![]() ![]() This paper describes the entire project from a mechatronic (mechanics, electronics, and autonomous navigation) standpoint ( Figure 1). The present work is part of a project to design and develop an electric mobile robot which moves through the rows of a greenhouse crop and performs tasks that are tedious and/or hazardous for human operators (as in the case of plant-protection product application), with safe, efficient, and economic results. Even in the case of beacons the signal can be lost due to occlusions. For instance, absolute localization techniques, such as beacons, or relative localization approaches, such as odometry and dead-reckoning, would fail for long trajectories. The main challenge of these systems is that localization approaches needed for feeding the closed-loop controllers would lead to inaccurate measurements after a few steps. However, few projects have addressed the navigation problem of vehicles in greenhouses operating completely autonomously. These vehicles rely on (inductive) sensors to follow metal pipes buried in the soil typically, these metal pipes part of the greenhouse heating system. ![]() A promising approach, which has been successfully applied in open field crops as well as greenhouses, deals with automated guided vehicles or AGVs. The design of proper navigation systems for autonomous vehicles moving in structured environments, such as greenhouses, constitutes a challenging research topic. Some of these alternatives are self-propelled vehicles such as Fumimatic® (IDM S.L, Almería, Spain) and Tizona ® (Carretillas Amate S.L., Almería, Spain), or autonomous vehicles such as Fitorobot® (Universidad de Almería, Cadia S.L., Almería, Spain), designed specifically to move without difficulty over loose soils and in spaces with a large number of obstacles. Must be in numerical order Recently, as an alternative to using spray guns, spray equipment has been developed with vertical spray booms that increase the deposition in the canopy and reduce the losses on the ground. When spray guns are used the canopy is not sprayed uniformly and much of the spray is lost on the ground, and results in high chemical exposure of the operators. For example, the application of plant-protection products has advanced considerably in recent years, although spray guns continue to be extensively used. In this context, different studies have examined the development of machinery for agricultural tasks in greenhouses. In addition, the environmental conditions of typical greenhouses, with high temperatures and humidity, make work harsh and sometimes hazardous for the farm workers, especially in applying chemical products with little air renewal. Nevertheless, many tasks in greenhouse crops are still performed manually, such as transplanting, harvesting, pruning, and the application of plant-protection products. In recent years, greenhouse technologies have undergone many improvements, such as the better design of greenhouse structure, irrigation systems, fertilization, and climate-control systems. ![]()
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