Akademik Veri Yönetim Sistemi
AGRIENGINEERING, cilt.6, sa.3, ss.2870-2890, 2024 (ESCI)
A typical orchard’s mechanical
operation consists of three or four stages: lining and digging for plantation,
moving the seedling from nurseries to the farm, moving the seedling to the
planting hole, and planting the seedling in the hole. However, the digging of
the planting hole is the most time-consuming operation. In fruit orchards, the
use of robots is increasingly becoming more prevalent to increase operational
efficiency. They offer practical and effective services to both industry and
people, whether they are assigned to plant trees, reduce the use of chemical
fertilizers, or carry heavy loads to relieve staff. Robots can operate for
extended periods of time and can be highly adept at repetitive tasks like
planting many trees. The present study aims to identify the locations for
planting trees in orchards using geographic information systems (GISs), to
develop an autonomous drilling machine and use the developed robot to open
planting holes. There is no comparable study on autonomous hole planting in the
literature in this regard. The agricultural mobile robot is a four=wheeled
nonholonomic robot with differential steering and forwarding capability to
stable target positions. The designed mobile robot can be used in fully
autonomous, partially autonomous, or fully manual modes. The drilling system,
which is a y-axis shifter driven by a DC motor with a reducer includes an auger
with a 2.1 HP gasoline engine. SOLIDWORKS 2020 software was used for designing
and drawing the mobile robot and drilling system. The Microsoft Visual
Basic.NET programming language was used to create the robot navigation system
and drilling mechanism software. The cross-track error (XTE), which determines
the distances between the actual and desired holes positions, was utilized to
analyze the steering accuracy of the mobile robot to the drilling spots.
Consequently, the average of the arithmetic means was determined to be 4.35 cm,
and the standard deviation was 1.73 cm. This figure indicates that the
suggested system is effective for drilling plant holes in orchards.