| Fabrication and performance evaluation of laboratory two-dimensional cable robot for crop monitoring in greenhouse |
| Paper ID : 1428-NICAME1402 |
| Authors: |
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Hassan Masoudi *1, Ali Madadi Kahkesh2 1Department of Biosystems Engineering, Faculty of Agriculture, Shahid Chamran University of Ahvaz, Ahvaz, Khuzestan, Iran 2Department of Biosystems Engineering, Faculty of Agriculture, Shahid Chamran University of Ahvaz, Ahvaz, Khuzestan, Iran. |
| Abstract: |
| Cable robots are less affected by ground obstacles, so they can be very effective in complex environments such as greenhouses. In this research, a laboratory two-dimensional cable robot was built and evaluated for monitoring of greenhouse crops. The hardware components of the robot include robot chassis, encoder DC motors with driver, Arduino Mega2560 board, camera module, LCD display, pulleys, rollers, bearings, axles and suitable cables; and its software components including the code written in Arduino IDE programming environment and GUI designed in MATLAB software. In the practical tests, the performance of the robot was investigated in reaching the selected points, moving in the linear paths and monitoring the pots. According to the results, at low, medium and high moving speeds, the RMSE values for X, Y and total directions were equal to 0.90, 1.16 and 1.01 cm; 1.29, 1.61 and 1.64 cm; and 1.60, 2.26 and 2.38 cm, respectively. According to the comparison of means, the effect of moving speed on the RMSE value was completely significant at 1% probability level. Therefore, increasing the cable robot moving speed has a negative effect on the accuracy of reaching the target point and reduces it. In moving the linear paths (three different paths), the average errors were 0.59, 1.68 and 0.98 cm, respectively. In evaluating the robot crop monitoring unit, the average overlap of real and obtained images at three selected points were found to be 44.88, 52.18 and 62.87%. |
| Keywords: |
| Robotics in the greenhouse, Cable robot, Robot fabrication, Crop monitoring, Arduino board, MATLAB software. |
| Status : Paper Accepted (Oral Presentation) |
