汎用性を考慮した小型農業ロボットの開発

抄録

This paper proposes a robot for small-scale agriculture. This robot consists of an application unit and a base unit. The application unit is a part that can customize the function depending on the task. The base unit consists of a main box containing a control PC, circuits, etc., and a movement mechanism. As case studies of the proposed robot, this paper introduces a harvesting robot and a monitoring robot. For the former, an experiment was conducted at the 9th Tomato-Harvesting-Robot Competition. The harvesting speed per fruit was about 34 seconds. For the later, an experiment was conducted in a strawberry greenhouse and the motion of the robot, and the detection results of strawberries was confirmed. The usefulness of the proposed robot is shown through the case studies.