Development of a mobile robot platform for modern greenhouses that can move independently between rows: Integration with an Ulv type sprayer

In this study, it is aimed to develop a mobile robot prototype that can move independently between rows in modern greenhouses and to integrate it with a ULV type sprayer. The mobile robot platform is designed to be able to move both on the concrete floor and on the heating pipes. The prototype consists of a total of 8 wheels: four mecanum wheels for movement on concrete floors and four pipe wheels for movement on heating pipes. The mobile robot platform can be controlled autonomously or manually. Equipped with mecanum wheels, the robot can move in all directions without requiring complex maneuvers. A total of 10 motion controls were implemented for the mobile robot: left, left-forward, forward, right-forward, right, right-backward, backward, left-backward, clockwise rotation, and counterclockwise rotation. The mobile robot is powered by four brushed DC motors and two DC motor drivers. These motors are connected in series to two 12 V 72 AH batteries. The robot's control system consists of two components: a computer and an Arduino UNO. The Arduino UNO interfaces with sensors and an ULV (Ultra Low Volume) Spraying Machine. It transmits sensor data to the computer and controls the ULV device based on received commands. The computer processes the sensor data and sends instructions to the motor drivers. The ULV device that is integrated to the mobile robot, powered by a 1200 W AC motor, is connected to a 2000 W inverter for power supply. Automatic operation of the ULV device on the mobile robot was achieved, and experiments were conducted using water sensitive papers. In the trials, it was determined that the ULV type sprayer could be controlled by the mobile robot within the developed program. Additionally, a metal apparatus measuring 52 cm x 74 cm (width x length) was built and attached to the mobile robot, allowing for the transportation of fruit crates. A trial was conducted with four fruit crates, weighing total of 40 kg, placed on the mobile robot, and it was successfully determined that the mobile robot system can handle this weight. Although, this mobile robot platform can be used for different agricultural processes applied in greenhouses with the appropriate arrangements.