Agriculture Reference
In-Depth Information
Sensing module
RTK-GPS
GPS compass
ECU
ECU
CAN bus
Terminator
Serial
Controller
ECU
I/O
Equipment control
ECU
PLC
Steering control
Electronic cylinder
PC
HST control
Terminator
Control module
Combine harvester
FIGURE 2.17
Schematic diagram of the robot combine harvester.
30
Start point
20
10
Automatic
Manual
0
0
10
30
20
40
60
70
80
100
50
90
Distance (m)
FIGURE 2.18
Trajectory of the robot combine harvester.
2.6 OBSTACLE SENSOR
There are several unresolved issues for automated agriculture using robots. One is
the issue of how to ensure safety, both for the operator and in the space around the
robot. Safety awareness is particularly high in the United States. Even the standard
tractors are equipped with a safety mechanism that prevents the vehicle from moving
unless the operator is sitting in the seat. Naturally, a higher level of safety assurance
is required for a robot that operates without an operator.
An effective sensor unit that detects an obstacle using a two-dimensional (2-D)
scanning laser for a robot tractor is discussed here (Noguchi and Barawid, 2011).
Because it is necessary to it the robot with a multiple-stage and redundant safety
