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U.S.O.D.A

U.S.O.D.A. UltraSonic Orchard fertilizer Dispensing Automaton Erik Mueller & Patrick Thurston. Background. Apple-bearing orchard trees need to be fertilized around the drip edge of their canopy. Standard spreading techniques are imprecise and wasteful. The Problem.

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U.S.O.D.A

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  1. U.S.O.D.A UltraSonic Orchard fertilizer Dispensing Automaton Erik Mueller & Patrick Thurston

  2. Background Apple-bearing orchard trees need to be fertilized around the drip edge of their canopy. Standard spreading techniques are imprecise and wasteful.

  3. The Problem • The client requires an automated fertilizer delivery and spreading system. • The unit must locate an apple tree and navigate along the drip edge, while spreading granulated fertilizer • Once finished, the unit must return to its starting position.

  4. Our Solution • Ultrasonic sensors for canopy detection and as a collision sensor • Electronic compass aids in locating and returning to the start position • Conveyor belt distribution system

  5. Design Concepts The robot is designed using the MARV-2 frame as a base. Additional elements include the distribution unit and additional sensors.

  6. System Overview Navigation Micro Canopy Sensors Distribution Micro CS Fertilizer Conveyor E-Compass (on stand) Motor Driver

  7. Movement Sequence • The robot is activated and it starts towards the tree. • Upon reaching the canopy, the robot will follow the edge • Once completing a circuit, the robot will return.

  8. Software flow Start Move Forward Start Spreading Move Forward Left Sensor Off? No Stop Spreading No Canopy Detected? Yes Return Turn Left 15° Yes Record Position Move Forward Turn Right 30° No Circuit Complete? No Right Sensor Off? Yes Yes

  9. Mechanical systems Conveyor Dimensions: 6 inches x 8 inches, 2 inch rollers Load level sensors (1/4, ½, ¾ and Filled) (Option)

  10. Wiring Diagram 5V DC 1K US Navigation Micro Trigger Pulse Left Motor Range Data PWM Output Motor Driver Right Motor 12V DC Distribution Micro ConveyorMotor PWM Output

  11. Planning Broken down into two subsections Distribution under Patrick Thurston Navigation under Erik Mueller

  12. Scheduling

  13. Budget • Ping sensors $75 • Main micro board $100 • Conveyor belt $10 • Aluminum $100

  14. Q&A

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