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.

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.

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.

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.

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:

Scientific publications

<Coming soon>

Contents

• Architecture
  • Overview
  • Communication
    • ARTOF Redis interface
    • Mechatronic-operational layer interface
• Basic concepts
  • Field
  • Platform
  • Implements
  • Interfaces
  • Jobs
  • States
• Mechatronic layer
  • Introduction
  • Requirements
  • Safety state diagram
  • Kinematic model
    • Introduction
    • Four-wheel-drive four-wheel-steer (4WD4WS)
    • Ackerman steering
    • Skid steering
• Operational layer
  • Introduction
  • Requirements
  • Processes
    • VariableManager
    • SystemManager
    • Navigation
    • Operation
    • Gps
    • RobotPlc
    • Simulation
  • Navigation algorithms
    • Pure pursuit heading control
    • Pure pursuit heading and PI lateral control (4WD4WS only)
• Add-ons
  • Introduction
  • Python package
  • System add-on
    • App area
      • Navigation bar
      • Field
      • New field
      • Map
      • Settings
    • Admin area
      • Settings
      • Implements
      • Processes
      • Add-ons
      • Monitor
  • Node-red add-on
• Installation
  • Install Docker
  • Docker
  • System
  • Check your installation (Binary and Docker)
  • Additional hardware configuration
    • SimpleRTK3b GPS
    • Enable ssh
    • Remote connection
  • Common issues
    • Ethernet over USB of the SimpleRTK3b module on a NUC
• Licence