D5.6: SCORPION robots integrated with Navigation stack V3.0 and Safety and Control Stack V3.0

This deliverable outlines the current state of the SCORPION full electric prototype (WETA robot), represented by an autonomous robotic platform (AgRob V20) featuring a navigation system with GNSS Galileo support and a particular type of equipment for phytosanitary crop protection treatments with two kinds of exchangeable structures/elements. The first type is represented by an intelligent spraying system mounted on optimized version of a TEYME airblast sprayer and consisting of two recovery panels each equipped with 4 nozzles with a PWM system and the variable rate technology (VRT) as independent nozzles control and airflow control features. The second one, exchangeable with the spraying system, consists in two specific UVC Light panels each with 32 lamps. The UVC tool represents an alternative system against some crop pathologies which can be used in combination with traditional chemical products to improve the effectiveness of the treatments. In this document, an overview for each of the last prototype upgrades is given, with focus on results obtained by their integration to the real robot, that will be tested during the next integration step in June 2023 at Aymavilles (Italy).