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Agrofelis-Documentation-Handbook.pdfAll documents of the Agrofelis documentation have been rendered using Latex and have been combined into a single printable PDF file, making up the 237 pages Agrofelis Documentation Handbook.Adobe Portable Document Format - 39.55 MB - 10/09/2023 at 17:16 |
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computing-and-intercoms.zipThe infrastructure provisioning, computing elements and data fusion document presents the provision of the main computing elements of the robot and initiation of its services. The peripheral elements established and attached to the local Agrofelis WIFI network and its USB hub are enumerated. The GPU component and the neural network accelerator tapping to the USB3 interface of the Jetson Nano are presented. The Agrofelis Unificator Software, connecting all Agrofelis modules is introduced and its source code and features presented. Also provided are lightweight 3D printed structural elements that organize the components in the limited space available for their USB cables and secure the components and the USB hub in their compartment. The document concludes with a list of the components used and indicative suppliers, aiding the replication of the Agrofelis computing and networking systems.https://github.com/meltoner/agrofelis/tree/main/components/connectivity x-zip-compressed - 4.61 MB - 09/10/2023 at 21:56 |
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remote-control.zipThe remote controller design and fabrication document presents the details of fabricating a baseline remote controller for actuating the wheels, steering, brakes and power functions of the Agrofelis robot. Emphasizing ergonomics, cost-effectiveness and the use of readily available components, a simple extendable design is presented, rapidly prototyping the minimum number of sensors and components needed for booting and controlling the mobility functions of the vehicle. The software source code running on the micro-controller is also presented, following approaches similar to those implemented in other Agrofelis modules. The document concludes with a list of components used and provides information on indicative suppliers, aiding in the replication of the module.https://github.com/meltoner/agrofelis/tree/main/components/remote-control x-zip-compressed - 3.00 MB - 09/10/2023 at 21:53 |
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implement-2-degrees-rotating-mount.zipThe two degrees of freedom rotating implement mount document outlines the construction of the Rotating Implement Mount (RIM), a crucial component positioned atop the Agrofelis robot. The RIM's primary function is to enable the use of various implements, such as the thermal fogger featured in the presentation video. This report covers the rationale behind the module, its schematics, source code files and details of the manufacturing process. The document concludes with a list of the components used and assorted with indicative suppliers, facilitating the replication of the module.https://github.com/meltoner/agrofelis/tree/main/components/implement-2-degrees-rotating-mount x-zip-compressed - 8.28 MB - 09/10/2023 at 21:52 |
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vehicle-lidar.zipThe 3D Lidar front sensors design and fabrication document details the creation of the front sensors module, which is used to install a 3D Lidar mount on the Agrofelis robot, enabling it to have spatial awareness of its surroundings. The module comprises an ESP32, an ESP32 Terminal Adapter, a Servo, a Lidar, an MPU and a GPS sensor. The module facilitates the tilting of the 2D Lidar to capture multiple planes of 360-degree coverage, effectively creating a spherical 3D view of its surroundings. The rationale behind the module, its schematics, the manufacturing process, the software controlling the module and reflecting its information, as well as a Lidar data analysis tool developed, are all discussed. The document concludes with a list of the components used and indicative suppliers, aiding in the replication of the module.https://github.com/meltoner/agrofelis/tree/main/components/vehicle-lidar x-zip-compressed - 5.85 MB - 09/10/2023 at 21:50 |
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mobility.zipThe Agrofelis motors hub driver document delves into the manufacturing and functional intricacies of a composite module tailored for controlling and sensing a pair of in-wheel motor hubs digitally, over the air. A detailed exposition of each component's rationale and its seamless integration with counterparts is provided, bolstered by design plans and photographic evidence of the actual implementation. The document offers a roadmap through the Agrofelis repository, elucidating the source file locations and the production processes underpinning the manufacturing of the Agrofelis Motors Hub Driver. The document presents the structural elements of the unit, the three type of PCB sub-components, the software running on the micro-controller, key tools employed in the manufacturing process and ends with a compendium of indicative suppliers to purchase the different parts.https://github.com/meltoner/agrofelis/tree/main/components/mobility/motors_hub_driver x-zip-compressed - 22.39 MB - 09/10/2023 at 21:48 |
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vehicle-steering.zipThe Agrofelis steering system design and fabrication document delves into the intricacies of the Agrofelis vehicle's steering system. The design rationale, structural elements, feedback mechanisms and the custom PCB board are all presented and documented in detail. The document encompasses source code files, key design metrics, schematics, 3D printed assets, laser-cut NC files and photographs, offering a view of the fabricated components and manufacturing steps in a progressive manner. The steering module of Agrofelis enables it to make a tight 1-meter turn radius and its design minimizes the overall footprint of the vehicle. The document also contains a list of components and indicative suppliers that comprise the bill and material information of the steering module. Finally, the documentation provides an overview of the implemented driver software, its classes, and their relations.https://github.com/meltoner/agrofelis/tree/main/components/vehicle-steering x-zip-compressed - 6.52 MB - 09/10/2023 at 21:45 |
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vehicle-covers.zipThe protective covers design and fabrication document builds on the Agrofelis frame design and fabrication documentation by detailing the protective covers of the vehicle, including their schematics and the source code files utilized for a CNC plasma cutter. Additionally, photographic material offers insights into the manufactured parts. A list of components and indicative suppliers that comprise the bill and material information for isolating the robot from its external environment, is documented.https://github.com/meltoner/agrofelis/tree/main/components/vehicle-covers x-zip-compressed - 1.83 MB - 09/10/2023 at 21:43 |
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vehicle-power.zipThe power system design and fabrication document delves into the power-related components that classify the Agrofelis robot as an energy-dense solution. The battery technology employed, as well as the capacity, management, monitoring, and charging options, are elaborated. The battery arrangement for minimizing the vehicle's footprint, as well as its protective enclosure and cable connectivity schematics, are all documented. In addition, the power distribution, the different voltages energizing the various electronics, along with the protective mechanisms are documented. Furthermore, the document describes the WiFi relays and how to make them more robust. The documentation also lists all the utilised components, their prices, along with indicative suppliers facilitating the reproducibility of the system.https://github.com/meltoner/agrofelis/tree/main/components/vehicle-power x-zip-compressed - 5.37 MB - 09/10/2023 at 21:42 |
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vehicle-forks.zipThe wheels forks design and fabrication document presents a progressive overview of the fabrication process for the forks mounting the four wheels of the Agrofelis vehicle. These forks are intentionally designed to be detachable, so that the wheels could be removed or replaced with alternative ones. The forks are responsible for securing the active wheels of the vehicle, establishing active brakes actuated via servos, enabling steering and installing feedback rotating mechanisms. The forks are constructed from regular iron T-shaped rods that have been cut and welded. The design schematics, plasma cut patterns, as well as images of the fabrication progression are all documented. The document concludes by providing a list of indicative suppliers from whom the raw materials were acquired, further enriched with bill and material details.https://github.com/meltoner/agrofelis/tree/main/components/vehicle-forks x-zip-compressed - 3.21 MB - 09/10/2023 at 21:39 |
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vehicle-wheels.zipThe Agrofelis robot wheels fabrication document presents a comprehensive overview of the manufacturing process behind the four-wheel drive (4WD) system of the Agrofelis robotic vehicle. It begins by detailing the specific requirements and then progresses to the completed fabricated solution. The design plans, compilation procedures, assistance assets and images taken throughout development are presented in a step-by-step manner. The sub-components composing four Agrofelis wheels are indexed with their unit prices and overall cost, along with references to indicative suppliers.https://github.com/meltoner/agrofelis/tree/main/components/vehicle-wheels x-zip-compressed - 2.73 MB - 09/10/2023 at 21:38 |
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vehicle-frame.zipThe chassis frame design and fabrication document, focuses on the manufacturing details of the vehicle's frame. The frame houses and protects the 8 kw power module with its LiFePO4 batteries, the electronics, the sensors and actuators of the unmanned vehicle. The frame was implemented using a total of 7.35 meters of 20X20 mm regular square iron bars, it establishes key placeholders for mounting the detachable wheels, the protective covers and via its grid-like attachment points enables mounting anticipated tools, as well as future ones. The primary design considerations were footprint minimization, battery compartment protection, chassis rigidity, and ease of manufacture utilizing low-budget tools and readily available materials.https://github.com/meltoner/agrofelis/tree/main/components/vehicle-frame x-zip-compressed - 3.35 MB - 09/10/2023 at 21:32 |
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agrofelis_introduction.zipThe compressed archive contains a general introduction of the Agrofelis Robot. The archive summarizes all pertinent documentation and contains cherry picked photographic material.https://github.com/meltoner/agrofelis/ x-zip-compressed - 2.77 MB - 09/10/2023 at 21:25 |
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Agrofelis Robot
The Agrofelis Robot is a multipurpose agricultural robot which is energy dense programmable AI-Ready and precision agriculture capable.