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FieldRobot 2012 - RoseRunner

Robot RoseRunner took part in Field Robot Event 2012 in Venlo, the Netherlands, end of June 2012.

In the overall competition RoseRunner was in the second place in World Championship contest (consisting of three tasks). In tasks 1 and 3 the result was 3rd and in task 2 the result was 2nd. In additional tasks the robot was 2nd in freestyle and 3rd in co-operation task (co-operation together with Ceres II team). Team RoseRunner was the only team getting on the podium in all tasks.

Team members

The team consists of nine students and three instructors. Some students are from Aalto University studying Automation and Systems Technology (AS) or Mechanical Engineering (MEK). Some students are from University of Helsinki, studying Agrotechnology (AGTEK). And one student is studying in Space Masters (SM) program, at Aalto University.

  • Janne Hafrén (MEK, captain)
  • Sami Alaiso (AS)
  • Esko Karppanen (MEK)
  • Matti Koskinen (MEK)
  • Jarkko Kostiainen (AGTEK)
  • Joni Rannisto (MEK)
  • Roberto Sosa (SM)
  • Antti Valli (AS)
  • Antti Virta (AS)

The instructors: Timo Oksanen (AS), Jari Kostamo (MEK), Matti Pastell (AGTEK)

Robot tech

Specs:

  • 3x compact axle modules (two for robot, one spare part)
  • DC drives with LiPo batteries
  • Advanced suspension system
  • Aluminium chassis, mostly laser cut sheet metal parts
  • 3 onboard computers (1x eBox running WinCE + 2x FitPC running WinXP)
  • custom made electronics
  • SICK LMS100 laser scanner
  • SRF04 + GP2D12 ranging sensors in each corner
  • Compass & attitude sensors
  • CAN bus / ISOBUS backbone
  • Software tools: Matlab, Visual Studio, LabVIEW, CodeVisionAVR, SolidEdge
  • HMI user interface on the robot + remote interface

A sketch of the robot

A sketch of the robot with covers

Final report

RoseRunner_FinalReport.pdf pdf

Freestyle

In freestyle task the team presented a Smart Fertilizer Trailer, which was detecting colour differences in roses and applied optimal mix from two granular fertilizer tanks to rose pots. The team was awarded with 2nd place in the freestyle.

Co-operation task

In the second competition day, the RoseRunner was to be partner with Ceres II team from Venlo for Co-operation task. The Co-operation task was another kind of freestyle where two robots have to do something intelligent together. RoseRunner and Ceres II teams decided to present two ideas: CeresII took RoseRunner trailer (compatibility) and the RoseRunner was to be following CeresII in rear right as a slave robot. RoseRunner and CeresII were awarded 3rd prize in co-operation task.

Photos

Team photo

Task 1: Basic navigation

In task 1 the robot had to navigate between the rose pot rows and in the headlands turn to the next row. RoseRunner was 3rd in this task.

Task 2: Advanced navigation

In task 2 a route map was given to the robot. First the robot had to turn 3 rows left, then 2 rows left and so on. RoseRunner was 2nd in this task.

Task 3: Customer order

In task 3 the robot had to pick up an ordered rose (with pot). Each team may select technology for detection, but jury placed ordered rose (with the marker) into random place in the field. In RoseRunner the marker was an orange ball. The detection accuracy was measured from marker to place where robot indicated finding or where robot hit rows or required manual intervention. RoseRunner was 3rd in this task.

Freestyle

In freestyle task each team may demonstrate what other things the robot can do than the behaviour required in tasks 1-3. RoseRunner can do fertilizing by using a Smart Fertilizer Trailer, which was detecting colour differences in roses and applied optimal mix from two granular fertilizer tanks to rose pots. The team was awarded with 2nd place in the freestyle.

Co-operation task

Sponsors

Building of the robot and participation to the competition in the Netherlands was possible thanks to our sponsors:

Yara Finland, Laserle, Murata / VTI Technologies, Koneviesti, Junkkari, Suonentieto, HP Infotech, Linak, SICK, Suomen Kulttuurirahasto, Maatalouskoneiden tutkimussäätiö; and Aalto University and University of Helsinki

Full resolution photos for media

Photo 1 Team Photo

Photo 2 Task 1

Photo 3 Task 1

Photo 4 Task 2

Photo 5 Task 2

Photo 6 Task 3

Photo 7 Task 3

Photo 8 Task 3

Photo 9 Freestyle

Photo 10 Freestyle

Photo 11 Co-operation