<i>Multi-Combine Robot System for Rice Harvesting Operation</i>

摘要

<abstract> <sc>Abstract.</sc> In order to solve shortage and aging of working force in Japanese agriculture, automation of agricultural machinery is promoted and is merged with information and communication technology (ICT) currently. To improve the efficiency of farming operation much more, cooperative harvesting system by combination of two robots is proposed in this study. Two robots, that are 4-row head-feeding combines, has been developed to automate rice harvesting work in Kyoto University. They have installed a multi-GNSS receiver, a GPS compass, and an IMU as navigation sensors. To avoid collision each robot, 760MHz wireless modems are employed to communicate position, attitude, and working status of each combine. In order to evaluate performance of cooperative harvesting operations by two combine robots, field test was conducted in a rice paddy field. Field test results showed that the combine robots could harvest rice crop cooperatively without leaving rice and any collision.