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( Masanori Saito ),( Motomu Honjo ),( Hayato Shindo ),( Satoru Takeda ),( Sho Murakami ),( Mitsuhiko Katahira ),( Jun-ichi Takeda ) 한국농업기계학회 2018 한국농업기계학회 학술발표논문집 Vol.23 No.1
A cultivation outline of green soybeans could not set mechanical seeding technics to have difference of mulched soil temperature at any seeding season. Especially, the early cropping type of green soybeans seeding that used mulcting method to get high emergence rate on low temperature season have been high labor load to seed by manual operation. Therefore, the purpose of this study was to develop high efficiency and precision mechanical seeding technique which have ridging and mulching same time. We developed prototype seeding machine combined with up-cut rotary, mulching seeder and the molding implement. After that, we made control device to move diching device for up and down direction. We investigated the seeding accuracy and seeding depth of the prototype seeder, and evaluated the growth and yield, respectively. As a result, it is showed that the seeding accuracy is as same as manual seeding. Although the seeding depth was shallow compared to the conventional manual seeding, it can increase seeding depth than conventional seeding. However, the measured seeding depths were shallower than the set values. This is reason why was influenced of soil compression, posture of the seeding part and covered soil after seeding. The plant length at harvest time might become longer as the seeding depth got deeper. So, we considered that it is possible to do multiple simultaneous work used up-cut ridging and mulching seeder.
Development on the Autonomous Mowing Robot for Orchard
( Keisuke Toyama ),( Kenta Hatiya ),( Shoji Koide ),( Takahiro Orikasa ),( Hiroshi Shono ),( Jun-ichi Takeda ) 한국농업기계학회 2018 한국농업기계학회 학술발표논문집 Vol.23 No.1
In autonomous vehicle of agricultural machinery, it is popular to use GNSS to estimate the current position, but it is often difficult to use GNSS in the orchard field due to multipath etc. Particularly, in weeding work, it is needed to mow near the trunk of trees, and position identification methods other than GNSS are necessary. Therefore, in this study, we aimed to develop autonomous mowing robot which autonomously runs by identifying the tree position of tree by laser scanner. A riding rotary mower was used as a test machine. A laser scanner, a DC motor for steering, and a PC for control are installed on the vehicle. The target steering angle for vehicle control was calculated from the tree position obtained from the laser scanner by calculating the target trajectory and using the forward fixed point model. Also in order to mow the weeds between the tree rows, it is necessary to travel several times, so we used the route created from the known tree row width and vehicle mowing width. The pseudo-trees were used in the field test. As a tested result, RMS value was about 25 mm in case of strait running control, which was sufficient accuracy in actual work.
Development on Vehicle Guiding System with Three-Dimentional Laser Scanner
( Akitaka Otaki ),( Shoji Koide ),( Takahiro Orikasa ),( Hiroshi Shono ),( Jun-ichi Takeda ) 한국농업기계학회 2018 한국농업기계학회 학술발표논문집 Vol.23 No.1
In recent years, agricultural work is being automated and IT has been advanced in the field of agricultural machinery. The automatic steering apparatuses using GNSS and robot tractors are being developed. However, accurate GNSS is expensive and is difficult to acquire field conditions numerically. In this research, we developed a guidance system that acquires information on ridge line to extracts the target route of the vehicle using an inexpensive three-dimensional laser scanner compared to GNSS as a fundamental research of autonomous vehicle. In field experiments, a three-dimensional laser scanner with a depression angle was installed in front of the tractor, and the tractor was driven so as not to collapse the ridge installed in the field, and distance measurement data was acquired. By using the acquired distance measurement data, vertexes of the ridge were detected by self-made program, and approximate lines were obtained from these points to be the target trajectory. As a result, it was possible to obtain the target trajectory with sufficient accuracy to control the autonomous tractor.