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 Ultrasonic sensors for canopy detection and as a collision sensor Electronic compass aids in locating and returning to the start position Conveyor belt distribution system

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 Micro Navigation Micro Motor Driver Fertilizer Conveyor E-Compass (on stand) Canopy Sensors

Movement Sequence 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 15° Move Forward Record Position Circuit Complete ? No Yes No Yes Stop Spreading Return

Mechanical systems Conveyor Dimensions: 6 inches x 8 inches, 2 inch rollers Load level sensors (1/4, ½, ¾ and Filled) (Option)

Wiring Diagram Navigation Micro Distribution Micro US 1K Trigger Pulse Range Data 5V DC Motor Driver Left Motor Right Motor PWM Output 12V DC Conveyor Motor PWM Output

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

Budget Ping sensors $75 Main micro board $100 Conveyor belt $10 Aluminum $100