Rancang bangun robot kartesian tiga axis untuk penyiraman tanaman yang akurat dan efisien

Abstract

Untuk menunjang lahan pertanian yang subur, diperlukan proses penyiraman agar kadar air dalam tanah tetap terjaga. Kegiatan penyiraman yang dilakukan secara manual membutuhkan banyak energi. Selain itu kadar air yang diberikan dengan penyiraman manual tidak dapat terukur secara akurat. Dalam makalah ini, kami mengusulkan penyiraman otomatis dengan robot kartesian tiga aksis untuk lahan dengan ukuran 3 meter x 1.5 meter dengan 171 titik tanam. Kontrol penyiraman berbasis fuzzy agar kadar air yang diberikan bisa akurat. Sebelum penyiraman, rata-rata kelembapan tanah pada lahan tersebut adalah 45.28% dengan nilai minimal 40%, nilai maksimal 50%. Target kelembapan tanah untuk setiap titik adalah 60%. Robot dapat menyiram seluruh titik tanam tanpa campur tangan manusia. Nilai kadar air rata-rata penyiraman adalah 62.10%, dengan nilai minimal 60%, nilai maksimal 65%.   To support fertile agricultural land, a watering process is needed so that the water content in the soil is maintained. Watering activities carried out manually require a lot of energy. In addition, the water content given by manual watering cannot be measured accurately. In this paper, we propose automatic watering with a three-axis Cartesian robot for land with a size of 3 meters x 1.5 meters with 171 planting points. Fuzzy based watering control so that the water content given can be accurate. Before watering, the average soil moisture on the land was 45.28% with a minimum value of 40%, a maximum value of 50%. The target soil moisture for each point is 60%. The robot can water the entire planting point without human intervention. The average water content value of watering is 62.10%, with a minimum value of 60%, a maximum value of 65%. In addition, also compared with the application error with the fuzzy method with the on-off method, the fuzzy method is able to produce more accurate watering with an average error rate of 2.10%, while the on-off method has an average error of 5.32% against the soil moisture target. The fuzzy method is also more time efficient in watering, which is 7 seconds to 8 seconds, while the on-off method requires a watering time of 10 seconds to 15 seconds