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Authors
Abstract(s)
O contínuo aumento da população mundial tem avultado a necessidade de bens alimentares,
levando a um aumento das explorações agrícolas para garantir o fornecimento destes bens, de
uma forma direta, às populações e de uma forma indireta a todas as indústrias transformadoras
do ramo alimentar. Esta condição tem levado a agricultura a reinventar-se e a introduzir novas
técnicas e ferramentas para garantir um maior controlo das colheitas e um aumento dos
rendimentos na produção alimentar. No entanto, a falta de mão-de-obra aliada à evolução de
infestantes resistentes a herbicidas, tem levado a crescentes constrangimentos numa produção
agrícola que a cada dia que passa se pretende mais elevada e de melhor qualidade. Porém, com a
crescente evolução das áreas da eletrónica, da automação e da robótica, surgem novos caminhos
para responder a estes problemas. Nesse sentido, o Grupo Operacional PrunusBot desenvolveu
um rover robótico para otimizar as tarefas de controlo de infestantes e de recolha de frutos caídos
no chão de pomares. Em que, para o caso do controlo de infestantes é proposto um sistema de
pulverização de precisão, reduzindo a quantidade de herbicida a aplicar. A recolha de frutos caídos
ambiciona promover a sustentabilidade do processo, dirigindo os frutos caídos para alimentação
animal e com a perspetiva de analisar o efeito desta atividade na redução da atividade microbiana
nas culturas da campanha seguinte, evitando consequentes danos.
No sentido de dar continuidade a esta investigação, a presente dissertação propõe a recriação
deste rover robótico num software de simulação robótico e propõe ainda a criação de um modelo
de simulação semelhante ao de uma exploração agrícola. Pretende-se deste modo desenvolver um
algoritmo de controlo do rover robótico nas tarefas de pulverização controlada e de recolha de
frutos caídos. Este trabalho sugere o desenvolvimento e teste através de um simulador robótico
por este apresentar benefícios em relação aos métodos tradicionais, nomeadamente a nível de
rapidez, facilidade de implementação e teste de diferentes cenários e hipóteses de operação
podendo até efetuar simulações de forma simultânea. O uso de simuladores robóticos apresenta
ainda um maior grau de liberdade e criatividade, uma vez que não existem preocupações relativas
à danificação do hardware. De referir também que os custos de desenvolvimento são muito
reduzidos.
The continuous rise in world population has increased the need for food, leading to a rise of agricultural holdings to ensure de supply of these goods, directly to the populations and indirectly to all the processing industries in the food business. This situation has led agriculture to reinvent itself and introduce new technics and tools to ensure a tighter control of the crops and increase yields in food production. However, the lack of labour coupled with the evolution of weeds resistant to herbicides, created a crisis in agricultural food production. However, with the growing evolution in electronics, automation, and robotics, new paths are emerging to solve these problems. With this in mind, the Operational Group PrunusBot developed a robotic rover, to optimize the tasks of weed control and collection of fallen fruits of an orchard. In weed control, it is proposed a localized spraying system, therefore, reducing the amount of applied herbicides. With fruit collection, it’s possible to direct the fallen fruits for animal feeding, and aims to reduce the microbial activity on the next campaign crops, therefore avoiding damage. To continue this research, this dissertation proposes the recreation of this robotic rover on a robotic simulation software. It also proposes the recreation of a similar environment to that of a agricultural exploration, in order to later create and algorithm that controls the rover on the tasks of localized spraying and fallen fruit collection. This dissertation suggests the creation and testing of these algorithms through a robotic simulador, because of the benefits in relation to a more traditional method, namely the speed and ease of testing different scenarios and hypothesis, with the added benefit of being able to test the two tasks simultaneously. This method also allows for greater freedom and creativity because there are no concerns about hardware damage. It should also be noted that the development costs are very low.
The continuous rise in world population has increased the need for food, leading to a rise of agricultural holdings to ensure de supply of these goods, directly to the populations and indirectly to all the processing industries in the food business. This situation has led agriculture to reinvent itself and introduce new technics and tools to ensure a tighter control of the crops and increase yields in food production. However, the lack of labour coupled with the evolution of weeds resistant to herbicides, created a crisis in agricultural food production. However, with the growing evolution in electronics, automation, and robotics, new paths are emerging to solve these problems. With this in mind, the Operational Group PrunusBot developed a robotic rover, to optimize the tasks of weed control and collection of fallen fruits of an orchard. In weed control, it is proposed a localized spraying system, therefore, reducing the amount of applied herbicides. With fruit collection, it’s possible to direct the fallen fruits for animal feeding, and aims to reduce the microbial activity on the next campaign crops, therefore avoiding damage. To continue this research, this dissertation proposes the recreation of this robotic rover on a robotic simulation software. It also proposes the recreation of a similar environment to that of a agricultural exploration, in order to later create and algorithm that controls the rover on the tasks of localized spraying and fallen fruit collection. This dissertation suggests the creation and testing of these algorithms through a robotic simulador, because of the benefits in relation to a more traditional method, namely the speed and ease of testing different scenarios and hypothesis, with the added benefit of being able to test the two tasks simultaneously. This method also allows for greater freedom and creativity because there are no concerns about hardware damage. It should also be noted that the development costs are very low.
Description
Keywords
Agricultura Controlo de Infestantes Pulverização Controlada Recolha de Frutos Robótica Rover Robótico Simuladores Robóticos