AgriBot

1. Hardware

2. Software

3. Complete

Scroll to build AgriBot

1. Chassis — Aluminium extrusion frame with a deck, plus front and rear bumpers wired as a safety loop.
2. Drive — 4WD skid-steer: four 12 V gear motors with Hall encoders and large off-road wheels for field rows.
3. Power — A 21700 Li-ion battery pack (6S2P, 21.6 V) in a hot-swap bay, feeding PWR-1 — our own power & safety board.
4. Real-time controller — Cytron MOTION 2350 Pro (RP2350) runs the wheels, reads the radio and watches the battery.
5. Brain & 4G — Raspberry Pi 5 with AI HAT+ (13 TOPS, Hailo-8L) — all the AI runs on the robot, no laptop needed — plus a 4G modem.
6. Housing — A compact black anodised aluminium housing closes over the electronics, with vents, cable glands and a side door to hot-swap the battery.
7. Sensors, display & e-stop — On the lid: LD19 LiDAR, a 7-inch display that shows what the robot sees, the e-stop and antennas. The front camera looks down the row.
8. Two robot arms + bin — Two Elephant Robotics myCobot 320 arms (6 axes, 1 kg payload each) on the lid, crop side, with a collection bin between them.
9. Camera + cutter — Arm B carries an inspection camera with an LED ring light. Arm A carries a cut-and-hold cutter that grips the leaf and cuts it in one motion.
10. Real-time control — Wheel speed PID with encoder feedback. If the radio or the Pi goes quiet for 200 ms, the wheels stop.
11. Mapping & navigation — ROS 2 with LiDAR SLAM and Nav2 maps the field and drives along the row.
12. Edge AI vision — The front camera and a two-stage YOLOv8 model scan every plant and flag the ones that look unhealthy.
13. Close inspection — Arm B brings its camera to the suspicious leaf. The live view appears on the robot’s display with the identified class: Healthy, Alternaria Spot, Black Rot or Downy Mildew.
14. Cut & hold — Arm A grips the infected leaf and cuts it in one motion, then drops it into the collection bin so the disease can’t spread. Arm B keeps watching.
15. Telemetry — Battery, detections and position stream over 4G to a web dashboard.
16. Hardware safety — E-stop and bumpers cut arm and motor power directly — no software in the loop.
17. AgriBot — Hardware and software, working as one field robot.