SENSOR FUSION RISK CONTROLLED AGRICULTURAL MOBILE PLATFORM

Abstract

The invention relates to a sensor-fusion risk-controlled agricultural mobile platform that calculates a measurable risk score by evaluating data from LIDAR, IMU, robot arm status sensing unit, wheel movement tracking unit, and joystick control unit together in a central control unit; directs the robot arm to a position that increases platform stability according to the calculated risk score, restricts the platform's speed and direction of movement, brings agricultural end effectors to a safe working state, and manages the phased emergency response process.

Description

1 TARIFF SENSOR FUSION RISK CONTROLLED AGRICULTURAL MOBILE PLATFORM TECHNICAL FIELD The invention includes LIDAR, IMU, robot arm position sensing unit, and wheel movement tracking unit 5. and the data obtained from the joystick control unit are combined in a central control unit. by evaluating and calculating a measurable risk score; according to the calculated risk score guiding the robotic arm to a position that increases platform stability, platform speed, and restricting the direction of movement, putting agricultural end effectors into a safe working condition, and Sensor-fused risk-controlled agricultural mobile 10 managing the phased emergency response process. It is related to the platform. PREVIOUS TECHNIQUE Agricultural mobile platforms and agricultural robots are used in agricultural work areas. 15 in carrying out operations such as movement, harvesting, maintenance, cutting and spraying It is used. However, agricultural activities are particularly problematic for users with limited mobility. Considering the safe and controlled participation in operations, the current mobility, robotic manipulation, and active safety functions in systems with human intervention to be implemented as an integrated and mandatory control chain on the agricultural platform There are shortcomings in this regard. 20 In current robotic arm agricultural systems, the robotic arm is mostly used for harvesting, maintenance, as an agricultural task actuator that performs cutting or spraying operations It is used to support the weight of the robotic arm in case of tilt or imbalance of the platform. redesigned to help keep the center within the support polygon positioning and thus the position of the total center of gravity of the platform 25 to change, reduce the moment in the direction of overturning or balancing moment a safety actuator that actively contributes to platform stability by creating Its use is limited. Therefore, platform stability with a robotic arm is crucial. A direct and necessary control relationship cannot be established between the robotic arm and the platform. Its function of increasing the effective tipping threshold is not being fully utilized. 30 In current applications using LIDAR, IMU, and manipulator data, the word... The data in question are mostly independent of each other, such as alerts, passive stops, or single-function signals. It is used in the formation of control decisions. Obstacle distance, slope, acceleration By weighting different risk sources such as change and robot arm moment, a single and 2 converting it into a measurable risk score, then basing that risk score on predetermined Changing the robot arm position, platform speed, or according to defined thresholds. route restrictions, agricultural operation shutdown, and phased emergency response. The steps involved in forming the decision are triggered in a sequential and mandatory manner. It is not adequately addressed in systems as an integrated and sequential control chain. 5 Although obstacle-detecting agricultural systems can stop the work equipment, IMU slope data can also be used. Active recovery by combining robot arm moment data within the same weighted risk score. It does not perform. Stability determines the speed or operating limit on sloping terrain. The systems utilize agricultural end effector locking and the counter-moment position of the robotic arm. It does not carry out the decision-making process and the phased SOS decision-making within the same control chain. Obstacle 10 a combination of different risk factors such as distance, slope, acceleration change, and robot arm moment a single, measurable risk score weighted by the control unit conversion and transfer of this risk score to the robot arm controller, platform drive sequential control commands to the system, agricultural end effectors, and emergency response unit. The transmission is not adequately handled in an integrated control chain in current applications. 15 not accepted. Users with limited mobility experience delayed physical response due to joystick issues. loss of control or safe stopping in a narrow greenhouse corridor Situations such as failure to perform, using a single sensor, or only providing a warning to the operator. It cannot be managed adequately with the systems that provide it. Similarly, the agricultural sector 20 The effector automatically provides safety in case of obstacle approach, tilt, or imbalance. The mode is taken and the working status of the end effector is determined along with the platform movement. Its evaluation remains limited. Regarding mobile manipulator stabilization... Although repositioning of the robotic arm is possible in manned agricultural systems, platform, user with mobility limitations, LIDAR-based obstacle detection, modular 25 Joystick, agricultural operation lock, and hierarchical emergency response chain are considered together. not accepted. Current emergency response systems also generally respond to a single event or a single threshold. The detection of its value triggers an alarm or call. Slope, acceleration Changes, wheel slippage, robot arm pose, and absence of joystick signal for a specific time (30) together with the window and robotic arm before the SOS decision changing position, limiting speed and locking the agricultural end effector The mandatory implementation of active recovery measures such as these is not being ensured. the situation is such that a brief change in a single sensor value triggers an emergency call or 3 This prevents the platform from generating sufficient active control effects in a real risk situation. It is possible. Therefore, the solution needed with the current technology is not individual sensors or individual sensors. It's not simply a matter of adding robotic components to a platform. The required structure, converting data from sensors into a measurable risk score, and subtracting 5 from that score. The movement controls the platform's drive system, robotic arm, and agricultural end effectors. It is an active security architecture that creates an impact through sequential, mandatory, and tiered processes. THE PURPOSE OF THE INVENTION The purpose of the invention is to create a manned mobile 10 used in the execution of agricultural operations. enhancing safety on agricultural platforms, especially for individuals with limited mobility. A sensor that supports participation in operations in a safer and more controlled manner. The goal is to develop a fusion-based active safety control system. The invention allows different users to create a structure that can be applied in profiles and controlled production environments It aims to... 15 Another objective of the invention is to combine LIDAR obstacle distance, IMU tilt and acceleration data. By combining robot arm status data, we can calculate a measurable risk score and by moving away from simply displaying the calculated risk score to a value shown to the user The invention is intended for use in carrying out mandatory security actions. In this context, the invention... Obtaining LIDAR, IMU and robotic arm status data, calculating the risk score, robot 20 Changing the arm position, restricting the platform speed or direction of movement, Agricultural end-effectors should be placed in a safe working situation and a phased SOS decision should be made. to carry out the sequential reaction chain consisting of evaluation steps It aims to... Another purpose of the invention is to use the robotic arm not only for harvesting, maintenance, cutting or spraying. 25 not as an end effector carrier performing its tasks, but as a critical slope or In case of imbalance, the platform's center of gravity must be within the support polygon. Changing the position of the overall center of gravity of the platform that helps to hold it, to reduce the height of the center of gravity, to reduce the moment in the direction of tipping, or a 30 that actively contributes to platform stability by creating a balancing moment. The goal is to use risk score or IMU data as a safety actuator. Thus, risk score or IMU data becomes a critical factor. When the situation is indicated, the robotic arm is guided into a position that increases platform stability. and the aim is to increase the effective tipping threshold of the platform. 4 Another objective of the invention is for the risk score to exceed predefined thresholds. In this situation, restricting the platform's speed and direction of movement, the robot arm on the platform to direct it into a position that increases its stability and the harvesting, cutting or spraying tip active recovery by bringing the effectors to a safe working state to carry out. 5 without eliminating the risk condition and obtaining user consent. The platform is unsafe because the agricultural operation lock has not been removed. The aim is to prevent him from starting work again under these conditions. Another objective of the invention is to analyze slope, acceleration change, wheel slip, robot arm pose, and by jointly evaluating the absence of joystick signal within a specific time window The goal is to create a gradual SOS response. This way, short-term vibrations or just 10 The immediate triggering of an emergency call if a single variable exceeds its threshold value. prevention is achieved by initially providing local audio and visual warnings, and if the risk persists and Unless cancelled by the user, the GSM / LTE call will receive a local network notification. or the purpose is to transmit GNSS location information. Another aim of the invention is to address narrow corridor geometry, plant height, and obstacle 15. platform speed, direction of movement, and depending on the density and the reach limit of the robot arm The goal is to automatically adapt the agricultural operation mode. Thus, the system only... Instead of functioning as a mechanism that gives a warning after a rollover or collision, an active control architecture that reduces the likelihood of these risks occurring in advance The aim is to create. 20 LIST OF FIGURES Figure 1. General overview of the sensor-fusion risk-controlled agricultural mobile platform. appearance Figure 2. Control architecture of a sensor-fusion risk-controlled agricultural mobile platform. 25 The corresponding numbers in the figures are: 100 Agricultural mobile platforms 110 Carrier chassis 120 Electric drive system 30 121 Drive motor 122 Motor driver 130 Wheel movement tracking unit 140 Power supply units 200 Robotic Arms 210 Robot arm mounting base 220 Robot arm controllers 300 Interchangeable agricultural end effectors 310 Quick change mechanism 5 400 Modular joystick control unit 410 Joystick connector socket 500 LIDAR-based obstacle detection units 510 IMU tilt and unevenness monitoring unit 600 Central control unit 10 700 Local alert units 710 Communication and emergency assistance unit DETAILED DESCRIPTION OF THE INVENTION The subject of the invention is a sensor-fusion risk-controlled agricultural mobile platform (100), 15 with a manned mobile platform (100) used in the execution of agricultural operations robotic manipulation and active safety components located on this platform The system includes: an electrically driven mobile platform (100), the platform's drive Motor drivers (122) that control the motors (121) are mounted on the mobile platform (100) mechanically integrated robot arm (200), joint motors of the robot arm (200) 20 The robot arm controller (220) is interchangeable and can be connected to the robot arm (200). agricultural end effectors (300), detachable modular that can be used on the right or left side joystick control unit (400), LIDAR-based obstacle detection unit (500), IMU tilt and imbalance monitoring unit (510), wheel movement monitoring unit (130) and the aforementioned by processing the data obtained from the units, motor drivers (122), robot arm 25 to the controller (220), agricultural end effectors (300) and emergency aid unit (710) control It includes the central control unit (600) which transmits the commands. Central control unit (600); risk scoring, robot arm stability control, active recovery, agricultural operation safety lockout, phased emergency response decision and risk-based approach specific to the confined work area. It is configured to perform task adaptation functions. 30 The core of the system’s safety operation is the LIDAR, IMU and robotic arm (200) status This creates a necessary and sequential chain of reactions that begins with the collection of data. LIDAR, IMU, wheel movement tracking unit (130), joystick control unit (400) and chain Data received from the robot arm controller (220) is processed by the central control unit (600) 6 The central control unit (600) calculates the risk score by processing it. Depending on the threshold value it reaches, the robot arm controller (220) has a stability-enhancing position. The command can be given to the motor drivers (122) to reduce speed, restrict the direction of movement or stop command and switch to safe operating status of agricultural end effectors (300) It transmits the command. If the necessary risk and time conditions are met, 5 The phased emergency assistance process is initiated by the central control unit (600). Thus, the sensors only produce measurement data; based on this data, platform drive system (120), robot arm (200) and agricultural end effectors (300) The control effect on it is by the central control unit (600), the relevant driver and This is done through commands sent to the controllers. 10 Electric mobile platform (100), user in agricultural work area carrier chassis (110) that enables transportation, user seating or support section, wheels, electric drive motors (121), motor drivers (122), braking elements, wheel motion sensing elements, power supply unit (140) and power distribution It is the basic carrier structure containing its components. Mobile platform (100) especially mobility restricted 15 While suitable for use by existing users, it also offers different user profiles and It can also be used in controlled production environments. Platform chassis (110) aluminum alloy 6061-T6 or 6082-T6, stainless from steel AISI 304 or AISI 316 or high-strength low-alloy steel profiles It can be created. Platform (100) has at least two drives located on the right and left sides. differential drive is a system where the wheels are driven independently of each other. to its structure or an equivalent motion mechanism including steerable wheels It can have drive wheels, a DC motor, and a brushless DC motor. motion via gears with motor or equivalent electric motors (121) It can be done. 25 The platform's electric drive system (120) has a total drive power of 500-1600 W, 15-60 To provide N·m wheel torque and a reduction ratio of 1:10-1:40. It can be configured. The drive motors (121) are received from the central control unit (600). Motors are controlled according to speed reference, torque limit, direction command, or stop command. Motor 30 regulates the applied current, voltage, or pulse width modulation signal. It is controlled by the drivers (122). Central control unit (600) Data transmission between motor drivers (122) is via CAN, RS-485, Ethernet, serial communication. or can be done via an equivalent communication interface. 7 The platform has (100) engine brake, electromechanical brake or equivalent stop. A mechanism can be found. If the risk score exceeds the determined threshold, an emergency is triggered. In case a stop command is received or the control signal is lost, the central unit The control unit (600) gives the motor drivers (122) a command to reduce or cut off the torque. It transmits and activates the braking mechanism when necessary. 5 The encoder located in the drive wheels or drive motors (121) is a Hall effect encoder. sensor, speed sensor or equivalent wheel movement detection elements (130) Data regarding the rotational speed and angular position of the wheels are sent to the central control unit. (600) transmits. The central control unit (600) transmits the said data to the platform (100) wheel 10 by comparing estimated progress rate or movement data of other wheels It can determine the degree of slippage. The platform's (100) working speed is 0-1.5 m / s, and the agricultural working mode speed is 0-0.8 m / s It can be kept within this range. The battery that supplies energy to the system is LiFePO4 or NMC. It can have a battery voltage of 24-60 VDC, a capacity of 20-80 Ah, and an energy of 0.5- It can be selected in the range of 4.0 kWh. Power supply unit (140), battery management 15 the system includes fuses, contactors, voltage converters and emergency power disconnection elements. It can include. Platform (100) can be configured with IP54-IP67 protection level. It can be used within a working temperature range of 5-45 °C and a relative humidity range of 40-95%. A mounting base (210) and connecting flange for the mobile platform chassis (110) The robotic arm (200) mechanically integrated via the agricultural task actuator 20 by changing the position of the total center of gravity of the platform (100) to improve stability. It functions as a contributing safety actuator. Robot arm mounting base. (210) transfers static and dynamic loads originating from the robot arm base to the platform chassis. (110) carrier plate, bolted fasteners and reinforcement as needed to transfer the load. It includes profiles. Vibration effects between robot arm (200) and platform (100) 25 In order to reduce the distance between the mounting base (210) and the robot arm base, 40-70 Shore A Vibration damping elastomer blocks of varying hardness can be used. Robot arm (200) 4-7 degrees of freedom, 0.6-1.2 m reach, 0.5-3.0 kg tip weight. It can have a capacity and a peak carrying capacity of 1-5 kg. Robot arm (200); joint motors, joint motor drivers, and encoders that determine joint positions. 30 torque used to determine the current position and load condition of the robot arm (200) These sensors may include force sensors or motor current measurement units. Robot The tip speed of the arm (200) is kept within the safety limit of 0.05-0.6 m / s, critical The transition speed to the stabilizing position during recovery is in the range of 0.02-0.2 m / s. 8 It is limited. The nominal torque of the robot arm (200) joints is 5-40 N·m, peak torque The robotic arm can have a torque of 10-80 N·m and a positional repeatability of ±0.5-3 mm. (200) joint motors, target position received from (600) central control unit or Robot arm controller (220) and joint motor that execute target joint angle commands It is controlled by its drivers. Central control unit (600) and robot arm 5 Data transmission between controllers (220) is via CAN, EtherCAT, RS-485, Ethernet or equivalent. The value can be realized via a communication interface. IMU (510) The slope angle and slope direction measured by the robot arm (200) and the information received from the encoders joint position and robot arm (200) load data by central control unit (600) They are evaluated together. The central control unit (600), the robot arm (200) has 10 total according to the pose, end effector (300) load and platform (100) support polygon information. horizontal projection of the center of gravity to a safer area of ​​the support polygon will bring it closer, reduce the center of gravity height, or decrease the moment in the direction of tipping. It determines a target robot arm (200) position that will reduce the position. The determined target position The information is transmitted to the robot arm controller (220) and the robot arm (200) joint motors 15 The target is moved to the desired position at a limited speed. The robotic arm (200) can be modified to perform different agricultural tasks. Agricultural end effectors (300) are connected. End effectors (300) are connected to the wrist of the robot arm (200). with the fixed connecting piece attached to the flange and the counter on the end effector (300) 20 via quick change mechanism (310) including the connecting piece to robot arm (200) It is fitted. Quick change mechanism (310); pin-socket, hook-channel, bayonet, spring pin, latch, motorized lock with wedge or equivalent mechanical coupling structure or may include a locking element in the form of a pneumatic lock. The mechanism (310) can provide a locking force of 100-500 N and the end effector (300) The change can be made within 5-60 seconds. Electrical 25 to the end effectors (300). power, control signal and, if required, pneumatic or fluid connection; multi-pole electrical connector, quick-flow coupling or equivalent fittings It can be transmitted via. Limit for verification of the lock status. A switch, proximity sensor, or equivalent sensing element can be used, end The effector type (300) is an identification resistor, RFID tag, digital identification data or equivalent 30 It can be reported to the central control unit (600) by the identification method. Fruit-grabbing tip effectors (300) used for harvesting purposes, relative to each other. movable gripping jaws and an electric motor that opens and closes those jaws, servo motor, linear actuator, pneumatic actuator or equivalent drive element 9 It can include. Fruit gripper (300) with 20-120 mm opening range and 5-40 N It can have gripping force. From the central control unit (600) or robot according to the opening, closing or gripping force command received from the lever controller (220) The gripping jaws are moved; gripping force is maintained in a safe working position. The jaws are being restricted, released, or the drive energy is 5 It is being cut. Cutting or trimming tool (300), fixed blade, movable blade and electric, electromechanical or pneumatic actuator that drives the movable blade It may include. Cutting or pruning component (300) with blade thickness of 0.5-2.5 mm and It can have a cutting power of 10-150 W. In safe operating conditions, the cutting power is 10 W. The actuator's power is cut off, the movable blade moves to the closed or retracted position. The process is interrupted until the restart command is given. It is being blocked. The tip effector (300) used for spraying purposes; liquid tank with a volume of 0.5-5 L, pump, flow line, electromagnetic valve and 0.1-1.5 L / min flow rate, 1-6 bar pressure and 15 It may include at least one nozzle providing droplet sizes of 50-300 micrometers. Central According to the spraying command given by the control unit (600), the pump and The electromagnetic valve is activated. The pump is in safe operation mode. The process is stopped, the electromagnetic valve is closed, and the fluid supply to the nozzle is interrupted. If the risk score exceeds the defined threshold, an obstacle will trigger a warning or stop signal. detection in the region, failure to verify the end effector (300) connection or emergency If a stop command is received, the central control unit (600) will send the relevant end effector It transmits a command to the driver to switch to a safe operating state. Thus, the cutting edge... (300) blade movement, (300) liquid spray and gripping tip in the spraying nozzle effector. The gripping force in the effector (300) is 25 in accordance with the structure of the relevant end effector (300). are being restricted or stopped. The user can use the platform (100) and the robotic arm (200) on the right or left side. It is controlled via a detachable modular joystick control unit (400). Joystick The control unit (400) is located on the right and left sides of the platform (100). It can be mechanically and electrically connected to any of its sockets (410). 30 Connection structure; slide-channel, pin-socket, snap-in profile or equivalent mechanical. spring-loaded connector that secures the joystick control unit (400) in the connection socket (410) with matching. It may include a pin, latch, rotary lock, or equivalent locking element. The electrical connection between the joystick control unit (400) and the platform (100) is very polarized connector, blind-coupled connector, or equivalent connector This can be done via the connection socket of the joystick control unit (400). (410) Limit switch, proximity to verify that it is installed correctly. sensor, identification resistor, digital identification information, or equivalent detection method It is available. 5 Modular joystick control unit (400); forward, backward and turn of the platform (100). directional commands, velocity reference, robot arm (200) operation regarding its movements at least one of the following allows the mode and emergency stop command to be created with one hand. It can include a joystick control and function buttons. Joystick control User commands received from unit (400) are transmitted to the central control unit (600), 10 central control unit (600) the commands in question are based on the current risk score and security comparing with the limitations of platform motor drivers (122) and robot arm controllers (220) sends the appropriate control commands. The speed, direction or requested by the user. If the robot arm (200) exceeds the specified safety limits, the central The control unit (600) limits, modifies or restricts user commands. It is not working. Absence of joystick signal, disconnection, signal the value falling outside the defined operating range or consecutive signals If any discrepancy is detected between them, the central control unit (600) changes the platform speed. to reduce or stop the platform (100) and the situation with the risk score It is used as a variable evaluated in the phased emergency assistance decision. 20 LIDAR-based obstacle detection unit (500) detects obstacles around platform (100) It generates data on distance, direction, and obstacle density and centralizes this data. It transmits to the control unit (600). The measurement range of the LIDAR unit (500) is 0.1-20 m, Scanning angle 180-360 degrees, scanning frequency 5-20 Hz, and distance resolution ±10-50 It can be in the mm range. In terms of obstacle detection, it is in the range of 0.3-1.0 m. A warning zone and a stopping zone ranging from 0.1 to 0.5 meters can be defined. Central control unit (600), obstacle distance and obstacle transmitted by LIDAR (500) It evaluates the direction data together with the movement direction and speed of the platform (100). If an obstacle is detected in the warning zone, the central control unit (600) motor drivers (122) to reduce speed or limit movement in the direction of the obstacle 30 The command is sent; if the obstacle is detected in the stopping zone, the motor... transmitting stop commands to drivers (122) and braking when necessary It activates the mechanism. At the same time, the central control unit (600), robot limiting the movement of the robot arm (200) to the arm controller (220) or to a safe position 11 transition command and safe operating status transition command to the associated end effector driver. It can transmit. Obstacle distance measured by LIDAR (500), central control unit It constitutes the collision risk component of the risk score calculated by (600). LIDAR unit (500) directly controls platform speed, robot arm (200) or end effectors (300). not controlling; the control processes in question are handled by the central office that processes the LIDAR data. 5 commands sent by the control unit (600) to the relevant drivers and controllers This is carried out through [the relevant authority]. IMU tilt and imbalance monitoring unit (510), platform (100) tilt angle, tilt It produces measurement data regarding the direction, linear acceleration and angular velocity of the said It transmits the data to the central control unit (600). IMU (510) between ±2 g and ±16 g. Acceleration measurement range: gyroscope measurement between ±250 degrees / s and ±2000 degrees / s. It can have a range and sampling rate of 50-500 Hz. Slope excitation threshold 5-15 degrees, critical slope threshold 10-25 degrees and monitored slope change rate 3-30 degrees / s It can be determined within the range. Central control unit (600), by IMU (510) Transmitted tilt and motion data, robot arm (200) joint positions, robot arm (200) load 15 or moment data, platform (100) movement status and support polygon It is evaluated together with its geometry. The slope angle, the rate of slope change, or If the calculated risk score exceeds the determined threshold value, central control will be implemented. unit (600) motor drivers (122) platform speed reduction or platform (100) transmits the stop command and stability enhancing target 20 to the robot arm controller (220). It sends a position command. IMU unit (510) platform (100) or robot arm (200) does not directly control; control operations process IMU measurement data central control unit (600) related motor drivers (122) and robot arm This is done through commands transmitted to the controller (220). Stability enhancing function of the robot arm (200), agricultural end effector 25 of the robot arm (200) (300) Active contribution to platform stability apart from the function of being a carrier It provides. Central control unit (600), robot arm (200) joint encoders. Joint positions are obtained from torque sensors, force sensors, or motor current sensors. Load data obtained from measurements, mass of robot arm (200) segments and geometric properties, end effector (300) load and platform (100) support polygon 30 using its geometry, determine the current center of mass position of the robot arm (200) or Estimate the total center of gravity position of the platform (100) and the robot arm (200) It is able to. According to this assessment, the central control unit (600), total weight horizontal projection of the center to a safer area of ​​the support polygon 12 bringing it closer, lowering the center of gravity, reducing the moment in the direction of tipping or determines a target robot arm (200) pose that creates a balancing moment. The determined target position is transmitted to the robot arm controller (220), and the robot arm controller (220) controlling the joint motor drivers of the robot arm (200) 0.02-0.2 m / s speed It directs the robot arm (200) to the target position during its movement. Joint position and load data are monitored as feedback; joint torque, operation robot arm (200) movement in case of exceeding the area or collision limits is restricted or stopped. The robot arm (200) is thus re-enabled. by positioning the platform's (100) margin of stability against overturning or effective The aim is to increase the tipping threshold. 10 Risk scoring function carried out by central control unit (600), different risks It combines its resources into a single, measurable risk score. The risk score is RP. This can be calculated using the following example equation: 𝑅𝑃 = 𝑤! ⋅ A 𝐸es¸ #k +𝑤" ⋅ ΔB 𝐼es¸ #k +o# ⋅ *1 − dLIDAR d gu ¨ venl# . + 𝑤$ ⋅ 𝑀kol 𝑀max In this relationship, 𝐸 is the measured slope, 𝐸eş#k is the slope threshold value, Δ𝐼 is the change in acceleration, and 𝐼%ş'( ) acceleration change threshold value, obstacle distance measured by LIDAR, 𝑑)ü+%,-' safe distance, robot arm moment (Q), and maximum allowable robot arm moment (Qmax). (200) expresses the moment. 𝑤! −𝑤$ weight coefficients according to the working environment These coefficients can be adjusted and are 0.30, 0.25, 0.25 and 0.20 respectively. The risk score (RP) for wheel slip and joystick signal loss can be determined. Additional coefficients can be defined for the calculation. Risk score is controlled by the central control unit (600) at 50-500 Hz. It is recalculated in the cycle. It is normal for the RP value to be less than 0.4. The operating status, being in the range of 0.4-0.7, indicates speed or direction of movement restriction mode, 25 A value greater than 0.7 indicates active recovery and agricultural end effectors (300) safe operation. This indicates the state of taking a position. An RP value greater than 0.9 signifies... If the relevant time condition is also met, the SOS assessment stage It initiates. Thus, the risk score is not merely a result that is monitored or displayed, but 30 pre-defined security actions by central control unit (600) It is used as a control variable in sequentially initiating processes. 13 If the RP value reaches the range of 0.4-0.7, the central control unit (600) motor drivers (122) to reduce platform speed or restrict certain directions of movement It transmits the command. If the RP value exceeds 0.7, the central control unit (600) motor drivers (122) reduce platform speed to the range of 0-0.3 m / s or platform (100) stop command, robot arm controller (220) stability enhancer target 5 Position command and safe operating status transition to the associated end effector drivers. It transmits the command. Necessary risks and time are involved while active recovery operations are carried out. Whether the conditions are met is being assessed and whether the conditions are fulfilled. In case of a gradual emergency aid process by the central control unit (600) These actions are initiated. These actions bring the robot arm (200) to a stabilization-enhancing position 10 guidance, restriction of platform speed or direction of movement, agricultural aircraft effectors (300) being put into safe working condition and SOS levels The evaluation is being carried out sequentially. Short-term fluctuations in the assessment of risk score and SOS conditions. To reduce the likelihood of false triggers caused by temporary sensor changes, 0.2-2.0 15 A time window filter is used. For periods shorter than 0.2 seconds. Vibrations or even just a single variable exceeding a threshold value directly triggers an SOS decision. It does not create. The first threshold of the incremental SOS decision architecture is the slope, acceleration change, at least under the conditions of wheel slip, robot arm (200) pose and joystick signal absence The three occurring simultaneously within a time window of 0.5-2.0 seconds results in 20 is provided. Upon fulfillment of the first threshold, the central control unit (600), local By transmitting a command to the warning unit (700), a buzzer with a sound level of 70-100 dB and 50-300 lm It activates the warning light at high light intensity. Within 5-30 seconds of the first SOS threshold being reached, the user If the cancellation process is not carried out by (100) or the platform is in a secure state 25 If it does not respond, the second SOS threshold is reached. At the second threshold, the central control unit... (600), transmitting commands to the communication unit (710) to make a GSM / LTE call, local network notification or GNSS enables the transmission of location information. This system allows for emergency assistance. The decision is not based on a single threshold value from a single sensor, but on a specific set of multiple variables. It is based on their simultaneous occurrence within a time window. Also, emergency 30 Platform speed and direction of movement are restricted before aid delivery, robot arm (200) being directed to a stabilization-enhancing position and risky agricultural end effectors (300) are safe It is being put into working order. 14 Risk specific to the narrow working area, managed by the central control unit (600). task adaptation function based on narrow aisle geometry, plant height, obstacle By evaluating the density and the reach limit of the robot arm (200), the platform speed, It automatically adapts the direction of movement and the agricultural operation mode. Engel increasing density, narrowing of the corridor or reaching the limit of the robot arm (200) 5 Platform movement and agricultural operation mode present risks if approached. It is limited according to the situation. Thus, the control of the platform (100) is only not in a way that will trigger an alarm after a rollover or collision occurs, but verbally. The process is carried out in a way that will mitigate the risks involved. Re-establishing agricultural operations after active recovery, 10 It is linked to safe return-to-work conditions. The risk condition must be eliminated and... Safe operating status of agricultural end effectors (300) without obtaining user approval is not removed by the central control unit (600). Safe status, platform slope, obstacle distance measured by LIDAR (500), robot arm (200) position This is determined by verifying the consistency of the joystick and signal together. This verification is 15 and when user approval is provided, the central control unit (600) will send the relevant end effector It can transmit a reactivation command to its driver. Thus, reactivation The acquisition process is implemented as a safety condition of the active recovery algorithm, and The platform (100) is prevented from returning to agricultural processing while the risk continues. 25

Claims

REQUESTS 1. Sensor-fused risk assessment used in agricultural operations. It is a controlled agricultural mobile platform (100), and its feature is; - Carrier 5 configured to transport the user in an agricultural work area. chassis (110), electric drive system (120), drive motors (121), said Motor drivers (122) that control the drive motors (121), wheel movement Manned mobile unit including monitoring unit (130) and power supply unit (140) platform (100), - mechanically integrated onto the mobile platform (100), platform 10 by changing the position of the total center of gravity robot arm structured to (200), - the joint motors of the robot arm (200) target position or target joint angle Robot arm controller (220) which controls according to its commands, - detachable 15 that can be used on the right or left side of the mobile platform (100). modular joystick control unit (400), - distance, direction and obstacles around the platform (100) LIDAR-based obstacle detection unit (500) that produces density data, - the inclination angle, inclination direction, linear acceleration and angular velocity of the platform (100) IMU tilt and imbalance monitoring unit (510) which produces measurement data related to, 20 - LIDAR-based obstacle detection unit (500), IMU tilt and imbalance from the monitoring unit (510), from the wheel movement monitoring unit (130), modular from the joystick control unit (400) and the robot arm controller (220) calculating a risk score by processing the data, the calculated risk score Depending on the threshold value it reaches, the robot arm controller (220) has a stability of 25 position booster command and speed reduction to motor drivers (122), motion transmitting a command to restrict or stop the direction and the necessary risk and time a phased emergency aid process if the conditions are met by including a central control unit (600) configured to initiate It is characterized by 30 2. According to claim 1, the sensor fusion risk controlled agricultural mobile platform (100) Its feature is that at least two drive wheels, located on the right and left sides, are separated from each other. a differential drive structure that is steered by independent driving or 16 by including a movement mechanism that incorporates steerable wheels It is characteristic.

3. According to claim 1, the sensor fusion risk controlled agricultural mobile platform (100) is Features include a total drive power of 500-1600 W, wheel torque of 15-60 N·m, and a scale ratio of 1:10-1:

40. 5 by including an electric drive system (120) that provides the reduction ratio. It is characteristic.

4. According to claim 1, the sensor fusion risk controlled agricultural mobile platform (100) its feature is the speed reference, torque limit, direction received from the central control unit (600). applied to drive motors (121) according to the command or stop command Motor 10 that regulates current, voltage, or pulse width modulation signals. It is characterized by including drivers (122).

5. According to claim 1, the sensor fusion risk controlled agricultural mobile platform (100) The feature is that when the risk score exceeds the defined threshold value, an emergency stop command is issued. to motor drivers in case of receipt or loss of control signal (122) transmitting a torque reduction or cutting command and a braking mechanism 15 by including a central control unit (600) configured to put it into operation It is characteristic. According to claim 6. 1, the sensor fusion risk controlled agricultural mobile platform is (100), This feature generates data regarding the rotational speed and angular position of the drive wheels. Wheel movement monitoring unit 20 containing encoder, Hall effect sensor or speed sensor (130) and the said data are used to estimate the platform's progress rate or other Determining wheel slippage by comparing it to wheel movement data. by including a central control unit (600) structured to determine It is characteristic.

7. According to claim 1, the sensor fusion risk controlled agricultural mobile platform (100) is 25 Its feature is that the robot arm (200) is mechanically attached to the carrier chassis (110) of the mobile platform. carrier that connects and carries static and dynamic loads originating from the robot arm base. carrier plate, bolted fasteners and reinforcement transferring to the chassis (110) It is characterized by containing a robot arm mounting base (210) which includes profiles.

8. According to claim 7, the sensor fusion risk controlled agricultural mobile platform (100) is 30 its feature is between the robot arm mounting base (210) and the robot arm (200) base Positioned 40-70 Shore A hardness vibration damping elastomer It is characterized by containing wedges. 17 According to claim 9, the sensor fusion risk controlled agricultural mobile platform (100) is Features include 4-7 degrees of freedom, 0.6-1.2 m reach, and a 0.5-3.0 kg tip. Robot arm with carrying capacity and peak carrying capacity of 1-5 kg ​​(200) It is characterized by its inclusion. According to claim 10, the sensor fusion risk controlled agricultural mobile platform (100) is 5 Its feature is joint motors, joint motor drivers, which determine joint positions. Determining the current position and load status of the robot arm (200) with encoders useful torque sensors, force sensors or motor current measurement units It is characterized by containing a robotic arm (200).

11. According to claim 10, the sensor fusion risk controlled agricultural mobile platform (100) is 10 feature, slope measured by IMU tilt and imbalance monitoring unit (510) angle and tilt direction together with the joint position and load data of the robot arm (200). by evaluating and supporting the horizontal projection of the total center of gravity raising the center of gravity closer to a safer area of ​​the polygon reducing, reducing the moment in the direction of overturning or balancing moment 15 to determine a target pose for the robot arm and to position the robot in that target pose Central control unit (600) configured to transmit to the arm controller (220) It is characterized by its inclusion.

12. According to claim 11, the sensor fusion risk controlled agricultural mobile platform (100) Its feature is that the robot arm (200) has a stability-enhancing target position speed range of 0.02-0.2 m / s. to guide and return joint position and load data throughout the robot arm movement. Robot arm controller configured to monitor as feed (220) It is characterized by its inclusion. According to claim 13, the sensor fusion risk controlled agricultural mobile platform (100) Its feature is the joystick connection 25 located on the right and left sides of the platform (100). mechanically and electrically connectable to any of its sockets (410) It is characterized by containing a modular joystick control unit (400).

14. According to claim 13, the sensor fusion risk controlled agricultural mobile platform (100) is Its feature is the modular joystick control unit (400) in the joystick connection socket. (410) mechanical fastening in the form of a slide-channel, pin-socket or snap-in profile 30 locking element in the form of a spring pin, latch or rotary lock with matching It is characterized by its inclusion.

15. According to claim 13, the sensor fusion risk controlled agricultural mobile platform (100) Its feature is the control of directional commands for the platform's forward, backward, and turning movements, as well as its speed. 18 the reference, robot arm operating mode and emergency stop command can be controlled with one hand. Function with at least one multi-axis joystick that enables its creation. by including a modular joystick control unit (400) containing buttons It is characteristic.

16. According to claim 15, the sensor fusion risk controlled agricultural mobile platform (100) is 5 its feature is receiving user commands from the modular joystick control unit (400). requested speed and direction by comparing it with the current risk score and safety limits. or if the robot arm (200) exceeds the safety limits of movement, the user configured to restrict, modify, or not execute the command. It is characterized by containing a central control unit (600). 10 According to Claim 17, the sensor fusion risk controlled agricultural mobile platform (100) Its features include a measurement range of 0.1-20 m, a scanning angle of 180-360 degrees, and a refresh rate of 5-20 Hz. LIDAR-based with scanning frequency and ±10-50 mm distance resolution. It is characterized by containing an obstacle detection unit (500).

18. Risk-controlled agricultural mobile platform with sensor fusion according to claim 17 (100) 15 It is characterized by being an obstacle within the defined warning zone, ranging from 0.3 to 1.0 meters. When detected, the motor drivers (122) reduce speed or where there is an obstacle The directional movement restriction command defines a stop within the 0.1-0.5 m range. When an obstacle is detected in the area, the motor drivers (122) are ordered to stop. 20 by including a central control unit (600) configured to transmit the command. It is characteristic. According to Claim 19, the sensor fusion risk controlled agricultural mobile platform (100) Its feature includes an acceleration measurement range between ±2 g and ±16 g, and between ±250 degrees / s and ±2000. gyroscope measurement range between degrees / second and sampling rate of 50-500 Hz It is characterized by having an IMU tilt and imbalance monitoring unit (510). 25 20. According to claim 19, the sensor fusion risk controlled agricultural mobile platform (100) is Features include a 5-15 degree slope warning threshold, a 10-25 degree critical slope threshold, and a 3-30 degree slope warning threshold. IMU tilt and unevenness monitoring based on the degree / second tilt change rate range. central structured to evaluate data received from unit (510) It is characterized by containing a control unit (600). 30 According to claim 21, the sensor fusion risk controlled agricultural mobile platform (100) is Its feature is the ratio of the measured slope to the slope threshold value, the change in acceleration to acceleration. ratio of change to threshold value, obstacle measured by LIDAR (500) obtained by subtracting one from the ratio of the distance to the safe distance 19 collision risk component and the maximum allowable moment of the robot arm (200) to calculate the risk score by weighting the ratio of the robot arm moment It is characterized by containing a structured central control unit (600).

22. According to claim 21, the sensor fusion risk controlled agricultural mobile platform (100) is Features include slope, acceleration change, LIDAR obstacle distance, and robot arm moment (5). using weighting coefficients determined as 0.30, 0.25, 0.25 and 0.20 respectively and additional coefficients can be defined for wheel slip and joystick signal loss. It is characterized by containing a central control unit (600). According to claim 23. 1, the sensor fusion risk controlled agricultural mobile platform is (100), Its feature is to recalculate the risk score in a 50-500 Hz control loop, risk 10 If the score is less than 0.4, it is considered normal working status. to maintain, the platform if the risk score is in the 0.4-0.7 range restricting speed or direction of movement and having a risk score greater than 0.7 In this case, the robot arm (200) is directed to the target position to increase stability and 15 to reduce platform speed to the 0-0.3 m / s range or to stop the platform It is characterized by containing a structured central control unit (600). According to claim 24.1, the sensor fusion risk controlled agricultural mobile platform is (100), The characteristic is 0.2-2.0 in the assessment of risk score and SOS conditions. using a time window filter and vibrations shorter than 0.2 seconds or the direct SOS decision if a single variable exceeds the threshold value 20 central control unit configured to prevent its creation (600) It is characterized by its inclusion.

25. According to claim 24, the sensor fusion risk controlled agricultural mobile platform (100) is Features include slope, acceleration change, wheel slip, robot arm (200) pose and joystick. At least three of the signal absence conditions must be present for a period of 0.5-2.0 seconds. If they occur simultaneously in the window, the sound level will be 70-100 dB. Local warning system to activate warning lights with buzzer and 50-300 lm light intensity. central control unit (600) configured to transmit signal to unit (700) It is characterized by its inclusion.

26. According to claim 25, the sensor fusion risk controlled agricultural mobile platform (100) is 30 its feature is 5-30 seconds after the local alert unit (700) is activated. if user cancellation or return to secure state does not occur within it To transmit GSM / LTE calls, local network notifications, or GNSS location information. with structured communication and emergency assistance unit (710) It is characteristic. According to Claim 27, risk controlled agricultural mobile platform with sensor fusion (100), Its features include narrow aisle geometry, plant height, obstacle density, and robotics. By evaluating the reach limit of the arm (200), the platform speed, direction of movement and 5 configured to automatically adapt the agricultural operation mode It is characterized by containing a central control unit (600). 15 25

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