Study on enhanced automeation and informatics of harvesting system by robot combine

2013 Fiscal Year Final Research Report

• Project/Area Number: 22380141
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Agricultural information engineering
• Research Institution: Kyoto University
• Principal Investigator: IIDA MICHIHISA 京都大学, (連合)農学研究科(研究院), 教授 (50232129)
• Co-Investigator(Kenkyū-buntansha): INAMURA Tatsuya 京都大学, 大学院・農学研究科, 教授 (00263129) ; SUGURI Masahiko 京都大学, 大学院・農学研究科, 助教 (10226483) ; OHDOI Katsuaki 京都大学, 大学院・農学研究科, 助教 (90372557) ; MASUDA Ryohei 京都大学, 大学院・農学研究科, 助教 (50322152)
• Project Period (FY): 2010-04-01 – 2014-03-31
• Keywords: 農業ロボット / コンバイン / ロボット収穫 / テレマティクス / 精密農業

Research Abstract

A head-feeding combine robot that autonomously can travel by GNSS was developed in this study. This combine robot can harvest rice crop at speed of 0.6m/s, and it can turn left at 90 degrees or 180 degrees to change its direction at headlands. When a grain tank of the robot is full of grains, the robot travels nearby the transporter autonomously, and it can unload grains from tank to transporter automatically. After that, it starts to harvest the nearest rice crop again. Additionally, the robot can send information about position and machine status of the robot to a data server by mobile phone. Furthermore, a Web application to remotely monitor the position and machine status of the robot was developed.

Research Products

• [Journal Article] Web アプリケーションによるコンバインロボットの遠隔モニタリング (2014)
  • Author(s): 石橋茉耶, 村主勝彦, 飯田訓久, 増田良平
  • Journal Title: 農業情報研究 Volume: 23(1) Pages: 12-20
  • DOI: 10.3173/air.23.1
  • Peer Reviewed
• [Journal Article] Vision-based Uncut Crop Edge Detection for Automated Guidance of Head-Feeding Combine (2014)
  • Author(s): Cho, W. J., Iida, M., Suguri, M., Masuda, R., Kurita, H.
  • Journal Title: Engineering in Agriculture, Environment and Food
  • Peer Reviewed
• [Journal Article] Using Multiple Sensors to Detect Uncut Crop Edges for Autonomous Guidance Systems of Head-Feeding Combine Harvesters (2014)
  • Author(s): Cho, W. J., Iida, M., Suguri, M., Masuda, R., Kurita, H.
  • Journal Title: Engineering in Agriculture, Environment and Food
  • Peer Reviewed
• [Journal Article] Efficient Searching for Grain Storage Container by Combine Robot (2014)
  • Author(s): Kurita, H., Iida, M., Suguri, M., Masuda, R., Cho, W. J.
  • Journal Title: Engineering in Agriculture, Environment and Food
  • Peer Reviewed
• [Journal Article] 自脱コンバイン・ロボットの経路追従制御 (2013)
  • Author(s): 内田諒, 飯田訓久, 祝華平, 栗田寛樹, 村主勝彦, 増田良平
  • Journal Title: 計測自動制御学会論文集 Volume: 49(1) Pages: 119-124
  • Peer Reviewed
• [Journal Article] Path-Following Control of a Head-Feeding Combine Robot (2013)
  • Author(s): Iida, M., Uchida, R., Zhu, H., Suguri, M., Kurita, H., and Masuda, R.
  • Journal Title: Engineering in Agriculture, Environment and Food Volume: 6(2) Pages: 61-67
  • DOI: 10.11165/eaef.6.61
  • Peer Reviewed
• [Journal Article] Application of Image Processing Technology for Unloading Automation of Robotic Head-Feeding Combine Harvester (2012)
  • Author(s): Kurita, H., Iida, M., Suguri, M., and Masuda, R.
  • Journal Title: Engineering in Agriculture, Environment and Food Volume: 5(4) Pages: 146-151
  • DOI: 10.11165/eaef.5.146
  • Peer Reviewed
• [Journal Article] 水田転換畑における不耕起ダイズの生育に及ぼす降水の影響 (2012)
  • Author(s): 村田資治, 井上博茂, 稲村達也
  • Journal Title: 日本作物学会紀事 Volume: 81(4) Pages: 397-403
  • Peer Reviewed
• [Presentation] イネのマルチスペクトル解析における撮影角度の影響 (2014)
  • Author(s): 村主勝彦, 伊藤啓悟, 増田良平, 飯田訓久
  • Organizer: 農業食料工学会関西支部第131回例会
  • Place of Presentation: 大阪府立大学,堺市
  • Year and Date: 2014-03-04
• [Presentation] コンバインロボットの作業情報分析 (2014)
  • Author(s): 飯田訓久, 原田朋弥, 栗田寛樹, 村主勝彦, 増田良平
  • Organizer: 農業食料工学会関西支部第131回例会
  • Place of Presentation: 大阪府立大学,堺市
  • Year and Date: 2014-03-04
• [Presentation] 光学センサを用いた穀粒堆積分布の三次元計測 (2014)
  • Author(s): 栗田寛樹, 趙元在, 山口敬太, 飯田訓久, 村主勝彦, 増田良平
  • Organizer: 農業食料工学会関西支部第131回例会
  • Place of Presentation: 大阪府立大学,堺市
  • Year and Date: 2014-03-04
• [Presentation] 水田転換畑においてダイズ子実の成分・収量に作付体系は影響を及ぼすのか (2013)
  • Author(s): 足立紘一, 村田資治, 増田太郎, 松宮健太郎, 稲村達也
  • Organizer: 日本作物学会 第235回講演会
  • Place of Presentation: 明治大学生田キャンパス,川崎市
  • Year and Date: 20130328-29
• [Presentation] ロボットコンバインのためのプラットホーム開発 (2013)
  • Author(s): 趙元在, 飯田訓久, 栗田寛樹, 村主勝彦, 増田良平
  • Organizer: 農業食料工学会関西支部第130回例会
  • Place of Presentation: 三重大学,津市
  • Year and Date: 2013-11-01
• [Presentation] ロボットコンバインによる収穫システム (2013)
  • Author(s): 飯田訓久, 栗田寛樹, 趙元在, 村主勝彦, 増田良平, 石橋茉耶, 山本亮介, 望月裕貴
  • Organizer: 農業食料工学会第72回年次大会
  • Place of Presentation: 帯広畜産大学,帯広市
  • Year and Date: 2013-09-11
• [Presentation] 走行路面に対するコンバイン・ロボットの旋回特性 (2013)
  • Author(s): 山本亮介, 飯田訓久, 栗田寛樹, 趙元在, 村主勝彦, 増田良平, 望月裕貴
  • Organizer: 農業食料工学会第72回年次大会
  • Place of Presentation: 帯広畜産大学,帯広市
  • Year and Date: 2013-09-11
• [Presentation] Turning Performance of Combine Robot by Various Compasses (2013)
  • Author(s): Iida, M., Kurita, H., Cho, W. J., Mochizuki, Y., Yamamoto, R., Suguri, M., Masuda, R.
  • Organizer: The 4th IFAC Conference on Modelling and Control in Agriculture, Horticulture and Post Harvest Industry (AGRICONTROL 2013)
  • Place of Presentation: Department of Automation and Systems Technology, Aalto University School of ELEC, Espoo, Finland
  • Year and Date: 2013-08-28
• [Presentation] Remote Monitoring of Agricultural Robot Using Web Application (2013)
  • Author(s): Ishibashi, M., Iida, M., Suguri, M., Masuda, R.
  • Organizer: The 4th IFAC Conference on Modelling and Control in Agriculture, Horticulture and Post Harvest Industry (AGRICONTROL 2013)
  • Place of Presentation: Department of Automation and Systems Technology, Aalto University School of ELEC, Espoo, Finland
  • Year and Date: 2013-08-28
• [Presentation] A Method to Detect the Occurrence of Rice Plant Lodging Using Wavelet Transform (2013)
  • Author(s): Masuda, R., Fujimoto, S., Iida, M., Suguri, M.
  • Organizer: The 4th IFAC Conference on Modelling and Control in Agriculture, Horticulture and Post Harvest Industry (AGRICONTROL 2013)
  • Place of Presentation: Department of Automation and Systems Technology, Aalto University School of ELEC, Espoo, Finland.
  • Year and Date: 2013-08-28
• [Presentation] Potential of Hyperspectral Imaging for Constructing a Year-Invariant Model to Estimate the Nitrogen Content of Rice Plants at the Panicle Initiation Stage (2013)
  • Author(s): Onoyama, H., Ryu, C., S., Suguri, M., Iida, M.
  • Organizer: The 4th IFAC Conference on Modelling and Control in Agriculture, Horticulture and Post Harvest Industry (AGRICONTROL 2013)
  • Place of Presentation: Department of Automation and Systems Technology, Aalto University School of ELEC, Espoo, Finland
  • Year and Date: 2013-08-28
• [Presentation] ロボットコンバインによる収穫作業 (2013)
  • Author(s): 飯田訓久, 望月裕貴 ,山本亮介, 趙元在, 栗田寛樹, 村主勝彦, 増田良平
  • Organizer: 第57回システム制御情報学会研究発表講演会
  • Place of Presentation: 兵庫県民会館,神戸市
  • Year and Date: 2013-05-15
• [Presentation] Advanced harvesting system by using a combine robot (2013)
  • Author(s): Iida, M., Suguri, M., Uchida, R., Ishibashi, M., Kurita, H., Cho, W. J., Masuda, R., Ohdoi, K.
  • Organizer: The 2013 IFAC Bio-Robotics Conference
  • Place of Presentation: Hotel Agora Regency Sakai, Sakai, Japan
  • Year and Date: 2013-03-27
• [Presentation] ロボットコンバインのための方位センサの性能比較 (2013)
  • Author(s): 望月裕貴, 飯田訓久, 村主勝彦, 増田良平
  • Organizer: 農業食料工学会関西支部第129回例会
  • Place of Presentation: 神戸大学,神戸市
  • Year and Date: 2013-03-05
• [Presentation] Advanced Harvesting System by using Robot Combine (2012)
  • Author(s): Iida, M., Suguri, M., Masuda, R., Ohdoi, K., Kurita, H., Cho, W. J., Uchida, R., Zhu, H., Ishibashi, M.
  • Organizer: The 8th Workshop on Nondestructive Quality Evaluation of Agricultural, Livestock and Fishery Products
  • Place of Presentation: Taiwan National University, Taipei, Taiwan
  • Year and Date: 2012-11-27
• [Presentation] Development of Head-Feeding Combine Robot, The 6th International Symposium on Machinery and Mechatronics for Agricultural and Biosystems Engineering (ISMAB2012) (2012)
  • Author(s): Iida, M., Uchida, R., Zhu, H., Ohdoi, K., Suguri, M., Kurita, H., Masuda, R., Inamura, T.
  • Organizer: Chonbuk National University
  • Place of Presentation: Jeonju, Korea
  • Year and Date: 2012-07-19
• [Presentation] Machine Vision for Auto-Steering System of Head-Feeding Combine, The 6th International Symposium on Machinery and Mechatronics for Agricultural and Biosystems Engineering (ISMAB2012) (2012)
  • Author(s): Cho, W. J., Iida, M., Ikemura, Y., Suguri, M., Masuda, R.
  • Organizer: Chonbuk National University
  • Place of Presentation: Jeonju, Korea
  • Year and Date: 2012-07-19
• [Presentation] Development of the Automated Auger Positionng System for Unloading Work - Searching and Positioning -, The 6th International Symposium on Machinery and Mechatronics for Agricultural and Biosystems Engineering (ISMAB2012) (2012)
  • Author(s): Kurita, H., Iida, M., Suguri, M.
  • Organizer: Chonbuk National University
  • Place of Presentation: Jeonju, Korea
  • Year and Date: 2012-06-19
• [Presentation] 自脱コンバイン・ロボットの経路追従制御 (2011)
  • Author(s): 飯田訓久, 内田諒, 村主勝彦, 祝華平, 増田良平
  • Organizer: 第12回計測自動制御学会システムインテグレーション部門講演会
  • Place of Presentation: 京都大学,京都市
  • Year and Date: 2011-12-25
• [Presentation] Application of image processing technology for unloading automation of robot combine harvester (2011)
  • Author(s): Kurita, H., Iida, M., Suguri, M., Uchida, R., Zhu, H., Masuda, R.
  • Organizer: SI International 2011
  • Place of Presentation: Kyoto University, Kyoto, Japan
  • Year and Date: 2011-12-21
• [Presentation] ロボットコンバインのための画像処理による稲の倒伏状態の検出 (2011)
  • Author(s): 野村和生, 増田良平
  • Organizer: 第70回農業機械学会年次大会
  • Place of Presentation: 弘前大学,弘前市
  • Year and Date: 2011-09-28
• [Presentation] ロボットコンバインの穀粒排出作業自動化のための画像処理技術の応用-SURF及びARToolKit を用いか排出オーガの位置決め制御- (2011)
  • Author(s): 栗田寛樹, 飯田訓久, 川邊達也, 村主勝彦, 増田良平
  • Organizer: 第70回農業機械学会年次大会
  • Place of Presentation: 弘前大学,弘前市
  • Year and Date: 2011-09-27
• [Presentation] Development of robotic head-feeding combine" CIGR International Symposium on Sustainable Bioproduction-Water (2011)
  • Author(s): Iida, M., Uchida, R., Zhu, H., Kurita, H., Suguri, M., Masuda, R.
  • Organizer: Energy, and Food
  • Place of Presentation: Tower hall Funabori,Tokyo, Japan
  • Year and Date: 2011-09-20
• [Presentation] ロボットコンバインの旋回制御 (2011)
  • Author(s): 飯田訓久, 内田諒, 村主勝彦, 祝華平, 増田良平
  • Organizer: 農業機械学会関西支部第126回例会
  • Place of Presentation: ホテルハーベスト南紀田辺,田辺市
  • Year and Date: 2011-09-16
• [Presentation] RTK-GPS とGPS コンパスによるコンバインの自動操舵 (2011)
  • Author(s): 飯田訓久, 祝華平, 村主勝彦, 祝華平, 内田諒, 増田良平
  • Organizer: 農業機械学会関西支部第126回例会
  • Place of Presentation: ホテルハーベスト南紀田辺,田辺市
  • Year and Date: 2011-09-16
• [Presentation] Machine vision for auto-steering system of combine harvester (2011)
  • Author(s): Ikemura, Y., Iida, M., Suguri, M., Masuda, R.
  • Organizer: The 4th Asian Conference on Precision Agriculture
  • Place of Presentation: Tokachi Plaza, Obihiro, Japan
  • Year and Date: 2011-07-05
• [Presentation] Development of robot combine harvester equipped with GPS and compass (2011)
  • Author(s): Iida, M., Uchida, R., Zhu, H., Suguri, M., Masuda, R.
  • Organizer: The 4th Asian Conference on Precision Agriculture
  • Place of Presentation: Tokachi Plaza, Obihiro, Japan.
  • Year and Date: 2011-07-05
• [Presentation] Path planning for unloading task of autonomous head-feeding combine (2011)
  • Author(s): Masuda, R., Tokunaga, N., Iida, M., Suguri, M.
  • Organizer: The XXXIV CIOSTA CIGR V Conference 2011
  • Place of Presentation: Vienna, Austria
  • Year and Date: 2011-07-01
• [Presentation] ロボットコンバインの穀粒排出作業自動化のための画像処理技術の応用 (2011)
  • Author(s): 栗田寛樹, 飯田訓久, 村主勝彦, 川邊達也
  • Organizer: 日本機械学会第12回「運動と振動の制御」シンポジウム
  • Place of Presentation: メルパルク長野,長野市
  • Year and Date: 2011-06-29
• [Presentation] ロボットコンバインのための穀粒排出作業経路計画 (2011)
  • Author(s): 増田良平, 徳永直也, 飯田訓久, 村主勝彦
  • Organizer: 農業機械学会関西支部第125回例会
  • Place of Presentation: 大阪府立大学,堺市
  • Year and Date: 2011-03-02
• [Presentation] コンバインの穀粒排出自動化のための画像処理技術の開発 (2011)
  • Author(s): 川辺達也, 栗田寛樹, 村主勝彦, 飯田訓久
  • Organizer: 農業機械学会関西支部第125回例会
  • Place of Presentation: 大阪府立大学,堺市
  • Year and Date: 2011-03-02
• [Presentation] コメの食味・収量の収穫時の水田の土壌特性との関係 (2011)
  • Author(s): 柳讚錫, 中出潤, 渡部慧 ,村主勝彦, 飯田訓久, 石川峻
  • Organizer: 農業機械学会関西支部第125回例会
  • Place of Presentation: 大阪府立大学,堺市
  • Year and Date: 2011-03-02
• [Presentation] ロボットコンバインの速度制御 (2011)
  • Author(s): 飯田訓久, 内田諒, 村主勝彦, 祝華平, 増田良平
  • Organizer: 農業機械学会関西支部第125回例会
  • Place of Presentation: 大阪府立大学,堺市
  • Year and Date: 2011-03-02
• [Presentation] RTK-GPS とGPS コンパスによるコンバインの自動動操舵 (2011)
  • Author(s): 飯田訓久, 祝華平, 村主勝彦, 内 諒, 増田良平
  • Organizer: 農業機械学会関西支部第125回例会
  • Place of Presentation: 大阪府立大学,堺市
  • Year and Date: 2011-03-02
• [Presentation] Estimation of Nitrogen Contents in Rice Plant at the Panicle Initiation Stage Using Ground-Based Hyperspectral Remote Sensing (2010)
  • Author(s): Onoyama, H., Ryu, C. S., Suguri, M., Iida, M.
  • Organizer: The 3rd IFAC International Conference ARICONTROL 2010
  • Place of Presentation: Kyoto University, Kyoto, Japan
  • Year and Date: 2010-12-08
• [Presentation] Cut-edge and Stubble Detection for Auto-Steering System of Combine Harvester Using Machine Vision (2010)
  • Author(s): Iida, M., Ikemura, Y., Suguri, M., Masuda, R.
  • Organizer: The 3rd IFAC International Conference ARICONTROL 2010
  • Place of Presentation: Kyoto University, Kyoto, Japan.
  • Year and Date: 2010-12-07
• [Presentation] 自脱コンバインのロボット化(第1報) (2010)
  • Author(s): 飯田訓久, 村主勝彦, 増田良平
  • Organizer: 農業機械学会第69回年次大会例会
  • Place of Presentation: 愛媛大学,松山市
  • Year and Date: 2010-09-15
• [Presentation] 自脱コンバインのロボット化(第1報) (2010)
  • Author(s): 飯田訓久, 村主勝彦, 増田良平
  • Organizer: 農業機械学会関西支部第124回支部例会
  • Place of Presentation: 岡山大学,岡山市
  • Year and Date: 2010-08-31
• [Presentation] 出穂前の水田における雑草繁茂状況下での画像内稲領域の判別 (2010)
  • Author(s): 野村和生, 増田良平
  • Organizer: 農業機械学会関西支部第124回支部例会
  • Place of Presentation: 岡山大学,岡山市
  • Year and Date: 2010-08-31
• [Remarks]
  • URL: http://elam.kais.kyoto-u.ac.jp/
• [Patent(Industrial Property Rights)] 農作物排出装置 (2013)
  • Inventor(s): 飯田訓久, 栗田寛樹, 村主勝彦, 中川渉, 川邉達也
  • Industrial Property Rights Holder: 京都大学,ヤンマー株式会社
  • Industrial Property Rights Type: 特許
  • Industrial Property Number: 2013-115970
  • Filing Date: 2013-05-31
• [Patent(Industrial Property Rights)] 農作物排出装置 (2013)
  • Inventor(s): 飯田訓久, 栗田寛樹, 中川渉, 山口雄司, 渡邊一史
  • Industrial Property Rights Holder: 京都大学,ヤンマー株式会社
  • Industrial Property Rights Type: 特許
  • Industrial Property Number: 2013-115971
  • Filing Date: 2013-05-31
• [Patent(Industrial Property Rights)] 農作物排出装置 (2013)
  • Inventor(s): 飯田訓久, 栗田寛樹, 中川渉, 白水崇之, 幸英浩
  • Industrial Property Rights Holder: 京都大学,ヤンマー株式会社
  • Industrial Property Rights Type: 特許
  • Industrial Property Number: 2013-115972
  • Acquisition Date: 2013-05-31