柑橘類収穫支援ロボットの開発

―リフレクタ付きXBeeによる作業者位置検出に関する検討―

抄録

This research describes an assist robot which harvests citrus fruits. The robot is required to have a function of autonomously moving between a worker and a monorail which carries fruits to the foot of the mountain. However, in general, there is no standards in each orchard, the situation is different in each place. Therefore, the robot has a function that estimates the position of the worker. Because no special qualification for using XBee is necessary, the XBee is used. In case that a transmitter is attached to the worker, it is verified that XBee with a parabolic reflector estimates the position of the transmitter.