In Due Time

Kyle Baitz, Jonathan Pierson, Travis Haley

Background

• Pulling weeds is time consuming and expensive.

• An autonomous weed puller would save money and time becomes a non-issue.

• Eliminates the use of herbicides

Problem Statement

Design and fabricate an autonomous weed puller that can successfully navigate a corn field. The weed puller must remove weeds to within 2 inches of the corn stalk. The spacing of the corn stalks is 4.5”on center with rows being 30” apart

Solution Statement

A mechanism similar to a rotor tiller will be used along side a line tracking system to simultaneously navigate and pull weeds.

System Overview Diagram

Rolling Sensor Mount

• Provides a way to keep sensorsat specified height• Will allow for small amountof travel if surface is uneven.• Positioned on the frontof the MARV

Rolling Sensor Mount

Test ResultsSurface Volts White Reflectivity .25VBlack Reflectivity 3.51VDirt Reflectivity 2.88VOpen to Air 5.04V

Tested at .150”

OHM OHM

Rolling Sensor Mount

• Tracking Line is 2” wide and white• As sensor goes over line, V drops• Right Sensor determines if right

motor is turned on. (Same for Left Sensor)

Weed Puller/Tiller

In action

Weed Puller/Tiller

Arm Mechanism

Arm Mechanism

Safety Bumper

•Shuts down MARV when bumping into solid objects•Protects users from injury

Safety BumperOperation Diagram

Personnel Assignments

Rolling Sensor Assembly, Flow Diagram, System Diagram- Kyle Baitz

Arm Assembly, Roller Assembly, Spring System Design- Travis Haley

Safety Bumper, Budget, Model Assembly, Sensor Testing-Jonathan Pierson

Budget

• MARV assembly (borrowed)• Tiller Arm assembly• Tiller Arm motors (borrowed)• Tracking sensors (borrowed)• Miscellaneous materials

(borrowed)

$0$50$0$0$0_________$50 Total

Schedule

Week 1 Week 2 Week 3 Week 4 Week 5 Week 6 Week 7Brainstorming

Research Sensors

Weed Pulling Patents Background Mechanisms

Design Mechanical Safety Bumper

Rolling Sensor Mount Tiller-esque Mechanism

Arm Mechanism Tillers' Drive System

Design Electrical Sensor Circuit

Motor Functionality Programming

Flowcharts Code Analysis Presentation

Questions?