Robotic root-zone soil-moisture sampling and irrigation
The University of Zagreb has developed a robotic system that automates the "feel and appearance" method for irrigation water management in greenhouses. By combining RGB-D camera vision with a compliant force control framework, the robot can safely insert moisture sensors into the plant root zone, regardless of soil stiffness, to optimize irrigation and improve resource efficiency.
Overview
The University of Zagreb has developed a robotic system designed to automate irrigation water management within controlled greenhouse environments. By automating the traditional "feel and appearance" method of soil moisture assessment, this research-based system helps optimize irrigation strategies. It utilizes a robotic manipulator equipped with sensors to determine when to irrigate and how much water to apply, thereby conserving resources and protecting plant health.
Technical specifications
- Integrated sensing: The system uses an RGB-D camera for 3D soil surface detection and a soil moisture sensor for root-zone analysis.
- Adaptive control: Features a compliant force control framework that allows the robot to insert sensors into the soil safely without prior knowledge of soil stiffness.
- Versatile operation: The system can navigate and sample in various soil conditions, including soft moist soil and stiff soil containing rigid debris, without harming sensitive plant roots.
- Automated planning: The system employs iterative 3D point-cloud segmentation and RANSAC-based plane fitting for surface estimation.
Technology readiness level
The technology is currently at TRL 4-5. It has been validated through experimental studies using a collaborative robot arm in a laboratory setting to demonstrate soil surface detection and compliant sampling capabilities. While it successfully functions under various conditions, it remains a research-based prototype.
About University of Zagreb
The University of Zagreb is a comprehensive public research university in Croatia’s capital, combining broad academic scope with an applied research culture. Industry engages via co‑located national e‑infrastructure and high‑performance computing at SRCE for data‑intensive collaboration. Clinical translation is enabled through integration with the University Hospital Centre Zagreb and other teaching hospitals. Experimental farms and field stations at the Faculty of Agriculture provide settings for real‑world trials and demonstrations. Research is backed by competitive EU and national funding, including Horizon Europe and the Croatian Science Foundation, and a central technology transfer center (CIRTT) advances IP and commercialization.
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