Abstract

A human-like mobile robotic system for humus production, from earthworms (Eisenia foetida), in urban areas, was developed, built up and tested. The system could be separated in two modules for a better understanding, Software and Hardware. The Software implements a fuzzy control algorithm aimed to keep the best environment conditions inside the humus production zone, an in this way maximize the humus production and to accelerate the process. It also, handles decisions related to charge and discharge of organic matters, based on organic matter analysis performed before the process to avoid earthworms poisoning. The hardware can be divided in four modules: Organic material reception and classification, Milling and quality control, Humus production, Humus discharge. The preliminary results shows that the prototype has the capability to accelerate the rate of humus production, avoid toxic products, guarantee long term production, because the organic matter quality control, providing in this way the feasibility to be implemented in urban areas as well.