Articles
Multipurpose small collaborative robot for smart viticulture: concept and design
Article number
1418_21
Pages
165 – 172
Language
English
Abstract
In Japan, viticulture is manually performed to maintain product quality using limited land resources.
To improve the current situation of viticulture in Japan and support workers, we designed a small collaborative robot powered by electric batteries (dimensions: 89 (L) × 64 (W) × 85 cm (H), weight: approximately 100 kg). The base unit of the robot is a mobile robot that can follow the worker at a predetermined speed and distance using a laser imaging detection and ranging (LIDAR) sensor.
The base unit can also avoid obstacles by memorizing the locations of objects detected with the LIDAR sensor.
As the vineyard is typically sloping, crawlers in the base unit are used instead of wheels.
The developed small collaborative robot can be used for multiple purposes because it includes the following attachments: 1) transporting attachment for harvested produce, spray tanks, and other materials (e.g., fertiliser), 2) spraying attachment for applying agrochemicals, 3) fertiliser attachment for spreading fertiliser, 4) weeding attachment for mowing weeds, 5) pruning attachment for trimming the canopy, and 6) the monitoring attachment for detecting abnormal situations (e.g., disease spread, nutrient deficiencies). Three components were designed to use these attachments effectively: a) a trolley for improving the carrying capacity in the transporting and spraying attachments, b) a three-point linkage for providing a stable position to the fertilizing and weeding attachments, and c) a position control for increasing stability to the spraying, pruning, and monitoring attachments.
The developed small collaborative robot and the design of the base unit, attachments, and components are presented.
To improve the current situation of viticulture in Japan and support workers, we designed a small collaborative robot powered by electric batteries (dimensions: 89 (L) × 64 (W) × 85 cm (H), weight: approximately 100 kg). The base unit of the robot is a mobile robot that can follow the worker at a predetermined speed and distance using a laser imaging detection and ranging (LIDAR) sensor.
The base unit can also avoid obstacles by memorizing the locations of objects detected with the LIDAR sensor.
As the vineyard is typically sloping, crawlers in the base unit are used instead of wheels.
The developed small collaborative robot can be used for multiple purposes because it includes the following attachments: 1) transporting attachment for harvested produce, spray tanks, and other materials (e.g., fertiliser), 2) spraying attachment for applying agrochemicals, 3) fertiliser attachment for spreading fertiliser, 4) weeding attachment for mowing weeds, 5) pruning attachment for trimming the canopy, and 6) the monitoring attachment for detecting abnormal situations (e.g., disease spread, nutrient deficiencies). Three components were designed to use these attachments effectively: a) a trolley for improving the carrying capacity in the transporting and spraying attachments, b) a three-point linkage for providing a stable position to the fertilizing and weeding attachments, and c) a position control for increasing stability to the spraying, pruning, and monitoring attachments.
The developed small collaborative robot and the design of the base unit, attachments, and components are presented.
Publication
Authors
K. Ohyama, T. Tsukamoto, T. Yamamoto, Y. Utsumi, K. Yoshinaga, R. Sakata, S. Tanaka, T. Isobe, Y. Miwa, Y. Suehiro
Keywords
attachment, battery, crawler, LIDAR, motor, vineyard
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