Development of multi-functional tele-operative modular robotic system for greenhouse watermelon

摘要

There have been worldwide research and development efforts to automate various processes of bio-production and those efforts will be expanded with priority given to tasks which require high intensive labor or produce high value-added product and tasks under hostile environment. In the field of bio-production, capabilities of the versatility and robustness of automated system have been major bottlenecks along with economical efficiency. This paper introduces a new concept of automation based on teleoperation, which can provide solutions to overcome inherent difficulties in automating bio-production processes. Operator (former), computer, and automatic machinery share their roles utilizing their maximum merits to accomplish given tasks successfully. Among processes of greenhouse watermelon cultivation, tasks such as pruning, watering, pesticide application, and harvest with loading were chosen based on the required labor intensiveness and functional similarities to realize the proposed concept. The developed system was composed of 5 major hardware modules such as wireless remote monitoring and task control module, wireless remote image acquisition and data transmission module, gantry system equipped with 4 d.o.f. Cartesian type robotic manipulator, exchangeable modular type end-effectors, and guided watermelon loading and storage module. The system was operated through the graphic user interface using touch screen monitor and wireless data communication among operator, computer, and machine. The proposed system showed practical and feasible way of automation in the field of volatile bio-production process.