Publication: Planificación y supervisión de flotas de robots autónomos en tareas agrícolas
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2016-06-30
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Universidad Complutense de Madrid
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Abstract
El control seguro y efectivo de las malas hierbas según los principios establecidos por la Agricultura de Precisión requiere una tecnología específica, avanzada y de coste asumible dentro de los márgenes de beneficio. El uso de plataformas móviles autónomas tanto terrestres como aéreas equipadas con sistemas de percepción innovadores, sistemas inteligentes de toma de decisión y herramientas que permitan la aplicación precisa de los tratamientos herbicidas, reduce el coste asociado a la operación así como los potenciales daños ambientales y el riesgo para los agricultores. Varios son los grupos internacionales de investigación dedicados al desarrollo de tecnologías basadas en sistemas robóticos capaces de optimizar las operaciones complejas implicadas en este tipo de tratamientos de precisión. El desarrollo de sistemas autónomos de ayuda al tratamiento preciso, tanto de cultivos extensivos (malas hierbas) como de leñosos, es el objetivo principal del proyecto RHEA (Robot Fleets for Highly Effective Agriculture and Forestry Management), financiado por el 7º Programa Marco de la CE y dirigido a minimizar los insumos (agroquímicos, combustible, etc.) a la vez que garantizar la calidad y seguridad del producto así como cubrir totalmente el campo independientemente del tamaño que éste tenga. RHEA propone utilizar una flota de robots pequeños/medianos tanto aéreos como terrestres para la inspección/monitorización y posterior aplicación de fitosanitarios, lo que presenta múltiples ventajas frente al tratamiento basado en la habitual máquina de mayores dimensiones y más tradicional. Entre otras, una flota de robots de tamaño pequeño/mediano reduce el impacto sobre la compactación del suelo e interactúa de un modo más seguro con los operarios, ya que la detección e interacción se puede distribuir en varios sistemas de detección y gestión de fallos como los propuestos en la presente tesis. El trabajo de investigación presentado en esta tesis se ha desarrollado dentro de este proyecto europeo y está relacionado con el diseño, desarrollo y evaluación del nivel más alto de la arquitectura RHEA, en otras palabras, con los tres aspectos fundamentales para conseguir que los robots de la flota ejecuten el trabajo eficientemente y sin intervención humana, es decir, con la planificación, la supervisión y la gestión completa e integrada de las tareas de inspección y tratamiento...
Safe and effective weed control based on the principles established by Precision Agriculture requires specific and advanced technology at a reasonable cost within profit margins. Using ground and air autonomous mobile platforms, equipped with innovative perception, intelligent decision-making systems and tools that allow precise herbicide application treatments, reduces the cost associated as well as the operation and the potential environmental damage and risk to farmers. Several international research groups are already dedicated to the development of robotic technology to optimize complex operations involved in this type of precision treatments. The development of autonomous support systems for field and woody crops precise treatments is the main objective of the RHEA project (Robot Fleets for Highly Effective Agriculture and Forestry Management), funded by the 7th Framework Programme EC and addressed to minimize inputs (agrochemicals, fuel, etc.) while ensuring product quality and safety as well as full coverage of the fields regardless of their size. RHEA proposes to use a fleet of both air and terrestrial small/medium robots for inspection/monitoring and subsequent application of pesticides, which has many advantages compared with traditional treatments based on a big machine. For example, a fleet of small/medium robots reduces the impact on soil compaction and interacts more safely with the farm operators, because the detection and interaction can be separated into different detection and fault management systems, as proposed in this thesis. The research presented in this thesis has been developed within this European project and is related to the design, development and evaluation at the highest level of the RHEA architecture, in other words, to the three fundamental aspects to make the robots of the fleet to execute efficiently the work and without human intervention, i.e. to the planning, the supervision and the complete and integrated management of the treatment task or mission...
Safe and effective weed control based on the principles established by Precision Agriculture requires specific and advanced technology at a reasonable cost within profit margins. Using ground and air autonomous mobile platforms, equipped with innovative perception, intelligent decision-making systems and tools that allow precise herbicide application treatments, reduces the cost associated as well as the operation and the potential environmental damage and risk to farmers. Several international research groups are already dedicated to the development of robotic technology to optimize complex operations involved in this type of precision treatments. The development of autonomous support systems for field and woody crops precise treatments is the main objective of the RHEA project (Robot Fleets for Highly Effective Agriculture and Forestry Management), funded by the 7th Framework Programme EC and addressed to minimize inputs (agrochemicals, fuel, etc.) while ensuring product quality and safety as well as full coverage of the fields regardless of their size. RHEA proposes to use a fleet of both air and terrestrial small/medium robots for inspection/monitoring and subsequent application of pesticides, which has many advantages compared with traditional treatments based on a big machine. For example, a fleet of small/medium robots reduces the impact on soil compaction and interacts more safely with the farm operators, because the detection and interaction can be separated into different detection and fault management systems, as proposed in this thesis. The research presented in this thesis has been developed within this European project and is related to the design, development and evaluation at the highest level of the RHEA architecture, in other words, to the three fundamental aspects to make the robots of the fleet to execute efficiently the work and without human intervention, i.e. to the planning, the supervision and the complete and integrated management of the treatment task or mission...
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Tesis inédita de la Universidad Complutense de Madrid, Facultad de Informática, Departamento de Ingeniería del Software e Inteligencia Artificial, leída el 15-12-2015