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CAMSS Senior Design Project
- 1. Comprehensive Agricultural Monitoring Sensor System (CAMSS) Madeline Campbell, Jonathan Earl, Joshua Garrison, Virginia Hartz, Kaleb Klauber, Michael Lambert, Yosi Shturm, Jackson Thomas, Jeffrey Ware
- 2. ● Billion dollar industry ● Strawberries are extremely sensitive to environmental factors and infections Background ● Current monitoring techniques for strawberry plant health are limited and unorganized
- 3. Problem Statement ● Chassis and infrastructure o Lightweight and maneuverable o Adjustable for different fields ● Electronics o Noninvasive analysis o Soil characteristics and properties o Environmental conditions o Visual inspection ● Handheld tablet o Real time display o Stored data for later analysis
- 4. Design Overview ● Chassis ● Environmental Sensors ● Probe ● Cameras
- 5. Chassis Design ● Outrigger Style Welded Aluminum Frame ● Pneumatic Rubber Wheels ● Steel Axles ● ABS Plastic Walls ● Electronics Interface Mounts ● Additional Features
- 6. Chassis CAD
- 7. Chassis Fabrication Techniques ● TIG Welding ● Sheet metal fabrication ● CNC Milling ● Lathe
- 8. Probe Box Design ● Longitudinal Adjustability ● Vertical Adjustability ● Camera Mounts ● Actuator and Probe Mount ● Touchdown Sensor Mount
- 10. Probe Box CAD
- 11. Camera Housing Fabrication ● Protective casings to insulate electronics ● 3D printed with MakerBot Replicator 2 ● Printed in Polylactic Acid (PLA) NDVI without housing Pixy without housing Pixy with housing
- 13. Splash Screen
- 14. Main Screen
- 15. File Browser
- 16. Runs per Day
- 17. Data per Run
- 18. Probe and Environmental Data
- 19. Probe and Environmental Data
- 21. Beaglebone System ● 512 MB RAM, 32 GB SD card storage ● Interface between tablet, cameras, PSoC ● C++, Java scripts
- 22. Probe System
- 23. Soil Probe Campbell Scientific CS659 ● SDI-12 communication through inverted half-duplex UART ● 12V, 20mA average current Metric Range Accuracy Precision Volumetric Moisture 5%-50% ±3% <0.05% Electrical Conductivity 0-8 dS/m ±(5% reading+0.05) 0.5% Dielectric Permittivity 1-81 ±(3% reading+0.8) <0.02 Temperature -10°-70°C ±0.5°C ±0.02°C
- 24. Actuator and Motor Controller Electrical Characteristic Value Motor Voltage 5-28V Maximum Current 3A continuous, 5A peak Communication 5V UART Characteristic Value Voltage 12 V nominal Dynamic Load Rating 34 lbs Typical Current 500 mA no load, 3 A with 34 lb load Stroke Length 12” Maximum Speed 1.7 in/s Concentric LACT12P-12V-5 Linear Actuator with Feedback Pololu Jrk 21v3 USB Motor Controller with Feedback
- 25. Touchdown Detector and Pixy Pixy Camera ● Vegetation detection to protect fields from probe damage Touchdown Detector ● Ensures consistent probe depth for good data ● Avoids excess soil compression and strain on actuator mount hall effect sensormagnet
- 26. Hall Effect Sensor ● Wheel encoder to determine distance travelled ● Honeywell SNDH-H3L- G01 hall effect sensor ● BMW motorcycle ABS ring
- 28. Environmental System Sensor Comm. Current draw (uA) (Measure / Standby) Operating Voltage (V) Measurement Range HIH6030-021 Temp & Humidity I2C 650 / 0.6 3.3 5 - 50oC 20 - 80%RH MPL3115A2 Pressure I2C 40 / 2 3.3 50 kPa - 110 kPa Anemometer Analog N/A 7-24 0 m/s - 32.4 m/s
- 30. Front Panel System ● Actuator control ● Measurement Status
- 31. Assembly ● Hall Effect Wheel ● Brake System ● Kickstand ● Electronic Boxes
- 32. Finished Product ● Ergonomics o Handlebar grip o Handles ● Weatherproofing o Silicon caulking o Rustoleum paint ● Additional Features o CAMSS logo o Stencils
- 33. Finished Product
- 34. Project Timeline ● January o Finalize design and build prototype ● February o Welding training and preliminary PCB design ● March-April o Fabrication ● May o Undergraduate Research Conference o Assembly and integration o May 25- field tests in Watsonville
- 35. Budget/Expenditures ● Bill of Materials o Mechanical: $1257 o Electrical: $1631 o Total: $2888 ● Total Expenditure Estimates o Mechanical: $2400 o Electrical: $2000 o Total: $4400
- 36. Data and Results - Mech ● Portability o Size o Weight ● Assembly and adjustment o Adjustability o Removable panels ● Stability ● Ergonomics of operation o Pushing effort o Maneuverability o Overcoming obstacles
- 37. Device Strengths - Mech ● Adjustable o Changing dimensions between fields o Irregularity within a field ● Portable o Transport by pickup truck ● Easy to operate o Operator ergonomics o Tablet interface ● Modular design o Platform may be adapted to different needs
- 38. Future Recommendations - Mech ● Extend adjustability range ● Tractor-style tires ● Probe actuation ● Probe soil accumulation
- 39. GPS Data and Results
- 40. GPS Data and Results
- 41. Data and Results Measurements Environmental Averages ● Temperature: 28.21 OC ● Relative Humidity: 35.04 %RH ● Bar. Pressure: 101.42 kPa ● Wind Speed: 1.49 mph
- 44. Future Recommendations - EE ● Taller camera mount for wider angle images ● Different camera for vegetation detection ● Enhanced image processing and data analysis ● Strawberry recognition and count ● Canopy cover measurements ● Field analysis over 13 month crop cycle
- 45. Overall Comments ● Finished design o Fabricated and tested o Fully documented ● Successful feedback and testing o Undergraduate Research Conference o Field tests in Watsonville ● Future plans o Coordinate with Driscoll and Reiter for immediate implementation and further development o Macrophomina phaseolina- fungal infection in strawberry plants
- 46. Questions?
Editor's Notes
- Personal introductions (very brief)
- Kaleb
- Ginny
- Jeff -Chassis -Lightweight pushable (portable) frame -Center of Gravity close to furrow with user to facilitate straight movement through fields -Wheels that provide smooth ride -Weatherproofing protects electronics -Adjustable for use in Watsonville and Salinas Fields -Probe -Linear Actuator plunging a probe with a touchdown sensor which tells the system when the probe has been fully inserted -Collects Soil Temperature, Moisture and Salinity Data -Cameras -3 cameras: Visual, NDVI (Normalized Difference Vegetation Index), Pixy -Used for to capture images of plants for both cursory visual inspection and computer image analysis -Environmental Sensors -Temperature, Barometric Pressure, Humidity, Wind Speed -Tablet -Compiles data and provides to user for both real time and future analysis
- Jeff -Outrigger Style Welded Aluminum Frame -inexpensive, sturdy square tubing -ground welds for finished look -adjustability across 4 through insertion of adjustability bolts in different positions -Pneumatic Rubber Wheels -compliance and damping inherent in wheels attenuates vibrations -Hall Effect Sensor ring attached to one back wheel and corresponding sensor attached to frame -Steel Axles -Larger drivable axle in back for accommodating future motorization, wheels pressed on -smaller axles in front and on wing, held by snap rings and axle pressed into frame -ABS Plastic Walls with caulking -cover central box -fixed to frame with screws -caulking used in gaps and edges to weatherproof -painted “John Deere” Green to improve aesthetic appearance -Electronics Interface Mounts AND other -Tablet Mount allows for comfortable viewing angle -Button and sensor boxes house external electronic components -Battery and Router Mounts securely these two components inside main box -Additional Features -Handles on outside of box allow for loading in and out of truck -Kickstand to prevent main box from tipping when wing is detached
- Jeff Complete CAD of Chassis made in Autodesk Inventor 2015
- Maddie -TIG Welding -Basics: arc, shielding gas, filler rod -Material prep -Tacking -Full welds -Sheet Metal -Shearing -Bending -Spot welding -Painting -CNC Milling -Touchdown Sensor concentricity -Lathe: -accurate grooves for snap rings on axles
- Michael The purpose of the probe box was to allow the cameras and probe to be positioned anywhere over the bed that was deemed necessary. We wanted the cameras to be centered over the bed and for the probe to move along the bed in an area of soil absent from plants and irrigation lines. To accomplish this the probe box was attached to the wing section of the frame with removable brackets that could easily be loosened and allow the probe box to be moved longitudinally. The cameras and probe were designed to stay at a specific height above the bed and therefore the entire probe box was put on L shaped brackets that allowed for vertical adjustability. The cameras needed to be mounted out in front of the main box to allow a clear view down to the bed with as little interference from shadows as possible. Other parts that were included in the box were mounts for the actuator and probe as well as the touch down sensor mount. The electronics to control all aspects of the probe and cameras were included inside the box.
- Michael The main frame of the box was made of aluminum 6061 square tubing. to help with rigidity and keeping the box lightweight. The aluminum bars were held together using plastic three way plugs that were press fit into the aluminum tubes.The box was surrounded by aluminum panels that were riveted down where they were permanent and held in place with screws along the removable panel. The vertical adjustability section was composed of aluminum L - brackets that were milled to shape for precise adjustability and TIG welded along the joint.
- Michael The probe actuator bracket needed to fasten to a cylindrical surface for the actuator side and to a rectangular surface on the probe side. This piece was milled out of a solid aluminum block. And the mount for the touchdown sensor was welded onto this bracket. The touchdown sensor was made out of delrin and utilized a spring and hall effect sensor to send a signal to the linear actuator when the plunger has been fully depressed.
- Kaleb https://www.adafruit.com/products/1722
- Josh
- Yosi
- Yosi
- Yosi
- Yosi
- Yosi
- Yosi
- Yosi
- Yosi
- Jackson With 512 RAM, SD card storage, USB ports, beaglebone provides convenient interface between wifi enabled tablet and psoc controlled hardware
- John board is only board with communication to Beaglebone, chip runs control code for the system Slave to Beaglebone 72 Byte read buffer with status byte and distance travelled byte talks to all peripherals directly except the anemometer and LEDs reads 40 Bytes of environmental data and 30 Bytes from probe, sent in char
- John measures volumetric water content, conductivity (which translates to salinity) and temperature 12V unregulated input, real-time reads
- John motor controller gives position and current information and built in motor protections unregulated 12V from battery to actuator, 34 lbs of force (can lift the wing), 12” stroke length appropriate to safely extract probe above beds max speed 1.7 in/s gives a reasonable plunge time while not presenting danger
- John Pixy to detect plants or strawberries below touchdown detector primary stopping method behind current checking, much gentler method, more consistent based on soil type
- John use distance travelled to get good data mapping of field hall effect with internal magnet motorcycle ABS ring
- Josh
- Josh
- Jackson
- Jackson The front panel, mounted below the tablet, provides an interface for hardware control in the event of loss of wireless signal. Provides three useful indication lights, power, measurement in progress, and read/write in progress
- Michael - A large portion of this project was the integration of multiple electronic systems and mechanical systems. The hall effect wheel was attached directly to one of the rear axle wheels and the sensor was attached to the frame. This allowed the sensor to stay stationary at a fixed distance from the wheel The brake system used was a bike braking system that was modified to have the break on the front wheel and the brake handle next to the handle bar. A kickstand was attached to the main chassis to allow for additional support while the wing is detached. Each of the electronic boxes was attached in locations that were convenient for the specific box. The environmental sensors were bolted onto the front of the box with the most airflow. The switches box was installed in front of the tablet mount, close to the operator. Finally the box controlling the probe box systems was installed inside the probe box.
- Ginny
- Ginny
- Ginny
- Ginny
- Maddie -Portability -Size; Fit into back of standard bed pickup truck -Weight; light enough to lift in and out of truck -Assembly/disassembly -Wing adjustments -Removable panels on/off -Ergonomics of operation -Handlebars (height, grip) -Brake handle -Effort of pushing -Light pushing force -Little path deviation, easily corrected -Maneuverability (rear wheels in line, no slippage) -Overcame obstacles (strawberries in furrow, mud puddles, irrigation lines) -Stability -Chassis stability on uneven ground -Vibrations -Battery (heaviest item); no shifting -Brake system; effective and convenient to use
- Maddie -Adjustable -May be used across a variety of strawberry bed dimensions -Especially designed for Driscoll’s fields in Watsonville and Salinas -Portability -Aluminum frame is easily lifted in and out of truck bed -Fully assembled, fits in standard truck bed -May be disassembled for transport -Easy to operate -Low effort to push -User-friendly tablet interface
- Maddie -Extend adjustability -Beds beyond Watsonville and Salinas -Usable in more locations -Tire treads -Pushing effort not an issue -Accumulated mud clods -Lower pressure -Probe actuation -More durable alternatives to linear actuator (e.g. hydraulics) -Soil accumulation -
- Yosi
- Yosi
- Josh
- Jackson SPecial filter replaces red colors with near-infrared, or NGB.
- Jackson NDVI processing allows for the visualization of healthy plants vs areas of tarp, dirt, and unhealthy plants. This could provide a very simple mechanism for distinguishing between plants and soil and determining a clear path for the probe.
- Josh
- Ginny