Ingeniería de detalle para un robot sembrador de semillas de maíz

Abstract

This document shows the realization of the detailed engineering of a maize seed sowing robot that has the capacity to cross a square terrain with an area of ​​1/4 ha continuously at an approximate speed of 0.42m / s. In order to achieve this, a mobile platform is designed in the first place, by choosing the robot locomotion form, taking into account the good performance in outdoor areas, power consumption, among others. Subsequently, the mechanism to make the furrow is designed; taking into account the state of the art, it is inspired by the current sowing mechanisms for zero tillage, but is modified to adapt with the dimensions of the platform and to meet the requirements for the depth of corn planting. Also, robot controllers are designed. Namely, motor controllers using the LGR method for speed control and the analytical method for position control. Likewise, a navigation system with an accuracy of centimeters at the lowest possible cost is chosen. Once the navigation system is selected, the sensors are selected for its implementation and the total circuit of the robot is designed. In addition, a master controller is designed to direct the trajectories of the robot either in a straight line by implementing the pure pursuit algorithm and a system similar to the parking of a car when there is a change of furrow. Then, tests of the main control algorithms are performed using ROS, Gazebo, Python and the representation of the robot model in URDF. Subsequently, the results are analyzed. And finally, all commercial parts are chosen, such as actuators, sensors and processors that will be on the robot and a summary of all costs is made to obtain an estimate of the price of a robot prototype.