Skip to main content
Springer Nature Link
Log in

Safety Standards for Collision Avoidance Systems in Agricultural Robots - A Review

  • Conference paper
  • First Online:
ROBOT2022: Fifth Iberian Robotics Conference (ROBOT 2022)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 589))

Included in the following conference series:

  • 976 Accesses

Abstract

To produce more food and tackle the labor scarcity, agriculture needs safer robots for repetitive and unsafe tasks (such as spraying). The interaction between humans and robots presents some challenges to ensure a certifiable safe collaboration between human-robot, a reliable system that does not damage goods and plants, in a context where the environment is mostly dynamic, due to the constant environment changes. A well-known solution to this problem is the implementation of real-time collision avoidance systems. This paper presents a global overview about state of the art methods implemented in the agricultural environment that ensure human-robot collaboration according to recognised industry standards. To complement are addressed the gaps and possible specifications that need to be clarified in future standards, taking into consideration the human-machine safety requirements for agricultural autonomous mobile robots.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Similar content being viewed by others

Notes

  1. 1.

    Eletro-Sensitive Protective Equipment.

  2. 2.

    Pressure-Sensitive Protective Equipment.

  3. 3.

    Real-time kinematic positioning (RTK) is a satellite navigation technique used to increase the accuracy of position data obtained by the global navigation satellite system (GNSS).

References

  1. NFU: Written evidence submitted by NFU (LS0045). National Farmer’s Union, United Kingdom (2021). https://committees.parliament.uk/writtenevidence/40079/html/

  2. https://committees.parliament.uk/publications/9580/documents/162177/default/#:~:text=In%20August%202021%2C%20the%20number,those%20working%20in%20the%20sector.

  3. Rübcke, F., Clausen, F., Heise, H.: Autonomous field robots in agriculture: a quantitative analysis of user acceptance according to different agricultural machinery companies. Surrey Space Centre (2010). http://ageconsearch.umn.edu/record/305587 Companies

  4. Kogler, R., Quendler, E., Boxberger, J.: Analysis of occupational accidents with agricultural machinery in the period 2008–2010 in Austria. Safety Sci. 72, 319–328 (2021). https://doi.org/10.1016/j.ssci.2014.10.004

    Article  Google Scholar 

  5. ISO 25119–2:2019 Tractors and machinery for agriculture and forestry—safety-related parts of control systems—Part 2: concept phase. ISO, Geneva, Switzerland (2019)

    Google Scholar 

  6. ISO 9001 Quality management systems—requirements. ISO, Geneva, Switzerland (2015)

    Google Scholar 

  7. ISO 3691–4:2020 Industrial trucks—safety requirements and verification—Part 4: driverless industrial trucks and their systems. ISO, Geneva, Switzerland (2020)

    Google Scholar 

  8. Robots and robotic devices—safety requirements for industrial robots—Part 1: robots, ISO 10218–1, ISO, Geneva, Switzerland (2011)

    Google Scholar 

  9. ISO 13482:2014 Robots and robotic devices—safety requirements for personal care robots. ISO, Geneva, Switzerland (2014)

    Google Scholar 

  10. ISO TS 15066:2016 Robots and robotic devices—collaborative robots. ISO, Geneva, Switzerland (2016)

    Google Scholar 

  11. Hirzinger, G., Albu-Schäffer, A., Hähnle, M., Schaefer, I., Sporer, N.: On a new generation of torque controlled light-weight robots. IEEE Int. Conf. Robot. Autom. 4, 3356–3363 (2001). https://doi.org/10.1109/robot.2001.933136

  12. Weitschat, R., Vogel, J., Lantermann, S., Hoppner, H.: End effector airbags to accelerate human-robot collaboration. IEEE Int. Conf. Robot. Autom. 2279–2284 (2017). https://doi.org/10.1109/ICRA.2017.7989262

  13. Kruse, T., Pandey, A., Alami, R., Kirsch, A.: Human-aware robot navigation: a survey. Robot. Autonom. Syst. 61(12), 1726–1743 (2013). https://doi.org/10.1016/j.robot.2013.05.007

    Article  Google Scholar 

  14. Lefteris, B., Avital, B., Dionysis, B.: Safety and ergonomics in human-robot interactive agricultural operations. Sci. Direct 200, 55–72 (2020). https://doi.org/10.1016/j.biosystemseng.2020.09.009

    Article  Google Scholar 

  15. Ratsamee, P., Mae, Y., Kamiyama, K., Horade, M., Kojima, M., Arai, T.: Social interactive robot navigation based onhuman intention analysis from face orientation and human path prediction. ROBOMECH J. 2(1), 11 (2015). https://doi.org/10.1186/s40648-015-0033-z

    Article  Google Scholar 

  16. Van Henten, E.J., Bac, C., Hemming, J., Edan, Y.: Robotics in protected cultivation. IFAC Proc. Vol. 46(18), 170–177 (2013). https://doi.org/10.3182/20130828-2-SF-3019.00070

    Article  Google Scholar 

  17. Noguchi, N., Will, J., Reid, J., Zhang, Q.: Development of a master-slave robot system for farm operations. Comput. Electron. Agricul. 44, 1–19 (2004). https://doi.org/10.1016/j.compag.2004.01.006

    Article  Google Scholar 

  18. Vougioukas, S.G.: Reactive trajectory tracking for mobile robots based on non linear model predictive control. IEEE International Conference on Robotics and Automation, pp. 3074–3079. Barcelona, Spain (2017). https://doi.org/10.1109/ROBOT.2007.363939

  19. Nissimov, S., Goldberger, J., Alchanatis, V.: Obstacle detection in a greenhouse environment using the Kinect sensor. Comput. Electron. Agricul. 113, 104–115 (2015). https://doi.org/10.1016/j.compag.2015.02.001

    Article  Google Scholar 

  20. Zhang, Z.: Microsoft kinect sensor and its effect. IEEE MultiMedia 19(2), 4–10 (2012). https://doi.org/10.1109/MMUL.2012.24

    Article  Google Scholar 

  21. Giulio, R., Annalisa, M., Raphaël, R., Michael, N., Rainer, W., Morten, R.B.: Ambient awareness for agricultural robotic vehicles. Biosyst. Eng. 146, 114–132 (2016). https://doi.org/10.1016/j.biosystemseng.2015.12.010

    Article  Google Scholar 

  22. Redmon, J., Divvala, S., Girshick, R., Farhadi, A.: You only look once: uified, real-time object detection. arXiv preprint arXiv:1506.02640 (2016). https://doi.org/10.48550/arXiv.1506.02640

  23. Inoue, K., Igarashi, S., Imou, K.: The development of autonomous navigation and obstacle avoidance for a robotic mower using machine vision technique. IFAC-PapersOnLine 52(30), 173–177 (2019). https://doi.org/10.1016/j.ifacol.2019.12.517

    Article  Google Scholar 

  24. Liu, Z., Lü, Z., Zheng, W., Zhang, W., Cheng, X.: Design of obstacle avoidance controller for agricultural tractor based on ROS. Int. J. Agric. Biol. Eng. 12(6), 58–65 (2019). https://doi.org/10.25165/j.ijabe.20191206.4907

    Article  Google Scholar 

  25. Vasconez, J.P., Kantor, G.A., Auat Cheein, F.A.: Human-robot interaction in agriculture: a survey and currentchallenges. Biosyst. Eng. 179, 35–48 (2019). https://doi.org/10.1016/j.biosystemseng.2018.12.005

    Article  Google Scholar 

  26. ISO 10218–2:2011 Robots and robotic devices—safety requirements for industrial robots—Part 2: robots Systems and Integration. ISO, Geneva, Switzerland (2011)

    Google Scholar 

  27. ISO 12100:2010 Safety of machinery—general principles for design—risk assessment and risk reduction. ISO, Geneva, Switzerland (2010)

    Google Scholar 

  28. Directive 2006/42/EC New machinery directive. European Parliament (2006)

    Google Scholar 

  29. ISO 13849–1:2015 Safety of machinery—safety-related parts of control systems—Part 1: general principles for design. ISO, Geneva, Switzerland (2015)

    Google Scholar 

  30. ISO 11783–1:2017 Tractors and machinery for agriculture and forestry—serial control and communications data network—Part 1: general standard for mobile data communication. ISO, Geneva, Switzerland (2017)

    Google Scholar 

  31. IEC EN 62061:2021 Safety of machinery - functional safety of safety-related control systems. IEC (2021)

    Google Scholar 

  32. IEC 61496:2012 Safety of machinery - electro-sensitive protective equipment - Part 1: general requirements and tests. IEC (2012)

    Google Scholar 

  33. Risto, T., Timo, M., Ari, R.: An overview of current safety requirements for autonomous machines - review of standards. Open Eng. 10(1), 665–673 (2020). https://doi.org/10.1515/eng-2020-0074

    Article  Google Scholar 

  34. ISO 13855:2010 Safety of machinery—positioning of safeguards with respect to the approach speeds of parts of the human body. ISO, Geneva, Switzerland (2010)

    Google Scholar 

  35. IEC 61508–1:2010 Functional safety of electrical/electronic/programmable electronic safety-related systems - Part 1: general requirements. IEC (2010)

    Google Scholar 

  36. Ingibergsson, M., Schultz, P., Kraft, D.: Towards declarative safety rules for perception specification architectures. International Workshop on Domain-Specific Languages and Models for Robotic Systems (2015). https://doi.org/10.48550/arXiv.1601.02778

  37. ISO 18497:2018 Agricultural machinery and tractors—safety of highly automated agricultural machines—principles for design. ISO, Geneva, Switzerland (2018)

    Google Scholar 

  38. ISO/CD 3991:2022 Agricultural machinery—robotic feed systems—safety. ISO, Geneva, Switzerland (2022)

    Google Scholar 

  39. ISOfocus: Smart Farming. ISO, Geneva, Switzerland (2017). https://www.iso.org/files/live/sites/isoorg/files/news/magazine/ISOfocus

  40. ISO/DIS 21384–1:2022 Unmanned aircraft systems—Part 1: general specification. ISO, Geneva, Switzerland (2022)

    Google Scholar 

  41. Normalisation of agricultural robots: a question of performance and safety. https://www.naio-technologies.com/en/news/normalisation-of-agricultural-robots-a-question-of-performance-and-safety/

  42. Improving the Quality of ROS Applications with HAROS, IROS 2021 Tutorial. https://haslab.github.io/SAFER/iros21-tutorial.html

  43. CASE - Collision Avoidance System Evaluation for agriculture robots (2022). https://doi.org/10.5281/zenodo.6812509

Download references

Acknowledgement

This work is financed by Portugal 2020 through CCDR - Comissão de Coordenação e Desenvolvimento Regional do Norte, within project Norte-01-0247-FEDER-045289, and financed by the ERDF - European Regional Development Fund, through COMPETE 2020 Programme, within project SMARTCUT, with reference POCI-01-0247-FEDER-048183.

Author information

Authors and Affiliations

  1. ISEP—School of Engineering, Polytechnic Institute of Porto, Porto, Portugal

    João Jacob Martins

  2. INESC TEC—Institute for Systems and Computer Engineering, Technology and Science, Porto, Portugal

    Manuel Silva & Filipe Santos

Authors
  1. João Jacob Martins
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Manuel Silva
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Filipe Santos
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to João Jacob Martins .

Editor information

Editors and Affiliations

  1. Centro Universitario de la Defensa (CUD), Zaragoza, Spain

    Danilo Tardioli

  2. Grupo de Robótica, Universidad de León, León, Spain

    Vicente Matellán

  3. GRVC Robotics Lab, Escuela Técnica Superior de Ingeniería, Universidad de Sevilla, Sevilla, Spain

    Guillermo Heredia

  4. School of Engineering, Polytechnic Institute of Porto, Porto, Portugal

    Manuel F. Silva

  5. Institute of Systems and Robotics, University of Coimbra, Coimbra, Portugal

    Lino Marques

Rights and permissions

Reprints and permissions

Copyright information

© 2023 The Author(s), under exclusive license to Springer Nature Switzerland AG

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Martins, J.J., Silva, M., Santos, F. (2023). Safety Standards for Collision Avoidance Systems in Agricultural Robots - A Review. In: Tardioli, D., Matellán, V., Heredia, G., Silva, M.F., Marques, L. (eds) ROBOT2022: Fifth Iberian Robotics Conference. ROBOT 2022. Lecture Notes in Networks and Systems, vol 589. Springer, Cham. https://doi.org/10.1007/978-3-031-21065-5_11

Download citation

Publish with us

Policies and ethics