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Autonomous Sensor Exchange and Calibration for Cornstalk Nitrate Monitoring Robot

Janice Seungyeon Lee, Thomas Detlefsen, Shara Lawande, Saudamini Ghatge, Shrudhi Ramesh Shanthi, Sruthi Mukkamala, George Kantor, Oliver Kroemer

Abstract

Interactive sensors are an important component of robotic systems but often require manual replacement due to wear and tear. Automating this process can enhance system autonomy and facilitate long-term deployment. We developed an autonomous sensor exchange and calibration system for an agriculture crop monitoring robot that inserts a nitrate sensor into cornstalks. A novel gripper and replacement mechanism, featuring a reliable funneling design, were developed to enable efficient and reliable sensor exchanges. To maintain consistent nitrate sensor measurement, an on-board sensor calibration station was integrated to provide in-field sensor cleaning and calibration. The system was deployed at the Ames Curtis Farm in June 2024, where it successfully inserted nitrate sensors with high accuracy into 30 cornstalks with a 77$\%$ success rate.

Autonomous Sensor Exchange and Calibration for Cornstalk Nitrate Monitoring Robot

Abstract

Interactive sensors are an important component of robotic systems but often require manual replacement due to wear and tear. Automating this process can enhance system autonomy and facilitate long-term deployment. We developed an autonomous sensor exchange and calibration system for an agriculture crop monitoring robot that inserts a nitrate sensor into cornstalks. A novel gripper and replacement mechanism, featuring a reliable funneling design, were developed to enable efficient and reliable sensor exchanges. To maintain consistent nitrate sensor measurement, an on-board sensor calibration station was integrated to provide in-field sensor cleaning and calibration. The system was deployed at the Ames Curtis Farm in June 2024, where it successfully inserted nitrate sensors with high accuracy into 30 cornstalks with a 77 success rate.

Paper Structure

This paper contains 21 sections, 10 figures.

Table of Contents

  1. INTRODUCTION
  2. RELATED WORK
  3. Sensors and Robots in Agriculture
  4. ROBOT SYSTEM OVERVIEW
  5. GRIPPER DESIGN
  6. Sensor Insertion Requirements
  7. Gripper Mechanisms
  8. SENSOR REPLACEMENT
  9. Sensor Modification
  10. Lever Mechanism for Loading Sensor
  11. Funnel Mechanism for Aligning Sensor
  12. Replacement Motion Sequence
  13. SENSOR MAINTENANCE
  14. OPTIMAL INSERTION POSE
  15. Detection
  16. ...and 6 more sections

Figures (10)

  • Figure 1: (a) Robot platform hardware overview. (b) Robot deployed in the cornfield (c) Gripper inserting sensor into stalk
  • Figure 2: (a) Gripper uses two-finger grasp mechanism and has the camera facing forward. (b) Each proportion of the slide tracks for the sensor lever pin and the finger pins are for 1) moving the sensor lever 2) opening and closing finger 3) inserting and retracting the sensor. (c) The diagram shows the finger and sensor lever movement based on the extended length of the linear actuator.
  • Figure 3: Gripper motion for grasping the stalk and inserting sensor.
  • Figure 4: (a) Modified sensor compared with original sensor (b) Electrical diagram of the sensor (c) Sensor lever mechanism
  • Figure 5: (a) The sensor replacement mechanism consists of the sensor holder with T-shaped extrusion and the sensor retrieval box. (b) The T-shaped extrusion funnels in to the T-shaped slot adjacent to the sensor slot.
  • ...and 5 more figures