UltraSonic Orchard fertilizer Dispensing Automaton Erik Mueller & Patrick Thurston

Apple-bearing orchard trees need to be fertilized around the drip edge of their canopy. Standard spreading techniques are imprecise and wasteful.

The Problem The client requires an automated fertilizer delivery and spreading system. The unit must locate an apple tree and navigate along the drip edge, while spreading granulated fertilizer Once finished, the unit must return to its starting position.

Our Solution Our design relies on ultrasonic sensors for canopy detection and as a collision sensor Delivery of the fertilizer granules is effected by a conveyor belt system An additional electronic compass aids in locating and returning to the start position

The robot is designed using the MARV-2 frame as a base. Additional elements include the distribution unit and additional sensors.

System Overview CS Distribution Board Navigation Board Motor Driver Fertilizer Conveyor E-Compass (on stand)

System Overview 1. The robot is activated and it starts towards the tree. 2. Upon reaching the canopy, the robot will follow the edge 3. Once completing a circuit, the robot will return.

Software flow Start Move Forward Turn Right 30° Canopy Detected? No Yes Right Sensor Off? Yes Move Forward Start Spreading No Left Sensor Off? Turn Left 30° Move Forward Record Position Circuit Complete ? No Yes No Yes Stop Spreading Return

Mechanical systems Conveyor Dimensions: 6 inches x 8 inches Load level sensors (1/4, ½, ¾ and Filled)

Electrical Concept Navigation Board

Broken down into two subsections Distribution under Patrick Thurston Navigation under Erik Mueller

Scheduling Wk 1 Wk 2 Wk 3 Wk 4 Wk 5 Wk 6 Wk 7 Brainstorming Sensor Design Mechanical System Design Programming Sensor Build Mechanical System Build Test