Welcome to ARTOF's documentation! =================================== The **Agricultural Robot Taskmap Operation Framework (ARTOF)** provides the common functionality of task map execution for a wide range of robot configurations and farming applications based on Global Navigation Satellite System (GNSS) positioning. The robot supports the four-wheel-drive four-wheel-steer (4WD4WS), skid- and Ackerman steering vehicle configuration for different agricultural tasks in arable farming and horticulture. The framework can be integrated into a robot platform during development or can be added afterwards with a customized after-market installation. The ARTOF framework has been integrated into several robot platforms and existing farming equipment as robot- or auto-guidance software. .. note:: This ARTOF project started in 2019 at `ILVO `_ within the `European Interreg-Vlaanderen CIMAT `_ project and is still under active development to support other EU projects. ARTOF integrations ------------------ CIMAT robot ^^^^^^^^^^^ The CIMAT robot is an in-house-developed 4WD4WS robot used for crop care applications, e.g. hoeing, ridging, flame weeding, etc. The robot is also used to perform automated soil-pressure sampling doing stop&go measurements. |fig_cimat_flame_weeding| |fig_cimat_soil_compaction| |fig_cimat_hoeing| .. |fig_cimat_flame_weeding| image:: images/fig_cimat_flame_weeding.jpg :width: 45% :alt: Flame weeding in potatoes .. |fig_cimat_soil_compaction| image:: images/fig_cimat_soil_compaction.jpg :width: 45% :alt: Soil compaction measurements .. |fig_cimat_hoeing| image:: images/fig_cimat_hoeing.jpg :width: 90.7% :alt: Hoeing in kidney beans The main characteristics of the CIMAT robot are listed below. +-----------------------+---------------------------------------------------------------+ | **CIMAT robot** | +=======================+===============================================================+ | Vehicle configuration | 4WD4WS | +-----------------------+---------------------------------------------------------------+ | Weight | 1200 kg | +-----------------------+---------------------------------------------------------------+ | Max velocity | 15 km/h | +-----------------------+---------------------------------------------------------------+ | **Energy source (LiFePO4 battery)** | +-----------------------+---------------------------------------------------------------+ | Voltage | 52 V | +-----------------------+---------------------------------------------------------------+ | Capacity | 20 kWh | +-----------------------+---------------------------------------------------------------+ | **Transmission (electric)** | +-----------------------+---------------------------------------------------------------+ | Nominal power | 4 x 6 kW | +-----------------------+---------------------------------------------------------------+ | Gear ratio | 40 | +-----------------------+---------------------------------------------------------------+ | **Steering (electric)** | +-----------------------+---------------------------------------------------------------+ | Nominal power (Steer) | 4 x 440 W | +-----------------------+---------------------------------------------------------------+ | Gear ratio (Steer) | 208 | +-----------------------+---------------------------------------------------------------+ | **Hydraulics** | +-----------------------+---------------------------------------------------------------+ | Nominal power | 2.4 kW | +-----------------------+---------------------------------------------------------------+ | RPM | 3000 | +-----------------------+---------------------------------------------------------------+ | Pump size | 3cc | +-----------------------+---------------------------------------------------------------+ | **Implement interface** | +-----------------------+---------------------------------------------------------------+ | Mounting | Center three-point hitch cat.1, rear three-point hitch cat. 2 | +-----------------------+---------------------------------------------------------------+ | Hydraulic couplers | 3 | +-----------------------+---------------------------------------------------------------+ | Electric connectors | 24V, 48V | +-----------------------+---------------------------------------------------------------+ DjustE robot ^^^^^^^^^^^^ The DjustE is an in-house converted electrified hydrostatic compact tractor (CNH Boomer 50). It can be used as a robot or as a tractor for different field operations that require a mechanical Power take-off (PTO), like rotary harrowing, flail mowing, etc. |fig_djuste_rotary_tillage_driving| |fig_djuste_rotary_tillage_turning| .. |fig_djuste_rotary_tillage_driving| image:: images/fig_djuste_rotary_tillage_driving.jpg :width: 45% :alt: Rotary tillage .. |fig_djuste_rotary_tillage_turning| image:: images/fig_djuste_rotary_tillage_turning.jpg :width: 45% :alt: Headacre turn The main characteristics of the DjustE robot are listed below. +-----------------------+-------------------------------------------------------------------+ | **Djuste robot** | +=======================+===================================================================+ | Vehicle configuration | Ackerman steering | +-----------------------+-------------------------------------------------------------------+ | Weight | kg | +-----------------------+-------------------------------------------------------------------+ | Max velocity | 30 km/h | +-----------------------+-------------------------------------------------------------------+ | **Energy source (LiFePO4 nose battery, lead acid front battery)** | +-----------------------+-------------------------------------------------------------------+ | Voltage | 102 V, 92 V | +-----------------------+-------------------------------------------------------------------+ | Capacity | 6 kWh (nose battery), 13 kWh (front battery) | +-----------------------+-------------------------------------------------------------------+ | **Transmission (electric/hydraulic)** | +-----------------------+-------------------------------------------------------------------+ | Nominal power | 27 kW | +-----------------------+-------------------------------------------------------------------+ | Gear ratio | Directly connected to the clutch plane | +-----------------------+-------------------------------------------------------------------+ | **Hydraulics** | +-----------------------+-------------------------------------------------------------------+ | Nominal power | 1.5 kW | +-----------------------+-------------------------------------------------------------------+ | RPM | 1800-3000 | +-----------------------+-------------------------------------------------------------------+ | Pump size | Dual 10cc pump for independent steering and hitch control | +-----------------------+-------------------------------------------------------------------+ | **Implement interface** | +-----------------------+-------------------------------------------------------------------+ | Mounting | Rear three-point hitch cat. 2 (front hitch used for battery pack) | +-----------------------+-------------------------------------------------------------------+ | Hydraulic couplers | 2 | +-----------------------+-------------------------------------------------------------------+ | Electric connectors | 12V , 24V, 48V | +-----------------------+-------------------------------------------------------------------+ | Power take-off (PTO) | 3 gears | +-----------------------+-------------------------------------------------------------------+ Treebot robot ^^^^^^^^^^^^^ The Treebot robot is an in-house-developed robot that performs horticulture applications. Implements can be mounted on top of the platform using Item® fixings. |fig_treebot_blueberry| |fig_treebot_lane_trees| .. |fig_treebot_blueberry| image:: images/fig_treebot_blueberry.jpg :width: 45% :alt: Precision spray application on the black strip .. |fig_treebot_lane_trees| image:: images/fig_treebot_lane_trees.jpg :width: 45% :alt: Platform upgraded in 2024 The main characteristics of the Treebot robot are listed below. +-----------------------+-------------------------------------------------------------------+ | **Treebot robot** | +=======================+===================================================================+ | Vehicle configuration | Track skid steering | +-----------------------+-------------------------------------------------------------------+ | Weight | 80 kg | +-----------------------+-------------------------------------------------------------------+ | Max velocity | 3 km/h | +-----------------------+-------------------------------------------------------------------+ | **Energy source (LiFePO4 battery)** | +-----------------------+-------------------------------------------------------------------+ | Voltage | 52 V | +-----------------------+-------------------------------------------------------------------+ | Capacity | kWh | +-----------------------+-------------------------------------------------------------------+ | **Transmission (electric)** | +-----------------------+-------------------------------------------------------------------+ | Nominal power | 2x 400 W | +-----------------------+-------------------------------------------------------------------+ | Gear ratio | 100 | +-----------------------+-------------------------------------------------------------------+ | **Implement interface** | +-----------------------+-------------------------------------------------------------------+ | Mounting | Item mounting plate | +-----------------------+-------------------------------------------------------------------+ | Electric connectors | 24V, 48V | +-----------------------+-------------------------------------------------------------------+ Implement carrier ^^^^^^^^^^^^^^^^^ The ARTOF framework was integrated on an implement carrier of the machine manufacturer `Lambers LMB® `_. The platform is mainly used for seeding field trails. The after-market installation of ARTOF supports auto guidance while seeding. |fig_lambers_seeding| |fig_lambers_static| .. |fig_lambers_seeding| image:: images/fig_lambers_seeding.jpg :width: 45% :alt: Implement carrier with steering guidance .. |fig_lambers_static| image:: images/fig_lambers_static.jpg :width: 45% :alt: Implemnet carrier platform The main characteristics of the Implement carrier are listed below. +-----------------------+-------------------------------------------------------------------+ | **Lambers implement carrier** | +=======================+===================================================================+ | Vehicle configuration | Ackerman steering | +-----------------------+-------------------------------------------------------------------+ | Weight | kg | +-----------------------+-------------------------------------------------------------------+ | Max velocity | 7 km/h | +-----------------------+-------------------------------------------------------------------+ | **Energy source (combustion engine)** | +-----------------------+-------------------------------------------------------------------+ | Voltage | gasoline | +-----------------------+-------------------------------------------------------------------+ | Capacity | 30 l tank | +-----------------------+-------------------------------------------------------------------+ | **Transmission (electric/hydraulic)** | +-----------------------+-------------------------------------------------------------------+ | Nominal power | 27 kW | +-----------------------+-------------------------------------------------------------------+ | Gear ratio | Directly connected to the clutch plane | +-----------------------+-------------------------------------------------------------------+ | **Hydraulics** | +-----------------------+-------------------------------------------------------------------+ | Nominal power | 1.5 kW | +-----------------------+-------------------------------------------------------------------+ | RPM | 1800-3000 | +-----------------------+-------------------------------------------------------------------+ | Pump size | 4 cc | +-----------------------+-------------------------------------------------------------------+ | **Implement interface** | +-----------------------+-------------------------------------------------------------------+ | Mounting | 3x three-point hitch cat. 1 | +-----------------------+-------------------------------------------------------------------+ | Electric connectors | 12V (lead acid battery) | +-----------------------+-------------------------------------------------------------------+ | Power take-off (PTO) | powered by electro motor to actuate the seeding module | +-----------------------+-------------------------------------------------------------------+ Videos ------ To see these robots at work in different applications, check the youtube videos below: |vid_field_robots_general| |vid_cimat_ridging| |vid_cimat_flame_weeding| |vid_djuste_avs| |vid_djuste_construction| |vid_treebot_precision_spraying| .. |vid_field_robots_general| image:: https://img.youtube.com/vi/JEKxRF19jJs/0.jpg :width: 30% :alt: Axel Willekens on the ILVO field robots 2023 :target: https://www.youtube.com/watch?v=JEKxRF19jJs .. |vid_cimat_ridging| image:: images/fig_cimat_ridging_thumbnail.jpg :width: 30% :alt: Ridging in leek with the CIMAT robot :target: https://www.youtube.com/watch?v=kYXqshhpFiM&t .. |vid_cimat_flame_weeding| image:: https://img.youtube.com/vi/2mEPxm51ICk/0.jpg :width: 30% :alt: Self-driving robot with flame weeder :target: https://www.youtube.com/watch?v=2mEPxm51ICk .. |vid_djuste_avs| image:: https://img.youtube.com/vi/q0XQCb_Gn4Y/0.jpg :width: 30% :alt: Autonomous tractor at ILVO :target: https://www.youtube.com/watch?v=q0XQCb_Gn4Y .. |vid_djuste_construction| image:: https://img.youtube.com/vi/_6-2Ud9xHFI/0.jpg :width: 30% :alt: Autonomous tractor at ILVO :target: https://www.youtube.com/watch?v=_6-2Ud9xHFI .. |vid_treebot_precision_spraying| image:: https://img.youtube.com/vi/Ujj8gkYzaAs/0.jpg :width: 30% :alt: Alternative weed control in blueberries with a small-scale robot and precision sprayer :target: https://www.youtube.com/watch?v=Ujj8gkYzaAs Scientific publications ----------------------- ** Contents -------- .. toctree:: architecture basic-concepts mechatronic-layer operational-layer addons installation license