• Title, Summary, Keyword: agricultural robot

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Multi-Operation Robot For Fruit Production

  • Kondo, Naoshi;Monta, Mitsuji;Shibano, Yasunori
    • Proceedings of the Korean Society for Agricultural Machinery Conference
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    • pp.621-631
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    • 1996
  • It is said that robot can be used for multi-purpose use by changing end effector or/and visual sensor with its software. In this study, it was investigated what multi-purpose robot for fruit-production was using a tomato harvesting robot and a robot to work in vineyard. Tomato harvesting robot consisted of manipulator, end-effector, visual sensor and traveling device. Plant training system of larger size tomato is similar with that of cherry-tomato. Two end-effectors were prepared for larger size tomato and cherry-tomato fruit harvesting operations, while the res components were not changed for the different work objects. A color TV camera could be used for the both work objects, however fruit detecting algorithm and extracted features from image should be changed. As for the grape-robot , several end-effector for harvesting , berry thinning , bagging and spraying were developed and experimented after attaching each end-effector to manipulator end. The manipulator was a polar coordinate type and had five degrees of freedom so that it could have enough working space for the operations. It was observed that visual sensor was necessary for harvesting, bagging and berry-thinning operations and that spraying operation requires another sensor for keeping certain distance between trellis and end-effector. From the experimental results, it was considered that multi-operations by the same robot could be appropriately done on the same or similar plant training system changing some robot components . One of the important results on having function of multi-operation was to be able to make working period of the robot longer.

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Development of Robot Hand for Transplanting Plug Seedlings (플러그묘 이식을 위한 로봇 핸드 개발)

  • 이현동;김기대;조성화;김찬수
    • Journal of Biosystems Engineering
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    • v.29 no.3
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    • pp.251-260
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    • 2004
  • As a basic experiment for robot hand for transplanting plug seedling, the experimental robot hand system which moves up and downward vertically, and allows hand blade to open and close was made. The system was constructed with the robot hand mechanism, the tray, the plug seedling, and the measuring equipments. The penetrating force and holding efficiency were analyzed according to the soil moisture and the variation of hand blade angle. The highest holding efficiency could be obtained at the penetrating angle of approximately from 0 to 0.36 degree and at the moisture content of soil from 71% to 75%. The external force acted on the robot hand should maximum force when the robot hand was penetrated to soil, minimum of approximately 30.4 N when the penetrating angle was 0$^{\circ}$ and moisture content was 66-70%. It was increased with increasing or decreasing the Penetrating angle from 0 degree and also with increasing or decreasing the moisture content of soil from 66-70%. For optimal design of the robot hand and manipulator, the external force acted on robot hand had to be based on the returning force of soil, when the robot hand was penetrated to the soil. In consideration of safety ratio, the appropriate external force seemed to be 39-49 N.

DEVELOPMENT OF THE GRAFTING ROBOT FOR CUCUMBER SEEDLINGS

  • Suzuki, Masato;Onoda, Akihiko;Kobayashi, Ken
    • Proceedings of the Korean Society for Agricultural Machinery Conference
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    • pp.859-866
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    • 1993
  • With the object of doing mechanical grafting of cucurbitaceous vegetables, the grafting robot was developed in 1989. This robot consists of the following components : feeding wheels, grippers, conveying wheels, cutters , fixing clipper, discharger , controller and power supply. One cycle time to produce a grafted plant is about 3 seconds, Results of some cucumber grafting tests : successful grafting rate of 98 percent and after acclimation, a successful agglutination rate of 95 percent. These techniques are now transferring to the private company. The commercial robot will come into the market in this year.

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Development of Robot System for Colony Picking (II) - Performance test of the robot system - (콜로니 픽킹 로봇 시스템의 개발 (II) - 로봇 시스템의 성능실험 -)

  • 이현동;김기대;나건영;이영규
    • Journal of Biosystems Engineering
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    • v.28 no.5
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    • pp.449-456
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    • 2003
  • A robot system was developed to pick desired colony. This robot system consisted of an image acquisition process which acquires the image information of colony, an illumination device which irradiates the object once when it gets the image of it, a picking head, a replicating head, a bed for fixing well-plates, and a sterilization device of sterilizing pin stained with colony. Picking pins were washed in an ultrasonic wave washing for takes ten seconds. Picking pins were dipped for sterilizing in alcohol for ten seconds. The time for resterilizing picking pins in a heater was five seconds. This performance test resulted 100% success rate for both the colony picking and the colony replication process. Considering the procedure in which 8 pins were smeared by colony, picked on a well plate, and sterilized as one cycle, the system could carry out one cycle in 110 seconds. It took about 138 minutes to pick around 600 colonies.

Study on the Model based Control considering Rotary Tillage of Autonomous Driving Agricultural Robot (자율주행 밭농업로봇의 로터리 경작을 고려한 모델 기반 제어 연구)

  • Song, Hajun;Yang, Kyon-Mo;Oh, Jang-Seok;Song, Su-Hwan;Han, Jong-Boo;Seo, Kap-Ho
    • The Journal of Korea Robotics Society
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    • v.15 no.3
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    • pp.233-239
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    • 2020
  • The aims of this paper is to develop a modular agricultural robot and its autonomous driving algorithm that can be used in field farming. Actually, it is difficult to develop a controller for autonomous agricultural robot that transforming their dynamic characteristics by installation of machine modules. So we develop for the model based control algorithm of rotary machine connected to agricultural robot. Autonomous control algorithm of agricultural robot consists of the path control, velocity control, orientation control. To verify the developed algorithm, we used to analytical techniques that have the advantage of reducing development time and risks. The model is formulated based on the multibody dynamics methods for high accuracy. Their model parameters get from the design parameter and real constructed data. Then we developed the co-simulation that is combined between the multibody dynamics model and control model using the ADAMS and Matlab simulink programs. Using the developed model, we carried out various dynamics simulation in the several rotation speed of blades.

DEVELOPMENT OF AGRICULTURAL HYDRAULIC ROBOT(Part II) - Dynamic Characteristic of Hydraulic System

  • Mikio, Umeda;Michihisa, Iida;Kiyoshi, Namikawa
    • Proceedings of the Korean Society for Agricultural Machinery Conference
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    • pp.830-839
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    • 1993
  • Agricultural hydraulic robot which was reported in Part Ⅰ had been developed . The robot satisfied performance to intend before development. For actual use, however, it have been necessary to reduce manipulator weigh and to simplify construction of hydraulic control valve. Then, working stress of manipulator link and pressure fluctuation of hydraulic circuit were measured. Step and frequency response tests were done subject to amplitude of reference voltage of 0.1 , 0.3 , 0.5 and 1.0v. and delivery pressure of 3.5 and 5.0MPa. Working stress were about 25% comparing with fatigue strength, Thus, mass of manipulator might be reduce to 30 %. In hydraulic control system, virtual natural frequency of 6.5Hz is produced from the combination of drain passage area shortage of servovalve. Further , because of passage area shortage , working pressure at both side of cylinder was acted on. This phenomenon prevent utilize effectively engine power. Then, control valve for new model was p oposed.

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A development of H/W and S/W platform of remote controllable agricultural robot based on XP embedded system (XPE기반 원격방제용 농업로봇의 H/W 및 S/W 플랫폼 개발)

  • Hyun, Woong-Keun
    • The Journal of the Korea institute of electronic communication sciences
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    • v.7 no.5
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    • pp.1125-1131
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    • 2012
  • According to abrupt decrese in number of farmer and ageing society, there has been a need for development of low cost agricultural robot. In this paper, a H/W and S/W platform of caterpillar type agricultural chemical dusting robot based on XP embedded system were described. The developed agricultural robot has 2 d.o.f caterpillar type driving wheel and 2 d.o.f chemical dusting spray mechanical system. The H/W platform of the agricultural robot consists of robot controller, remote controller and sensor controller. In S/W platform, 5 processes work concurrently, which are task manager, TCP-IP communication process, localization process, wheel control, and sensor control process. This robot platform has been developed for chemical dusting robot. We proved this system's validity through field test.

Development of a Vegetable Transplanting Robot

  • Kang, Dong-Hyeon;Kim, Dong-Eok;Lee, Gong-In;Kim, You-Ho;Lee, Hye-Jin;Min, Young-Bong
    • Journal of Biosystems Engineering
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    • v.37 no.3
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    • pp.201-208
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    • 2012
  • Purpose: This study was conducted to develop a vegetable transplanting robot which transplants seedlings from a nursery tray to a plant pot using its four fingers. Method: The robot consists of the transplanting part, nursery tray moving part, plant pot moving part, main frame and controller. Two moving parts are controlled by the photo sensor and servo motor. The transplanting part was composed with two components; transporting device using E-MY2H(SMC Corp., Japan) for controlling finger position accurately and finger for transplanting the seedling. Results: Head lettuce using the transplanting robot was transplanted in 21 days after sowing based upon the seed shape measurement and removing examination. The optimal finger shape was thin pin type because it caused minimum damage to the roots of seedlings. Conclusions: The four inclined pin type was applied to remove the seedlings from the nursery tray. In addition, the transplanting capacity of the developed robot was 2800 pots per hour and the rate of success was 99% and above.

Strawberry Harvesting Robot for Bench-type Cultivation

  • Han, Kil-Su;Kim, Si-Chan;Lee, Young-Bum;Kim, Sang-Chul;Im, Dong-Hyuk;Choi, Hong-Ki;Hwang, Heon
    • Journal of Biosystems Engineering
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    • v.37 no.1
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    • pp.65-74
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    • 2012
  • Purpose: An autonomous robot was developed for harvesting strawberries cultivated in bench-type systems. Methods: The harvest robot consisted of four main components: an autonomous vehicle, a manipulator with four degrees of freedom (DOF), an end effector with two DOFs, and a color computer vision system. Strawberry detection was performed based on 3D image and distance information obtained from a stereo CCD color camera and a laser device, respectively. Results: In this work, a Cartesian type manipulator system was designed, including an intermediate revolute axis and a double driven arm-based joint axis, so that it could generate collision-free motions during harvesting. A DC servomotor-driven end-effector, consisting of a gripper and a cutter, was designed for gripping and cutting the strawberry stem without damaging the strawberry itself. Real-time position tracking algorithms were developed to detect, recognize, trace, and approach strawberries under natural light conditions. Conclusion: The developed robot system could harvest a strawberry within 7 seconds without damage.

RESULTS AND FURTHER DEVELOPMENT OF AN AUTOMATIC MILKING SYSTEM

  • Toth, L.;Bak, J.
    • Proceedings of the Korean Society for Agricultural Machinery Conference
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    • pp.779-790
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    • 1993
  • A prototype of the feeding-milking robot was developed in the Hungarian Institute of Agricultural Engineering in 1988-89. Before starting with the operation tests the cleaning system had to be elaborated . The cleaning system has two parts. Those are the complete cleaning of the system, producing a practically sterile state, as well as flushing through the milking device between milking of two cows. Separate electronic sensor development was necessary for both system which can connect to the control system of the robot. To clean the system pneumatic air input was applied. As an effect of the local adjustment of the electronic control system optimal flow conditions can be formed what is more favourable comparing to the earlier solutions of cleaning due to the mechanical effect. In the flushing through overpressure air is applied. The air and the cleaning liquid input duration can be adjusted to the local conditions. The electronic control unit can be connected to the electric ircuits of robot.

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