Grant: Idea to Innovation

A mobile manipulator (i.e., a wheeled mobile robot with a robotic manipulator attached to it) equipped with imaging sensors has initially been designed and developed for automated planted-pot delivery in nursery farms and greenhouses. The University of Regina (UofR) proprietary technology has been proven to conduct automated delivery of the planted pots in different sizes, shapes, and weights. Our system: (1) detects planted pots using conventional image processing techniques, (2) moves towards a pre-grasp configuration at high precision using onboard sensors, i.e., camera vision, LiDAR, and IMUs, (3) grasps the planted pots at the optimal contact points, and (4) lift them up and position them on the rotary table on top of the robot. According to the estimated size of the pot, the rotary table is then rotated incrementally, making room for the next pot to be positioned on it. The robot can carry up to eight pots, with a total weight of 50kg, for 10 kilometers with one single charge of the battery. The robot can move at the humans' speed, namely ~5 km/h, under which condition, the battery will last for 2 hours.The following functions are envisioned to be added to the current system:(1) Automated docking to a charging station.(2) Design of a HMI through which high-level motion commands can be given to the robot by a remote operator, and the robot will execute them at the machine level.(3) Adding an image-based detection, classification, and tracking algorithm that would enable the robot to track humans and/or service vehicles, when needed.(4) Improving on safety measures and algorithms to avoid collision between the robot and the static/dynamic objects in its environment.No similar technology exists in the market that can do all the above.