一一 - 北海道大学
Contents
1.2. 92 350im 1 2 3 4 5 a 60 oo m o lt J 1
3. 1 II 2 1 1
4. 3 91 et 5 Fig 5 Field test of robot soil paddling 2 3m 30a 50X60m 2 2 1 50 a 50x100 m 30a 50X60m I 2 2 2 180 1
5. 3 Matsuo et al 2001a 0 5m s H 1 12 13 cm 2 i 3 87 2 2 Fig 2 Field test to evaluate the method of one operator making two Vehicles operation si multaneously 2
6. 2 1 1 8 2 ES 5 0a 680 30
7. XNAV AP L1 AP L1 3 Table 3 Test results of soil paddling I 5 a 30 50 30 m 50X60 50 100 50X60 m s 0 82 0 78 a 0 ha h cm cm II 100 3 5 2 5 3 6 7
8. IV 1 1
9. i ii gt gt 180 gt gt 180 Giy 2 v 2 180 ji w v
10. 2 3 1 2 Table 1 Test results of the method of one operator making two vehicles operation simultaneouslY a 98 6 49 3 49 3 3 98 1 49 0 49 1 ee min 127 6 min 0 8 min 10a 2 min 10 a 13 0 a DO 1
11. 1 1 1 80m gt 30m gt 30m gt et 165 m 1 2 Fig 1 Experimental plots to evaluate the method of one operator making two vehicles operation simultaneously 2 1 1
12. 2 1 1 90 71 3 2009 180 300 m
13. 286X22m 3 89 3 Fig 3 Field test of robot wheat seeding 2 3 3 2 1 0 86 m s 0 68 ha h 1 17 m s 0 86 ha h
14. XNAV Matsuo et al 2001a 2001b Matsuo et al 2008a 2008b 1 1 2
15. 4 5 3 93 References Matsuo Y Yukumoto O Irie Y Ichisugi N Noguchi N 2001a Navigation system and work performance of Tilling Robot Part1 Journal of JSAM 63 3 114 121 Matsuo Y Yukumoto O Irie Y Ichisugi N Terao H Haga Y 2001b Navigation system and work perform ance of Tilling Robot Part2 Journal of JSAM 63 3 122 129 Matsuo Y Yukumoto O Noguchi N Ham
16. 1 1 2 180 1 1 2 1 180 Ro 90 1 90 180
17. 0 7m s H 2 H 2 H 3
18. 0 i 2 AP L1 Gi iy Y i
19. 2 3 1 Matsuo et al 2001b 2 2 1 1 1 2 i wi 12 13 cm H 1 1 23 6 min 10 a 2
20. 0 70m s 1 0 82 m s 0 78 m s 1 3 1 IL 6 2 1 1 I 3 2
21. II 2 1 PTO
22. 71 3 2009 10 0 6 0 6 0 2 0 cm 2 0 2 0 2 0 6 0 nm MN 7 Fig 7 Relative contour map of the field surface after soil paddling 7 1 2 1 2 2 1 8 3 1
23. H 3 H 4 1 1 2 94 h ha 2 31 h ha 1 2 2 0 34 h ha 1 1 1 32 h ha
24. 30cm 31 8 cm 31 5 cm 180 0 5 m 3 T 2
25. Improvement of Adaptability and Reliability of Tilling Robot Part 3 Various Unmanned Operation with Tiliing Robot Yosuke MATSUO Osamu YUKUMOTO Satoshi YAMAMOTO Noboru NOGUCHI Yoshiyuki HARA Abstract Tilling robot can perform unmanned rotary tilling at a practical level At first to utilize the robot effectively we suggested an application in which one operator manually operates the usual tractor while causing the robot to perform unmanned operation Second to apply the robot to other work operation software for seeding and soil puddling were made based on software for rotary tilling In a field test of the first application one operator could perform tilling eficiently approximately 1 8 times the manual operation In field tests of the second application one operator could execute wheat seeding precisely with saving labor The unmanned soil puddling could be performed more efficiently than by conventional manual operation Keywords unmanned operation conventional operation work eficiency rotary tilling seeding soil puddling Tilling robot 1999 4 58 1 331 8537
26. 71 3 85 93 2009 3 1 1 2 1 1 1 8 2
27. 180 1 4 1 2 2 N 4 DP 2 1 4 Fig 4 Returning operation method of robot soil pad dling and the flow of operation software for soil paddling 2 1 1 1 2 1
28. 30X165 m 49 3a 3 1 1 1 GL321 24 3 kW 170 cm XNAV AP L1 1
29. 13 0 min 10 a 1 82 2 1 1 8 2 1 0 04a 3 1 EO TEATS RT CT EER EA ET AE TT TP RR NI CSS 88 71 3 2009
30. 2 1 4 90 180 90 3 4 4 1 2 1 2 1 2 2 1 3 2 4 3 2 1
31. ITI TT a Nz ti 5 6 Fig 6 Work trace of robot soil paddling and the ratio of overlap area 3 7 4 V XNAV 1 1 2 2
32. 1 40 2 TEL 048 654 7000 Institute of Agricultural Machinery Bio oriented Technology Research Advancement Institution National Agricultural and Food Research Organization 1 40 2 Nisshin Kita ku Saitama 331 8537 Japan 2 3 060 8589 9 9 TEL 011 706 3847 Graduate School of Agriculture Hokkaido University Kita 9 Nishi 9 Kita ku Sapporo 060 8589 Japan 4 069 1395 6 15 TEL 0123 89 2001 Hokkaido Central Agricultural Experiment Station Higashi 6 Kita 15 Naganuma cho Yubari gun Hokkaido 069 1395 Japan 060 0002 2 2 19 1 TEL 011 251 7743 Present address Hokkaido Agricultural Machinery Association 19 1 Kita 2 Nishi 2 Chuo ku Sapporo 060 0002 Japan Corresponding author ymatsuo affrc go jp 86 71 3 2009 I
33. 2 TW 7 7 9 24 3kW 286X65m 2 1 2 1
34. 2 1 1 270 cm 30 cm x9 160 cm 170 cm 10 cm 135 cm SS 286 m 2 1 2 1
35. 1 2 2 Table 2 Test results of wheat seeding Ca m s 1 17 0 86 i 0 0 ha h 0 86 0 68 0 329 gt 0 eo 1 5 9 3 6 5 1 h ha 2 92 2004 _ 2 Ch ha 1 32 0 34 Cm 0 08 0 05 0202 iQO200 cm 31 5 31 8 cm 2 SB 1 1 2 1 3 4 1 2 5cm 8cm 5 cm
36. ada Y 2008 Improvement of adaptability and reliability of Tilling Robot Part 1 Journal of JSAM 70 2 104 112 Matsuo Y Yukumoto O Noguchi N 2008 Improvement of adaptability and reliability of Tilling Robot Part 2 Journal of JSAM 70 3 82 88 2008 3 21 2009 7 31 2 1 2 1 2
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