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- 저자 : ( Syota Harada ) (검색결과 1 건)
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Cooperative Operation of Two Combine Robots for Rice Harvesting
( Michihisa Iida ),( Syota Harada ),( Ryosuke Sasaki ),( Masahiko Suguri ),( Ryohei Masuda ) 한국농업기계학회 2018 한국농업기계학회 학술발표논문집 Vol.23 No.1
In order to solve shortage and aging of working force in Japanese agriculture, automation of agricultural machinery is promoted and is merged with information and communication technology (ICT) currently. Therefore, two robots, that are 4-row head-feeding combines, have been developed to automate rice harvesting work in Kyoto University. They are installed a multi-GNSS receiver, a GPS compass, and an IMU as navigation sensors. To increase the efficiency of farming operation, a cooperative harvesting system by combination of two robots was reported in ISMAB 2016. In that system, two robots could harvest rice side-by-side along target spiral path in the same field. As the next step, a block harvesting method by two robots is proposed in this study. After a human-driven combine harvested rice crop to make the turning space at the headland, two robots independently harvest two blocks of rice crops divided by “Nakawari”, that is the harvesting method to divide rice area into two. In this harvesting operation, the combine robot turns by 180-deg-turn (U-turn) at the headland. For the purpose, the 180-deg-turn control for combine robot was developed. In order to evaluate performance of cooperative harvesting operations by two combine robots, harvesting test was conducted in a rice paddy field. As a result, the efficiency of harvesting operation increases up to 24 % in comparison with the side-by-side harvesting method.
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