Mobile robot with optical sensors for remote assessment of plant conditions and atmospheric parameters in an industrial greenhouse

摘要

A mobile robot has been developed to monitor the state of the atmosphere and phyto-condition in protected ground facilities to form control strategies that maximize production profits. The free and open ROS (Robot Operating System) software shell was used as a basis for building a mobile robot information system. The paper considers a non-contact method of assessing the condition of plants (formation of the number of flowers in the inflorescence, the number of fruits per branch, average weight and ripeness of the fruit, fruit weight gain) using wavelet analysis, during which each image obtained with a video camera located on a mobile robot, decomposes into wave functions. The training on the accumulation of experience of trial and error of the route by the robot was conducted and it was determined that with the accumulation of experience the number of unsuccessful attempts and time of the route decreases, while the number of received incentives increases.