This is an old revision of the document!
Donnerstags, 16:00: IP_Farmrobot
Video of Ahmed's first robot test. For now I (RB) uploaded the video to my personal channel but later it should be moved to another channel dedicted to the Fablab or the student project. |
Version | Prototyp 2, Spitzname - v0.2.20201125 |
---|---|
Fortschritt | Prototyp |
Version Date | November 2020 |
Terms of Use | GPL / CC-BY-SA |
Zusammenfassung | Ein Open-Source-Roboters zur Unkrautbekämpfung im Acker- und Gemüsebau, ebenso, wie für den Einsatz auf Wiesen im Naturschutzgebiet |
Schlüsselwörter | |
Beschreibung | Der Farmroboter ist ein Mini-Traktor der gezielt Unkraut vernichten kann. Er verfügt er über einen Roboterarm mit dem er Pestizide direkt auf die unerwünschten Pflanzen aufbringen kann. Er kann sowohl manuell gesteuert werden als auch autonom einer pgrammierten GPS-Route folgen. Über eine Kamera und ein Bilderkennungssystem kann er Pflanzen erkennen die unter Ihm liegen und automatisch die Sprühvorrichtung steuern. |
Vorgänger | Versions 0.1 |
Leistung | 700W |
Gewicht | |
Dateien | Realtime G-code (standalone), YOLOv5 (+ G-code) |
(Bild Systemdiagram)
Der Farmrobt verfügt über zwei 350W Gleichstrom-Motoren.
Kettenantrieb
Bereifung
Drehmoment
Geländetauglichkeit
Motortreiber
Einstellungen in Pixhawk
This project utilizes YOLOv5 to detect and track various kinds of weeds. The X
and Y
coordinates generated by YOLOv5 are then used to control a delta arm via G-code that sprays the detected weeds with herbicide.
The custom implementation of YOLOv5 is intended to be deployed on an NVIDIA Jetson Nano or NVIDIA Jetson Xavier NX using Docker.
To set up one of those devices, follow their respective guides to get started:
* Getting Started with Jetson Nano Developer Kit
* Getting Started with Jetson Xavier NX Developer Kit
* ↪(Deprecated) NVIDIA Jetson TX1
The default user should always have the following credentials:
User | Password |
---|---|
jetson | jetson |
The repository is hosted on the university's GitLab instance:
The repository's README contains all necessary information about the setup and usage.
The step-by-step example goes through the whole process of setting up and using an NVIDIA Jetson Xavier NX with our custom YOLOv5 implementation.
The implementation supports various CSI and USB cameras. The following cameras have been successfully tested with it:
Waveshare 16662 IMX219-160 Camera
Supported formats:
v4l2-ctl -d /dev/video0 --list-formats-ext ioctl: VIDIOC_ENUM_FMT Index : 0 Type : Video Capture Pixel Format: 'RG10' Name : 10-bit Bayer RGRG/GBGB Size: Discrete 3264x2464 Interval: Discrete 0.048s (21.000 fps) Size: Discrete 3264x1848 Interval: Discrete 0.036s (28.000 fps) Size: Discrete 1920x1080 Interval: Discrete 0.033s (30.000 fps) Size: Discrete 1640x1232 Interval: Discrete 0.033s (30.000 fps) Size: Discrete 1280x720 Interval: Discrete 0.017s (60.000 fps)
Supported formats:
v4l2-ctl -d /dev/video0 --list-formats-ext ioctl: VIDIOC_ENUM_FMT Index : 0 Type : Video Capture Pixel Format: 'MJPG' (compressed) Name : Motion-JPEG Size: Discrete 1600x1200 Interval: Discrete 0.067s (15.000 fps) Size: Discrete 3264x2448 Interval: Discrete 0.067s (15.000 fps) Size: Discrete 2592x1944 Interval: Discrete 0.067s (15.000 fps) Size: Discrete 2048x1536 Interval: Discrete 0.067s (15.000 fps) Size: Discrete 1280x960 Interval: Discrete 0.067s (15.000 fps) Size: Discrete 1024x768 Interval: Discrete 0.067s (30.000 fps) Size: Discrete 800x600 Interval: Discrete 0.067s (30.000 fps) Size: Discrete 640x480 Interval: Discrete 0.067s (30.000 fps) Size: Discrete 329x240 Interval: Discrete 0.067s (30.000 fps) Size: Discrete 1600x1200 Interval: Discrete 0.067s (15.000 fps) Index : 1 Type : Video Capture Pixel Format: 'YUYV' Name : YUYV 4:2:2 Size: Discrete 1600x1200 Interval: Discrete 0.100s (10.000 fps) Size: Discrete 3264x2448 Interval: Discrete 0.067s (2.000 fps) Size: Discrete 2592x1944 Interval: Discrete 0.333s (3.000 fps) Size: Discrete 2048x1536 Interval: Discrete 0.333s (3.000 fps) Size: Discrete 1280x960 Interval: Discrete 0.100s (10.000 fps) Size: Discrete 1024x768 Interval: Discrete 0.100s (10.000 fps) Size: Discrete 800x600 Interval: Discrete 0.067s (30.000 fps) Size: Discrete 640x480 Interval: Discrete 0.067s (30.000 fps) Size: Discrete 329x240 Interval: Discrete 0.067s (30.000 fps) Size: Discrete 1600x1200 Interval: Discrete 0.100s (10.000 fps)
Delta Arm
Sprüh Mechanismus
Realcode G-code
↪ Unkraut behandeln