Implementación De Un Robot Movil Prototipo Para Descarga De Semilla En Hileras De Terreno Preparado Para Cultivo

This document presents a degree work, in the electronic engineering program of the Villavicencio branch of the Antonio Nariño University, in which an autonomous prototype mobile robot is developed that can unload seeds in rows of land prepared for cultivation. The robot has a caterpillar type locomo...

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Autores:: Apache Caro, William Alfonso
Chávez Benítez, Diego Andrés

Tipo de recurso:: Trabajo de grado de pregrado

Fecha de publicación:: 2023

Institución:: Universidad Antonio Nariño

Repositorio:: Repositorio UAN

Idioma:: spa

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dc.title.es_ES.fl_str_mv	Implementación De Un Robot Movil Prototipo Para Descarga De Semilla En Hileras De Terreno Preparado Para Cultivo
title	Implementación De Un Robot Movil Prototipo Para Descarga De Semilla En Hileras De Terreno Preparado Para Cultivo
spellingShingle	Implementación De Un Robot Movil Prototipo Para Descarga De Semilla En Hileras De Terreno Preparado Para Cultivo IMU Robot Móvil Sistema Electromecánico T41.23 C512i IMU Mobile Robot Electromechanical System
title_short	Implementación De Un Robot Movil Prototipo Para Descarga De Semilla En Hileras De Terreno Preparado Para Cultivo
title_full	Implementación De Un Robot Movil Prototipo Para Descarga De Semilla En Hileras De Terreno Preparado Para Cultivo
title_fullStr	Implementación De Un Robot Movil Prototipo Para Descarga De Semilla En Hileras De Terreno Preparado Para Cultivo
title_full_unstemmed	Implementación De Un Robot Movil Prototipo Para Descarga De Semilla En Hileras De Terreno Preparado Para Cultivo
title_sort	Implementación De Un Robot Movil Prototipo Para Descarga De Semilla En Hileras De Terreno Preparado Para Cultivo
dc.creator.fl_str_mv	Apache Caro, William Alfonso Chávez Benítez, Diego Andrés
dc.contributor.advisor.spa.fl_str_mv	Villarraga, Alberto
dc.contributor.author.spa.fl_str_mv	Apache Caro, William Alfonso Chávez Benítez, Diego Andrés
dc.subject.es_ES.fl_str_mv	IMU Robot Móvil Sistema Electromecánico
topic	IMU Robot Móvil Sistema Electromecánico T41.23 C512i IMU Mobile Robot Electromechanical System
dc.subject.ddc.es_ES.fl_str_mv	T41.23 C512i
dc.subject.keyword.es_ES.fl_str_mv	IMU Mobile Robot Electromechanical System
description	This document presents a degree work, in the electronic engineering program of the Villavicencio branch of the Antonio Nariño University, in which an autonomous prototype mobile robot is developed that can unload seeds in rows of land prepared for cultivation. The robot has a caterpillar type locomotion system which makes it more stable and with better maneuverability on uneven terrain, in addition to having a LIDAR sensor, which is used to collect information from the environment and implement a reactive autonomous navigation system, allowing a better precision of the robot's movement taking as a reference point an obstacle on one side of the robot, it also has an IMU (Inertial Measurement Unit), which is used to maintain a fixed direction throughout the process of unloading seeds. The IMU is able to detect any changes in the robot's orientation, and sends signals to the control system to correct any deviations, thus allowing the robot's electromechanical system, which is responsible for storing and releasing the seeds into the field at regular intervals, to do so more efficiently. To carry out all the autonomous operation of the robot, a Raspberry Pi 4 is used as a central controller, being this our main component for the development of the project presented in this report. Keywords: (IMU, Mobile Robot, Electromechanical System, Controller)
publishDate	2023
dc.date.accessioned.none.fl_str_mv	2023-08-23T15:35:44Z
dc.date.available.none.fl_str_mv	2023-08-23T15:35:44Z
dc.date.issued.spa.fl_str_mv	2023-06-01
dc.type.spa.fl_str_mv	Trabajo de grado (Pregrado y/o Especialización)
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format	http://purl.org/coar/resource_type/c_7a1f
dc.identifier.uri.none.fl_str_mv	http://repositorio.uan.edu.co/handle/123456789/8616
dc.identifier.bibliographicCitation.spa.fl_str_mv	] Dutta, Sweety & Shanker, Udit & Katiyar, Sulekha & Singh, Venktesh & Zafar, Mohd & Mohanta, Jagadish. (2019). Development and Fabrication of an Autonomous Seed Sowing Robot. IOP Conference Series: Materials Science and Engineering. 691. 012023. 10.1088/1757-899X/691/1/012023. El uso de robots en tareas agrícolas. (2016). Interempresas. Recuperado el 5 de mayo de 2023, de https://www.interempresas.net/Horticola/Articulos/151745-El-uso-de-robots-entareas-agricolas.htmlP. V. Santhi, N. Kapileswar, V. K. R. Chenchela and C. H. V. S. Prasad, "Sensor and vision based autonomous AGRIBOT for sowing seeds," 2017 International Conference on Energy, Communication, Data Analytics and Soft Computing (ICECDS), Chennai, India, 2017, pp. 242-245, doi: 10.1109/ICECDS.2017.8389873. S. M. Khot et al., "Automated Seed Sowing Robot," 2021 4th Biennial International Conference on Nascent Technologies in Engineering (ICNTE), NaviMumbai, India, 2021, pp. 1-4, doi: 10.1109/ICNTE51185.2021.9487573. P. V. S. Jayakrishna, M. S. Reddy, N. J. Sai, N. Susheel and K. P. Peeyush, "Autonomous Seed Sowing Agricultural Robot," 2018 International Conference on Advances in Computing, Communications and Informatics (ICACCI), Bangalore, India, 2018, pp. 2332- 2336, doi: 10.1109/ICACCI.2018.8554622. ] Introduction to inertial sensors · VectorNav. (2021). https://www.vectornav.com/resources/inertial-navigation-primer/theory-ofoperation/theory-inertial T. Fadhaeel, P. C. H, A. Al Ahdal, M. Rakhra and D. Singh, "Design and development an Agriculture robot for Seed sowing, Water spray and Fertigation," 2022 International Conference on Computational Intelligence and Sustainable Engineering Solutions (CISES), Greater Noida, India, 2022, pp. 148-153, doi: 10.1109/CISES54857.2022.9844341 T. Nagdeve, P. Jangde, H. Tandulkar, S. Dhara, N. Ukani and S. Chakole, "Design of Automated Seed Sowing Robot for BT Cotton Seed," 2020 Second International Conference on Inventive Research in Computing Applications (ICIRCA), Coimbatore, India, 2020, pp. 303-307, doi: 10.1109/ICIRCA48905.2020.9183259 ] Devasia, A. (2023). An Introduction to Types of Closed-loop Motor Control. Technical Articles. https://control.com/technical-articles/in-introduction-to-types-of-closed-loopmotor-control/ Agarwal, T. (2020, 21 julio). Open Loop & Closed Loop Control System and Their Differences. ElProCus - Electronic Projects for Engineering Students. https://www.elprocus.com/difference-between-open-loop-closed-loop-control-system/.
dc.identifier.instname.spa.fl_str_mv	instname:Universidad Antonio Nariño
dc.identifier.reponame.spa.fl_str_mv	reponame:Repositorio Institucional UAN
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identifier_str_mv	] Dutta, Sweety & Shanker, Udit & Katiyar, Sulekha & Singh, Venktesh & Zafar, Mohd & Mohanta, Jagadish. (2019). Development and Fabrication of an Autonomous Seed Sowing Robot. IOP Conference Series: Materials Science and Engineering. 691. 012023. 10.1088/1757-899X/691/1/012023. El uso de robots en tareas agrícolas. (2016). Interempresas. Recuperado el 5 de mayo de 2023, de https://www.interempresas.net/Horticola/Articulos/151745-El-uso-de-robots-entareas-agricolas.htmlP. V. Santhi, N. Kapileswar, V. K. R. Chenchela and C. H. V. S. Prasad, "Sensor and vision based autonomous AGRIBOT for sowing seeds," 2017 International Conference on Energy, Communication, Data Analytics and Soft Computing (ICECDS), Chennai, India, 2017, pp. 242-245, doi: 10.1109/ICECDS.2017.8389873. S. M. Khot et al., "Automated Seed Sowing Robot," 2021 4th Biennial International Conference on Nascent Technologies in Engineering (ICNTE), NaviMumbai, India, 2021, pp. 1-4, doi: 10.1109/ICNTE51185.2021.9487573. P. V. S. Jayakrishna, M. S. Reddy, N. J. Sai, N. Susheel and K. P. Peeyush, "Autonomous Seed Sowing Agricultural Robot," 2018 International Conference on Advances in Computing, Communications and Informatics (ICACCI), Bangalore, India, 2018, pp. 2332- 2336, doi: 10.1109/ICACCI.2018.8554622. ] Introduction to inertial sensors · VectorNav. (2021). https://www.vectornav.com/resources/inertial-navigation-primer/theory-ofoperation/theory-inertial T. Fadhaeel, P. C. H, A. Al Ahdal, M. Rakhra and D. Singh, "Design and development an Agriculture robot for Seed sowing, Water spray and Fertigation," 2022 International Conference on Computational Intelligence and Sustainable Engineering Solutions (CISES), Greater Noida, India, 2022, pp. 148-153, doi: 10.1109/CISES54857.2022.9844341 T. Nagdeve, P. Jangde, H. Tandulkar, S. Dhara, N. Ukani and S. Chakole, "Design of Automated Seed Sowing Robot for BT Cotton Seed," 2020 Second International Conference on Inventive Research in Computing Applications (ICIRCA), Coimbatore, India, 2020, pp. 303-307, doi: 10.1109/ICIRCA48905.2020.9183259 ] Devasia, A. (2023). An Introduction to Types of Closed-loop Motor Control. Technical Articles. https://control.com/technical-articles/in-introduction-to-types-of-closed-loopmotor-control/ Agarwal, T. (2020, 21 julio). Open Loop & Closed Loop Control System and Their Differences. ElProCus - Electronic Projects for Engineering Students. https://www.elprocus.com/difference-between-open-loop-closed-loop-control-system/. instname:Universidad Antonio Nariño reponame:Repositorio Institucional UAN repourl:https://repositorio.uan.edu.co/
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dc.publisher.spa.fl_str_mv	Universidad Antonio Nariño
dc.publisher.program.spa.fl_str_mv	Ingeniería Industrial
dc.publisher.faculty.spa.fl_str_mv	Facultad de Ingeniería Industrial
dc.publisher.campus.spa.fl_str_mv	Villavicencio
institution	Universidad Antonio Nariño
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spelling	Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0)Acceso abiertohttps://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccesshttp://purl.org/coar/access_right/c_abf2Villarraga, AlbertoApache Caro, William AlfonsoChávez Benítez, Diego Andrés20441811550204418115502023-08-23T15:35:44Z2023-08-23T15:35:44Z2023-06-01http://repositorio.uan.edu.co/handle/123456789/8616] Dutta, Sweety & Shanker, Udit & Katiyar, Sulekha & Singh, Venktesh & Zafar, Mohd & Mohanta, Jagadish. (2019). Development and Fabrication of an Autonomous Seed Sowing Robot. IOP Conference Series: Materials Science and Engineering. 691. 012023. 10.1088/1757-899X/691/1/012023.El uso de robots en tareas agrícolas. (2016). Interempresas. Recuperado el 5 de mayo de 2023, de https://www.interempresas.net/Horticola/Articulos/151745-El-uso-de-robots-entareas-agricolas.htmlP.V. Santhi, N. Kapileswar, V. K. R. Chenchela and C. H. V. S. Prasad, "Sensor and vision based autonomous AGRIBOT for sowing seeds," 2017 International Conference on Energy, Communication, Data Analytics and Soft Computing (ICECDS), Chennai, India, 2017, pp. 242-245, doi: 10.1109/ICECDS.2017.8389873.S. M. Khot et al., "Automated Seed Sowing Robot," 2021 4th Biennial International Conference on Nascent Technologies in Engineering (ICNTE), NaviMumbai, India, 2021, pp. 1-4, doi: 10.1109/ICNTE51185.2021.9487573.P. V. S. Jayakrishna, M. S. Reddy, N. J. Sai, N. Susheel and K. P. Peeyush, "Autonomous Seed Sowing Agricultural Robot," 2018 International Conference on Advances in Computing, Communications and Informatics (ICACCI), Bangalore, India, 2018, pp. 2332- 2336, doi: 10.1109/ICACCI.2018.8554622.] Introduction to inertial sensors · VectorNav. (2021). https://www.vectornav.com/resources/inertial-navigation-primer/theory-ofoperation/theory-inertialT. Fadhaeel, P. C. H, A. Al Ahdal, M. Rakhra and D. Singh, "Design and development an Agriculture robot for Seed sowing, Water spray and Fertigation," 2022 International Conference on Computational Intelligence and Sustainable Engineering Solutions (CISES), Greater Noida, India, 2022, pp. 148-153, doi: 10.1109/CISES54857.2022.9844341T. Nagdeve, P. Jangde, H. Tandulkar, S. Dhara, N. Ukani and S. Chakole, "Design of Automated Seed Sowing Robot for BT Cotton Seed," 2020 Second International Conference on Inventive Research in Computing Applications (ICIRCA), Coimbatore, India, 2020, pp. 303-307, doi: 10.1109/ICIRCA48905.2020.9183259] Devasia, A. (2023). An Introduction to Types of Closed-loop Motor Control. Technical Articles. https://control.com/technical-articles/in-introduction-to-types-of-closed-loopmotor-control/Agarwal, T. (2020, 21 julio). Open Loop & Closed Loop Control System and Their Differences. ElProCus - Electronic Projects for Engineering Students. https://www.elprocus.com/difference-between-open-loop-closed-loop-control-system/.instname:Universidad Antonio Nariñoreponame:Repositorio Institucional UANrepourl:https://repositorio.uan.edu.co/This document presents a degree work, in the electronic engineering program of the Villavicencio branch of the Antonio Nariño University, in which an autonomous prototype mobile robot is developed that can unload seeds in rows of land prepared for cultivation. The robot has a caterpillar type locomotion system which makes it more stable and with better maneuverability on uneven terrain, in addition to having a LIDAR sensor, which is used to collect information from the environment and implement a reactive autonomous navigation system, allowing a better precision of the robot's movement taking as a reference point an obstacle on one side of the robot, it also has an IMU (Inertial Measurement Unit), which is used to maintain a fixed direction throughout the process of unloading seeds. The IMU is able to detect any changes in the robot's orientation, and sends signals to the control system to correct any deviations, thus allowing the robot's electromechanical system, which is responsible for storing and releasing the seeds into the field at regular intervals, to do so more efficiently. To carry out all the autonomous operation of the robot, a Raspberry Pi 4 is used as a central controller, being this our main component for the development of the project presented in this report. Keywords: (IMU, Mobile Robot, Electromechanical System, Controller)Este documento presenta un trabajo de grado, en el programa de ingeniería electrónica de la sede Villavicencio, de la Universidad Antonio Nariño, en el cual se desarrolla un robot móvil prototipo autónomo que pueda descargar semillas en hileras de terreno preparado para el cultivo. El robot cuenta con un sistema de locomoción tipo oruga lo que lo hace más estable y con mejor maniobrabilidad en terrenos irregulares, además de contar con un sensor LIDAR, que se utiliza para recolectar información del entorno e implementar un sistema de navegación autónoma reactiva, permitiendo una mejor precisión del movimiento del robot tomando como punto de referencia un obstáculo a un costado del robot, también cuenta con una IMU (Unidad de Medición Inercial), que se utiliza para mantener una dirección fija durante todo el proceso de la descarga de semillas. La IMU es capaz de detectar cualquier cambio en la orientación del robot, y envía señales al sistema de control para corregir cualquier desviación, permitiendo así que el sistema electromecánico del robot, responsable de almacenar y liberar las semillas en el terreno de cultivo a intervalos regulares, lo haga de una manera más eficiente. Para llevar a cabo todo el funcionamiento autónomo del robot se utiliza como controlador central una Raspberry Pi 4, siendo esta nuestro componente principal para el desarrollo del proyecto presentado en este informe. Palabras Claves: (IMU, Robot Móvil, Sistema Electromecánico, Controlador)Ingeniero(a) IndustrialPregradoPresencialMonografíaspaUniversidad Antonio NariñoIngeniería IndustrialFacultad de Ingeniería IndustrialVillavicencioIMURobot MóvilSistema ElectromecánicoT41.23 C512iIMUMobile RobotElectromechanical SystemImplementación De Un Robot Movil Prototipo Para Descarga De Semilla En Hileras De Terreno Preparado Para CultivoTrabajo de grado (Pregrado y/o Especialización)http://purl.org/coar/resource_type/c_7a1fhttp://purl.org/coar/version/c_970fb48d4fbd8a85EspecializadaORIGINAL2023_Diego AndrésChavez2023_Diego AndrésChavezapplication/pdf3793837https://repositorio.uan.edu.co/bitstreams/196daeff-ec1f-4b10-8094-ea4daa4d69d0/downloaddbbb2a2c8a980b66e209f823d48f5e3dMD512023_Diego AndrésChavez_Autorización2023_Diego AndrésChavez_Autorizaciónapplication/pdf2215469https://repositorio.uan.edu.co/bitstreams/477068a1-3c01-4c6d-9711-a391947abb3e/download4465e50e2b524a1c05cf74806b5e3273MD522023_Diego AndrésChavez_Acta2023_Diego AndrésChavez_Actaapplication/pdf359162https://repositorio.uan.edu.co/bitstreams/e3d4c293-e520-4fe0-a341-8d2ac065b4bc/downloadd47359beb98302f5778ff8c8f5582981MD53123456789/8616oai:repositorio.uan.edu.co:123456789/86162024-10-09 22:51:10.482https://creativecommons.org/licenses/by-nc-nd/4.0/Acceso abiertoopen.accesshttps://repositorio.uan.edu.coRepositorio Institucional UANalertas.repositorio@uan.edu.co

Implementación De Un Robot Movil Prototipo Para Descarga De Semilla En Hileras De Terreno Preparado Para Cultivo

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