621.3 Elektrotechnik, Elektronik
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This paper investigates four different mobile robots with respect to their drivingcharacteristics and soil preservation properties in an agricultural environment.Thereby, robots of classical design from agriculture as well as systems from spacerobotics with advanced locomotion concepts are considered to determine theindividual advantages of each rover concept with respect to the application domain.Locomotion experiments were conducted to analyze the general driving behavior,tensile force, and obstacle‐surmounting capability and ground interaction of eachrobot. Various soil conditions typical for the area of application are taken intoaccount, which are varied in terms of moisture and density. The presented workcovers the specification of the conducted experiments, documentation of theimplementation as well as analysis and evaluation of the collected data. In theevaluation, particular attention is paid to the change in driving characteristics underdifferent soil conditions, as well as to the soil stress caused by driving, since soilquality is of critical importance for agricultural applications. The analysis shows thatthe advanced locomotion concepts, as used in space robotics, also have positiveimplications for certain requirements in agricultural applications, such as maneuver-ability in wet conditions and soil conservation. The results show potential for designinnovations in agricultural robotics that can be used, to open up new fields ofapplication for instance in the context of precision farming.
Currently, soil nutrient analysis involves two separate processes for soil sampling and nutrient analysis: 1. field soil sampling and 2. laboratory analysis. These two - separate - main work processes are combined and conceptualised for a mobile field laboratory so that soil sampling and analysis can be carried out simultaneously in the field. The module-based field laboratory "soil2data" can carry out these two main work processes in parallel and consists of 5 different task-specific modules that build on each other: app2field, field2soil, app2liquid, liquid2data and data2app. The individual modules were designed and built for the sub-process steps and adapted to the special features of the mobile field laboratory "soil2data". The biggest advantage is that the analysis results are available immediately, and a fertiliser recommendation can be generated instantly. For further analyses, the results are stored in the data cloud. The soil material remains in the field. In the ongoing project "Prototypes4soil2data", the mobile field laboratory soil2data is being further developed into a prototype with a modular structure.