
Hardware
Controllers

Keywords

  • Field robot
  • precision agriculture
  • FroboMind
  • ROS

Cite this

Jensen, K., Nielsen, S. H., Bøgild, A., Jørgensen, O. J., Jæger-Hansen, C. L., Jul Jacobsen, N., & Jørgensen, R. N. (2012). A low cost, modular robotics tool carrier for precision agriculture research. Paper presented at International Conference on Precision Agriculture, Indianapolis, Indiana, United States.
Jensen, Kjeld ; Nielsen, Søren Hundevadt ; Bøgild, Anders ; Jørgensen, Ole Juul ; Jæger-Hansen, Claes Lund ; Jul Jacobsen, Niels ; Jørgensen, Rasmus Nyholm. / A low cost, modular robotics tool carrier for precision agriculture research. Paper presented at International Conference on Precision Agriculture, Indianapolis, Indiana, United States.13 p.
@conference{81348123349a4ecb82e868b3538c5a89,
title = "A low cost, modular robotics tool carrier for precision agriculture research",
abstract = "Current research within agricultural crop production focus on usingautonomous robot technology to optimize the production efficiency, enhancesustainability and minimize tedious, monotonous and wearing tasks. But progressis slow partly because of the lack of flexible and low cost robotic platformssuitable for research within precision agriculture.This paper presents Armadillo, a $50k field robotic tool carrier with a modulardesign which makes the robot configurable and adaptable to a wide range ofprecision agriculture research projects. Armadillo weighs around 425 kg andconsists of two 18x80 cm footprint track modules each with an integrated 3.5 kW electric motor, gear and motor controller. The track modules are mounted onthe side of an exchangeable tool platform which allows an adjustable width andclearing height of the robot. The 48 V lithium power pack lasts 10 hours ofoperation.Armadillos industrial grade Linux based FroboBox computer runs theFroboMind architecture which is based on the Robot Operating System (ROS) byWillow Garage. FroboMind is a novel generic architecture that has beenimplemented and successfully tested on different field robots. It has beendeveloped for research within precision agriculture and the design is highlymodular in order to optimize with respect to extensibility, scalability, shortdevelopment time and code reuse. All FroboMind software components used forthe Armadillo robot are released as open-source.A prototype of Armadillo has been developed and tested as part of ongoingresearch projects within sustainable and organic weeding in row crops andorchards. Based on the experiences obtained, the first public version of Armadillohas been constructed and delivered to the University of Hohenheim, Germany.Current activities focus on further improving the Armadillo hardware andsoftware and application to new research projects.",
keywords = "Field robot, precision agriculture, FroboMind, ROS",
author = "Kjeld Jensen and Nielsen, {S{\o}ren Hundevadt} and Anders B{\o}gild and J{\o}rgensen, {Ole Juul} and J{\ae}ger-Hansen, {Claes Lund} and {Jul Jacobsen}, Niels and J{\o}rgensen, {Rasmus Nyholm}",
year = "2012",
month = "7",
day = "15",
language = "English",
note = "International Conference on Precision Agriculture ; Conference date: 15-07-2012 Through 18-07-2013",

}

Jensen, K, Nielsen, SH, Bøgild, A, Jørgensen, OJ, Jæger-Hansen, CL, Jul Jacobsen, N & Jørgensen, RN 2012, 'A low cost, modular robotics tool carrier for precision agriculture research', Paper presented at International Conference on Precision Agriculture, Indianapolis, Indiana, United States, 15/07/2012 - 18/07/2013.

A low cost, modular robotics tool carrier for precision agriculture research. / Jensen, Kjeld; Nielsen, Søren Hundevadt; Bøgild, Anders; Jørgensen, Ole Juul; Jæger-Hansen, Claes Lund; Jul Jacobsen, Niels ; Jørgensen, Rasmus Nyholm.

2012. Paper presented at International Conference on Precision Agriculture, Indianapolis, Indiana, United States.

Research output: Contribution to conference without publisher/journalPaperResearch

TY - CONF

T1 - A low cost, modular robotics tool carrier for precision agriculture research

AU - Jensen, Kjeld

AU - Nielsen, Søren Hundevadt

AU - Bøgild, Anders

AU - Jørgensen, Ole Juul

AU - Jæger-Hansen, Claes Lund

AU - Jul Jacobsen, Niels

AU - Jørgensen, Rasmus Nyholm

PY - 2012/7/15

Y1 - 2012/7/15

N2 - Current research within agricultural crop production focus on usingautonomous robot technology to optimize the production efficiency, enhancesustainability and minimize tedious, monotonous and wearing tasks. But progressis slow partly because of the lack of flexible and low cost robotic platformssuitable for research within precision agriculture.This paper presents Armadillo, a $50k field robotic tool carrier with a modulardesign which makes the robot configurable and adaptable to a wide range ofprecision agriculture research projects. Armadillo weighs around 425 kg andconsists of two 18x80 cm footprint track modules each with an integrated 3.5 kW electric motor, gear and motor controller. The track modules are mounted onthe side of an exchangeable tool platform which allows an adjustable width andclearing height of the robot. The 48 V lithium power pack lasts 10 hours ofoperation.Armadillos industrial grade Linux based FroboBox computer runs theFroboMind architecture which is based on the Robot Operating System (ROS) byWillow Garage. FroboMind is a novel generic architecture that has beenimplemented and successfully tested on different field robots. It has beendeveloped for research within precision agriculture and the design is highlymodular in order to optimize with respect to extensibility, scalability, shortdevelopment time and code reuse. All FroboMind software components used forthe Armadillo robot are released as open-source.A prototype of Armadillo has been developed and tested as part of ongoingresearch projects within sustainable and organic weeding in row crops andorchards. Based on the experiences obtained, the first public version of Armadillohas been constructed and delivered to the University of Hohenheim, Germany.Current activities focus on further improving the Armadillo hardware andsoftware and application to new research projects.

AB - Current research within agricultural crop production focus on usingautonomous robot technology to optimize the production efficiency, enhancesustainability and minimize tedious, monotonous and wearing tasks. But progressis slow partly because of the lack of flexible and low cost robotic platformssuitable for research within precision agriculture.This paper presents Armadillo, a $50k field robotic tool carrier with a modulardesign which makes the robot configurable and adaptable to a wide range ofprecision agriculture research projects. Armadillo weighs around 425 kg andconsists of two 18x80 cm footprint track modules each with an integrated 3.5 kW electric motor, gear and motor controller. The track modules are mounted onthe side of an exchangeable tool platform which allows an adjustable width andclearing height of the robot. The 48 V lithium power pack lasts 10 hours ofoperation.Armadillos industrial grade Linux based FroboBox computer runs theFroboMind architecture which is based on the Robot Operating System (ROS) byWillow Garage. FroboMind is a novel generic architecture that has beenimplemented and successfully tested on different field robots. It has beendeveloped for research within precision agriculture and the design is highlymodular in order to optimize with respect to extensibility, scalability, shortdevelopment time and code reuse. All FroboMind software components used forthe Armadillo robot are released as open-source.A prototype of Armadillo has been developed and tested as part of ongoingresearch projects within sustainable and organic weeding in row crops andorchards. Based on the experiences obtained, the first public version of Armadillohas been constructed and delivered to the University of Hohenheim, Germany.Current activities focus on further improving the Armadillo hardware andsoftware and application to new research projects.

KW - Field robot

KW - precision agriculture

KW - FroboMind

KW - ROS

M3 - Paper

ER -

Jensen K, Nielsen SH, Bøgild A, Jørgensen OJ, Jæger-Hansen CL, Jul Jacobsen N et al. A low cost, modular robotics tool carrier for precision agriculture research. 2012. Paper presented at International Conference on Precision Agriculture, Indianapolis, Indiana, United States.