Innovative Development of a Terrestrial Robot for the Accurate Assessment of pH in Barley Crops in Southern Peru

Soil pH is a key parameter that directly influences crop health and productivity, as well as the soil's ability to support plant life. However, measuring this parameter can often be an arduous and laborious task due to spatial and temporal variations and the need for repeated sampling. In addition, conventional sample collection and laboratory analysis techniques are costly, time-consuming, and environmentally damaging. This paper presents the design and implementation of an innovative ground robot to measure the pH level in barley cropland. The robot has an adapted pH measurement system, which is complemented by an autonomous navigation system and a real-time data processing system. This system consists of a robust and accurate pH electrode capable of penetrating diverse types of soil and accurately measuring its acidity or alkalinity. Results from field tests indicate that the robot can manage a wide variety of soils and climatic conditions, and the pH measurements obtained correlate closely with those obtained by traditional methods. This study proposes the adoption of ground robots for pH level measurement.