Market Assessment for Autonomous Plant Pot Spacing Robot

一种移动的操纵器（即，最初设计和开发了一种轮式移动的机器人，该机器人具有连接到其上的机器人操纵器，该机器人装备有成像传感器，用于在苗圃和温室中自动地输送花盆。里贾纳大学（UofR）的专有技术已被证明可以自动交付不同大小，形状和重量的种植盆。我们的系统：（1）使用传统的图像处理技术检测种植的花盆，（2）使用机载传感器以高精度向预抓取配置移动，即，摄像机视觉、激光雷达和伊穆斯，（3）在最佳接触点处抓住种植的花盆，以及（4）将它们抬起并将它们定位在机器人顶部的旋转台上。根据估计的锅的大小，旋转台逐渐旋转，为下一个锅腾出空间。机器人可以携带多达8个锅，总重量为50公斤，电池一次充电10公里。机器人可以以人类的速度移动，即~5 km/h，在这种条件下，电池将持续2小时。设想将以下功能添加到当前系统：（1）自动对接到充电站。(2)HMI的设计，通过它，远程操作员可以向机器人发出高级运动命令，机器人将在机器级别执行这些命令。(3)添加基于图像的检测、分类和跟踪算法，使机器人能够在需要时跟踪人类和/或服务车辆。(4)改进安全措施和算法，以避免机器人与其环境中的静态/动态物体之间的碰撞。市场上没有类似的技术可以做到以上所有内容。

A mobile manipulator (i.e., a wheeled mobile robot with a robotic manipulator attached to it) equipped with imaging sensors has initially been designed and developed for automated planted-pot delivery in nursery farms and greenhouses. The University of Regina (UofR) proprietary technology has been proven to conduct automated delivery of the planted pots in different sizes, shapes, and weights. Our system: (1) detects planted pots using conventional image processing techniques, (2) moves towards a pre-grasp configuration at high precision using onboard sensors, i.e., camera vision, LiDAR, and IMUs, (3) grasps the planted pots at the optimal contact points, and (4) lift them up and position them on the rotary table on top of the robot. According to the estimated size of the pot, the rotary table is then rotated incrementally, making room for the next pot to be positioned on it. The robot can carry up to eight pots, with a total weight of 50kg, for 10 kilometers with one single charge of the battery. The robot can move at the humans' speed, namely ~5 km/h, under which condition, the battery will last for 2 hours.The following functions are envisioned to be added to the current system:(1) Automated docking to a charging station.(2) Design of a HMI through which high-level motion commands can be given to the robot by a remote operator, and the robot will execute them at the machine level.(3) Adding an image-based detection, classification, and tracking algorithm that would enable the robot to track humans and/or service vehicles, when needed.(4) Improving on safety measures and algorithms to avoid collision between the robot and the static/dynamic objects in its environment.No similar technology exists in the market that can do all the above.