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Authors
Abstract(s)
Por consequência do aumento da população mundial e a crescente procura por
alimentos, há uma grande necessidade de aumentar a produtividade da agricultura.
Entretanto, o problema é agravado com a migração populacional das áreas rurais paras
as cidades, o que causa uma diminuição da mão-de-obra no setor agrícola. Neste intuito,
dentro do conceito de agricultura 4.0, a introdução de robôs autónomos nas atividades
agrícolas poderá enfrentar esses problemas, apoiando a falta de mão-de-obra crescente
e promovendo o aumento da produtividade agrícola. Algumas soluções de robôs
autónomos aplicados a agricultura são expostas nessa dissertação, contudo, ainda será
necessário um esforço maior da comunidade científica para desenvolver soluções de
robôs com maior automação e que viabilizem sua utilização com a diminuição dos custos
de produção.
Esse trabalho expõe o algoritmo utilizado para realizar a navegação autónoma, baseada
em GPS, do Rover Robótico para Aplicações Agrícolas (R2A2) multitarefa destinado a
realizar a pulverização de herbicida. Com isso, são expostos os métodos clássicos de
programação de sistemas de locomoção autónoma, bem como são expostos todos os
sensores e atuadores necessário para a realização dessa tarefa. Também foi desenvolvida
uma aplicação web de realidade aumentada para auxiliar na supervisão do veículo
autónomo. Foi desenvolvido um código em C/C++ para a movimentação autónoma da
plataforma robótica utilizando como microprocessador principal um Arduino Mega2560
e a aplicação web de realidade aumentada baseada em posicionamento que foi
desenvolvida utilizando a bibliotecas AR.JS e o Framework A-FRAME compilados em
um código HTML. A aplicação foi testada num pomar de pessegueiros tendo apresentado
uma média de acertos aproximada de 94% o que revela a precisão da solução tecnológica
desenvolvida. São expostos também, os resultados e conclusões do algoritmo de
movimentação autónoma e da aplicação web.
As a result of the increase in the world population and the growing demand for food, there is a great need to increase the productivity of agriculture. However, the problem is aggravated by the migration of population from rural areas to cities, which causes a decrease in the labor force in the agricultural sector. Within the concept of agriculture 4.0, the introduction of autonomous robots in agricultural plantations will be able to face these problems, solving the growing lack of labor and promoting an increase in agricultural productivity. Some autonomous robot solutions applied to agriculture are exposed in this dissertation, however, it will still be necessary a greater effort from the scientific community to develop robot solutions with a higher level of automaticity and that enable their use with a reduction in production costs. This work exposes the algorithm used to perform the autonomous GPS-based navigation of the Robotic Rover for Agricultural Applications (R2A2) multitasking for carrying out herbicide spraying. Thus, the classic methods of programming autonomous locomotion systems are exposed, as well as all the sensors and actuators necessary to perform this task are exposed. An augmented reality web application was also developed to assist in the supervision of the autonomous vehicle. For this, a code was made in C/C++ for the autonomous movement of the robotic platform using an Arduino Mega2560 as the main microprocessor and the augmented reality web application based on positioning was developed using the AR.JS libraries and the A-FRAME Framework compiled in an HTML code. The application was tested in a peach orchard presenting an average hit score around 94% revealing the precision of the technological solution developed. The results and conclusions of the autonomous movement algorithm and the web application are also exposed.
As a result of the increase in the world population and the growing demand for food, there is a great need to increase the productivity of agriculture. However, the problem is aggravated by the migration of population from rural areas to cities, which causes a decrease in the labor force in the agricultural sector. Within the concept of agriculture 4.0, the introduction of autonomous robots in agricultural plantations will be able to face these problems, solving the growing lack of labor and promoting an increase in agricultural productivity. Some autonomous robot solutions applied to agriculture are exposed in this dissertation, however, it will still be necessary a greater effort from the scientific community to develop robot solutions with a higher level of automaticity and that enable their use with a reduction in production costs. This work exposes the algorithm used to perform the autonomous GPS-based navigation of the Robotic Rover for Agricultural Applications (R2A2) multitasking for carrying out herbicide spraying. Thus, the classic methods of programming autonomous locomotion systems are exposed, as well as all the sensors and actuators necessary to perform this task are exposed. An augmented reality web application was also developed to assist in the supervision of the autonomous vehicle. For this, a code was made in C/C++ for the autonomous movement of the robotic platform using an Arduino Mega2560 as the main microprocessor and the augmented reality web application based on positioning was developed using the AR.JS libraries and the A-FRAME Framework compiled in an HTML code. The application was tested in a peach orchard presenting an average hit score around 94% revealing the precision of the technological solution developed. The results and conclusions of the autonomous movement algorithm and the web application are also exposed.
Description
Keywords
Agricultura 4.0 Algoritmo de Movimentação Autónoma Computação Física Desenvolvimento Web Realidade Aumentada Robô Terrestre Robótica Sistema de Movimentação Autónoma