JOURNAL of the JAPANESE SOCIETY of AGRICULTURAL MACHINERY
Online ISSN : 1884-6025
Print ISSN : 0285-2543
ISSN-L : 0285-2543
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Volume 71, Issue 4
Displaying 1-17 of 17 articles from this issue
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ESSAY
SPECIAL EDITION
TECHNO-TOPICS
RESEARCH ACTIVITIES
PAPERS (Articles)
RESEARCH PAPER
  • Development of Intelligent System for Field Robot in Grass Land (Part 2)
    ——Absolute heading angle estimation using an omnidirectional camera——
    Rahman FARROKHI TEIMOURLOU, Noboru NOGUCHI
    2009 Volume 71 Issue 4 Pages 4_43-4_51
    Published: July 01, 2009
    Released on J-STAGE: November 13, 2012
    DOIhttps://doi.org/10.11357/jsam.71.4_43
    JOURNAL FREE ACCESS
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    In terms of obstacle avoidance and autonomous navigation, it is a very significant issue for a mobile robot to identify its positions. An algorithm for an autonomous vehicle utilizing the real-time kinematics differential global positioning system (RTK-GPS) and an omnidirectional camera was proposed as navigation sensors in this research. The goal of the paper is to develop a method that can estimate the absolute heading angle of the robot with respect to the world coordinate system. The developed algorithm is based on a stereo vision system. It estimates the rotation directly from spherical images and without correspondences. Instead, it uses a cross correlation method because camera rotation doesn't affect the field view and scene will remain the same. Horizon lines of pair spherical images has been extracted and used as the related periodic signals. The estimated error of heading angle is less than two degrees, and by not using heavy calculation image processing techniques, the process time for heading angle estimation becomes fairly faster to calculate in real-time application of robot vehicle navigation.
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TECHNICAL PAPERS
  • Development of Follower-Type Vegetable Carrier
    Jun AOKI, Hideo KAINUMA, Eiji KURIHARA, Kotaro KUBOTA, Keiji AJIKI, Ts ...
    2009 Volume 71 Issue 4 Pages 4_52-4_59
    Published: July 01, 2009
    Released on J-STAGE: November 13, 2012
    DOIhttps://doi.org/10.11357/jsam.71.4_52
    JOURNAL FREE ACCESS
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    We developed a prototype of a carrier that can follow a vegetable harvester to achieve labor-saving of vegetable harvest works. This carrier incorporated a following system in order to smoothly follow vegetable harvesters. The following system automatically controled starting, acceleration-deceleration, and steering. It could follow a welsh-onion harvester at 0.02 to 0.04m/s while providing a work efficiency of 0.4 to 0.6a/person·h. Compared to a normal carrier without a following system, this carrier could decrease the number of times workers move in the field by about 30% and the distance they move in the field by about 70%.
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  • Development of Combine Harvester with Yield Monitoring Function (Part 4)
    ——Schematic of Practical Model and Result of Field Monitor Test——
    Yasuyuki HIDAKA, Eiji KURIHARA, Takao SUGIYAMA, Yoh NISHIMURA, Kazunob ...
    2009 Volume 71 Issue 4 Pages 4_60-4_68
    Published: July 01, 2009
    Released on J-STAGE: November 13, 2012
    DOIhttps://doi.org/10.11357/jsam.71.4_60
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    We were developing practicable combine harvester with yield monitoring function (following ; PF combine) suitable for crop harvesting in Japan. In the beginning of development, we decided to change the management unit of the yield information from “Site” to “Field”, and then call that management method “Field Specific Management” as compared to the usual “Site-specific management”. Based on the results of a questionnaire survey, we targeted the PF combine at farmers who cultivate or manage large-scale farms. Therefore, we improved the weight measurement system, the moisture content measuring system, and the user interface and installed them on a six-row head feeding combine harvester. As a result of those modifications, the developed combine could be operated smoothly without any interruption. The accuracy of the weight and moisture measuring components satisfied the farmers' needs. Furthermore, the combine could maintain accuracy without any calibration. The PF combine has worked well without any trouble over the three-year field monitor testing period. Based on the test achievement, we concluded that the developed PF combine has reached the stage of practical use.
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  • Study on Juice Extraction from Sweet Sorghum
    Xiaozheng SUN, Nobuki YAMANA, Hideshi YANASE
    2009 Volume 71 Issue 4 Pages 4_69-4_73
    Published: July 01, 2009
    Released on J-STAGE: November 13, 2012
    DOIhttps://doi.org/10.11357/jsam.71.4_69
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    A roll-belt extractor was designed and produced in order to explore the application of chop-harvested sweet sorghum. Extraction experiments were also conducted. The extraction ratio ((juice mass/input mass)×100%) of the trial product might increase with reduced cutting length, decreased drive roller speed, and increased feed rate. The average extraction ratio was 15.6% when the cutting length was set to 17mm, the drive roller speed to 17.5rpm, and the feed rate to 823kg/h (maximum). In addition, we also investigated the application of the obtained cake and juice. We concluded that the silage from the cake was good fodder using the sensory method. The obtained juice contained multifarious sugars, and the product ratio of fermentation ethanol (2.45%) was higher.
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  • The Development of Control Algorithm for the Dual-fuel Engine of a Biogas Tractor (Part 2)
    ——Biogas Flow Optimization Based on Engine Parameters——
    Nizar JABER, Sohei WAKABAYASHI, Takayuki TSUKAMOTO, Noboru NOGUCHI
    2009 Volume 71 Issue 4 Pages 4_74-4_82
    Published: July 01, 2009
    Released on J-STAGE: November 13, 2012
    DOIhttps://doi.org/10.11357/jsam.71.4_74
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    Environmental problems and high fossil fuel prices have encouraged the authors to build a biogas-diesel dual fuel agricultural tractor. In this paper, finding the optimal biogas flow answering a multi-objective function was targeted. Four engine parameters were taken into consideration and thoroughly studied : brake specific heat consumption, diesel reduction rate, nitrogen oxide (NOx) emissions and carbon monoxide (CO) emissions. Extensive engine testing was done to assess the effects of biogas addition on these parameters ; and based on the results an algorithm was developed to find the optimal biogas flow for specified objectives. Several objectives were set and corresponding biogas flow look-up tables were generated using the optimization algorithm. An engine task simulation was used to test the look-up tables and the results were considered satisfactory.
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  • Yield Mapping Using Method of Measuring Yield Every Mesh (Part 1)
    ——Instrument of Yield Measuring Every Mesh——
    Kunio TATEISHI, Osamu YUKUMOTO, Yutaka SASAKI, Kyo KOBAYASHI, Kazuto S ...
    2009 Volume 71 Issue 4 Pages 4_83-4_89
    Published: July 01, 2009
    Released on J-STAGE: November 13, 2012
    DOIhttps://doi.org/10.11357/jsam.71.4_83
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    We developed a yield-measurement device by every mesh equipped with a measuring hopper placed in the internal surface of the grain tank of the head-feeding combine for yield mapping of various reaping methods with equal precision. We measured the mass of the whole hopper with an estimation error of 1.8% by using a pulling-type load cell and estimated the moisture content of the grain within 1% w.b. by using a moisture sensor. A farm test revealed that the error in the mass measurement was 2.0kg at the maximum with a 3.4% standard error, and that the standard error of the moisture content measurement was 2.9% w.b. for wheat and 3.2% w.b. for rough rice, and the standard error of the yield measurement was 5.5%.
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  • Variable Rate Control of Equipment for Wheat Sowing and Fertilizing Applications
    Michihisa IIDA
    2009 Volume 71 Issue 4 Pages 4_90-4_96
    Published: July 01, 2009
    Released on J-STAGE: November 13, 2012
    DOIhttps://doi.org/10.11357/jsam.71.4_90
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    A variable rate control system was developed to apply fertilizers and sow wheat seeds according to application map. This map denotes the amounts of fertilizers and seeds that can be applied in a particular area along with their positions. For this purpose, an applicator was assembled using rotary cultivators, metering devices, and drill units. The metering devices controlled the applied amount of seeds and fertilizers by independently controlling the rotational speed of two electrical motors. The maximum rate of application of the metering device was 11g/s for seeds and 72g/s for fertilizers. Field tests on variable rate application were performed while measuring the position, speed and heading of the applicator using an RTK-GPS. The developed machine could variably sow seeds at the accuracy of -3.1-1.2% and apply fertilizers at the accuracy of -4.9-0.4%.
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