自动换装与校准硝酸盐传感器，让农田机器人长期自主监测玉米植株氮含量。
Autonomous Sensor Exchange and Calibration for Cornstalk Nitrate Monitoring Robot
- 设计新型夹爪与漏斗结构，实现传感器高效可靠更换。
- 在田间成功插入30根玉米秆，成功率77%。
- 内置自校准站，保障测量精度，适合长期农业监测场景。
交互式传感器是机器人系统的关键组件，但常因磨损需人工更换。为提升系统自主性并支持长期部署，我们开发了一套面向农作物监测机器人的自动传感器更换与校准系统，可将硝酸盐传感器插入玉米秆中。创新设计了具备可靠漏斗结构的夹爪与更换机构，实现高效稳定的传感器替换；同时集成机载传感器校准站，可在田间完成清洁与校准。2024年6月在艾姆斯柯蒂斯农场部署测试，成功将硝酸盐传感器精准插入30根玉米秆，整体成功率达77%。
原文摘要 · Abstract (English)
Interactive sensors are an important component of robotic systems but often require manual replacement due to wear and tear. Automating this process can enhance system autonomy and facilitate long-term deployment. We developed an autonomous sensor exchange and calibration system for an agriculture crop monitoring robot that inserts a nitrate sensor into cornstalks. A novel gripper and replacement mechanism, featuring a reliable funneling design, were developed to enable efficient and reliable sensor exchanges. To maintain consistent nitrate sensor measurement, an on-board sensor calibration station was integrated to provide in-field sensor cleaning and calibration. The system was deployed at the Ames Curtis Farm in June 2024, where it successfully inserted nitrate sensors with high accuracy into 30 cornstalks with a 77$\%$ success rate.
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