Research on EV Crawler-Type Soil Sample Robot Using GNSS Information

Abstract

In Japan, the decline in the number of agricultural workers and the aging of the workforce are problems, and there is a demand for more efficient and labor-saving work. Furthermore, in order to correct the rising price of fertilizer and the increasing burden on the environment caused by fertilizer, there is a demand for more efficient fertilization. Therefore, we aim to develop an electric soil sampling robot that can run autonomously using Global Navigation Satellite System (GNSS) information. GNSS and the Inertial Measurement Unit (IMU) are used as navigation sensors. The work machine is a crawler type that reduces soil compaction. In addition, a route map was generated in advance using the coordinate values of the field, with soil sampling positions set at 10 m intervals. In the experiment, the robot traveled along the route map and stopped automatically. The standard deviation of the standard deviation of lateral error was about 0.032 m, and the standard deviation of the interval between soil sampling positions was also less than 0.05 m. Therefore, it can be said that the accuracy is sufficient for soil sampling. It can also be said that even higher density sampling is possible by setting the intervals for soil sampling at finer intervals.