Agriculture Reference
In-Depth Information
Steering
VRS-
RTK-GPS
Long-mat
nursery
Base-machine
Commercialized six-rows
rice planter (10.5 PS)
Trans-
mission
IMU
FIGURE 2.14
Rice planting robot.
operations with the addition of DC servo motors for operating the throttle, the gear
transmission (continuously variable transmission), and the implement clutch; pro-
portional hydraulic valves for steering control; and hydraulic electromagnetic valves
for operating the left and right brakes, clutches, and the implement elevator. It also
uses an RTK-GPS and an IMU as navigation sensors. In the working situation of the
robot, the steering angle is determined based on a lateral error and heading error
from the predetermined path, and control signals are sent to the hydraulic valves.
At the end of the field, the robot conducts keyhole turn to enter the next travel path.
The transplanting robot can travel within an error range of ±10 cm from the prede-
termined path. Although rice seedlings must be supplied manually, the use of long-
mat type hydroponic rice seedlings enables the robot to transplant up to 3000 m
2
of
land at a rate of 0.2 min/ha without replenishing seedlings, as seen in Figure 2.15.
Start and end points
30
20
10
0
0
10
20
30
40
50
60
70
80
90
100
Distance (m)
FIGURE 2.15
Trajectory of a rice planting robot.
