COMBINED ROBOTIC PLATFORM ‘VALUE CHAIN’
GENERAL CONTEXT
Modification and evolution of professional practices
Request analysis for combined actions in crop
culture protection - Functional specifications
- Crop production (corn, wheat...)
- Market gardening area
- Fruit farming area (orchard area)
- Vineyard farming area
- Culture de niches (High value crop e.g., medical plants,…)
- Other application area
Customers' needs definition
DEFINITION & CONCEPTION (2.1) OF SMART
COMBINED UNIT EMBEDDED ON THE MOBILE PLATFORM
DEFINITION & CONCEPTION (2.2) OF A
MOBILE ROBOT PLATFORM
Perception modules for localized actions
Mechanical architecture and control
of the robotic platform
- Vegetation density*Crop growth parameters (Growing stage)
*Volume
- Weeds infestation
- Insects
- Diseases
- Work environmental parameters: soil, plant, air
- Temp, moisture, wind, radiation...
- Single plant detection / Plant species detection recognition
- Other tools and associated parameters
- New field management/organization - ex. Associated crops
- Robustness - Reliability
- Limited cost (suitable) (Low cost devices)
- Work efficiency
- "Easy to use" needs
- Usability
- Level of autonomy
- Power source: combust. (outdoor) electric (indoor)
General technical solutions
Control / Action modules for a located treatment
(local level)
- End effectors
* Electrical devices
* Thermal devices
* Chemical sprayer devices
- Automated autonomic devices
* Robotic arms
* Other systems
- State of the art - Current developments
- Identification of existing solutions from other areas
- Identification of new concepts *Robotic platform
* Peripheral tools
- Architecture design of base robotic platform +
peripheral devices/module (associated tools)
Human Safety aspects
- Operator
- Bystanders
Environmental safety aspects
- Mitigation of diffuse contamination
- Point sources
Global Business plan - Economic studies
Regulation - Legal aspects – Standards
- National
- EU
* Directive 2009/128/EC
* Others ones
- Machine directives
* Mechanical devices
- Security and safety functions at the low architecture level
(reflex actions)
* Obstacles detection and avoidance
* Dynamic stability
Combined unit: Coupling/combination of two
action modules in close relationship with
targeted applications (medium level)
- Interaction between modules & application tasks
- Interaction with other machines, e.g. robot & sprayer
Value Chain
legend
Red: Lock –
Not available
soon on the
market
- Mechanichal structure
* Vehicle chassis
Orange: Not
available yet,
but possible to
design and
- Motorization- Power supply- Energy management
market quickly
* Combustion engine
* Soil interactions: Weels; Tracted vehicle;
Other systems)
(1-2 years)
* Electric
* Hybrid
* Fuel cell
Green:
Technology or
knowledge
currently
available
- Drive train or Transmission
* Classical device gear box + drive shaft)
* New transmission concepts
(ex: wheel motor)
Onboard Intelligence for mobility
control of the robotic platform
- Localization
Black: Not
coloured yet
(generic title
or information
to color soon).
* External devices (GPS, camera, laser range
finder..)
* Internal devices (IMU,...)
* Hybrid systems: sensors & algorythms (kalman
filter,…)
- Guidance control
- Security and safety functions at the low level
architecture (reflex actions)
* Obstacles detection and avoidance
* Dynamic stability control
- Energy management
- Communication functions
* Remote control in link with Man-MachineInterface (e.g. Alarm / Emergency buttonscognitive behaviour…)
- Fault diagnostics
* Fault detection and recovery
* Graceful degradation (Several modes of
operations - e.g. transport mode )
* Data logging (black box)
*Preventive fault detection
Other indirect potential research issues:
Communication standards
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INTEGRATION (OF 2.1 & 2.2)
INTERFACING
Global Management and Control of the whole
system (smart combined unit + mobile robot
platform) - global level
- Hardware integration (2.1) + (2.2)
- Software integration:
* (a priori) Planning mission preparation (route planning)
- of the mobile platform
* (real time) Executive mission - Supervision
-Trajectory control of platform and associated tools
- Global Energy management
- High level safety management (dynamic stability –
fix and mobile obstacles)
* (a posteriori) mission assess
- Traceability
Human operator place in the robotic loop ?
Added Value for operator / supervisor / trouble shooter
Man–Machine Interface
- Usability
Versatile remote HMI Control board
Tuning parameter measurement & tune
- User interface design
Feedback of user interface
PROTOTYPING
Definition of criteria and metrics
to evaluate solution
- Environmental impacts (air pollution, soil respect,
quality product)
- Safety (operator, environment)
- Autonomy (Energy, Mobility level)
Demonstrator realization
REGULATION
Standardization
- Mechanics
- Communication Data standards
* Definition and harmonization of
communication protocols
* Definition and harmonization of data format
- Electronics
- Laboratory conditions
- Field conditions
End-User involvement / user-centric
development
Red: Lock –
Not available
soon on the
market
Orange: Not
available yet,
but possible to
design and
market quickly
(1-2 years)
- Platform System level
- Peripheral Modules level
Test - Validation of demonstrators
Value Chain
legend
Legal aspects
ex: Responsibilities issues in case of accident
Final Certification - Homologation
Green:
Technology or
knowledge
currently
available
Black: Not
coloured yet
(generic title
or information
to color soon).
Proof Of Concept
Involvment of manufacturers, distributors and
end users
Possible extension to the management/control
of several associated robots ?
Other indirect potential research issues:
Environnemental impact: Life Cycle Analysis
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MANUFACTURING
Product
- Modular / scalable product systems
(with other peripheral tools) / retrofit
- Products recycling
DISTRIBUTION
Advertising
- Website
- Media events
- Direct contact
* Phone
* Email
* Meeting
Means of production
(Small batch production)
- Choice of optimal components
(electronic, mechanic, electric devices…)
- Organization of production
* Subcontractors contributions
* Adaptation of particular production line systems
- Machine recycling
Business plan design optimization
USES / DISPOSALS AFTER
USE
Customer appropriation
- Economic adoption
- “Easy to use" approval
- Performance approval
Facilities and services
Red: Lock –
Not available
soon on the
market
Orange: Not
available yet,
but possible to
design and
market quickly
(1-2 years)
- Technical brochures
- Leaflet/paper publicity
Value Chain
legend
Experience feedback
- Value for money/ Return On
Investment
- Usability
- Demonstration events
Green:
Technology or
knowledge
currently
available
Black: Not
coloured yet
(generic title
or information
to color soon).
- Tools support
* Associated services
* Training
Marketing
- User identification
Customizing
- System composition
New services (ex. Shared
equipments/
equipments rental)
Irstea - June
2012
3/3