Development of the Agricultural Robot in Synecoculture<sup>TM</sup> Environment

摘要

Currently, as measures against environmental destruction, an agricultural method called synecocultureTM has been received attention. However, since multiple types of plants grow densely in this method, conventional machines and robots can't intervene. Conventional agricultural robots are basically capable of handling only one type of crop. Therefore, we developed a cutting tool for agricultural work for the robot, since it is necessary to handle various types of crops. A tool changer was also developed to enable the robot itself to switch tools as appropriate to work with various crops. The cutting tool successfully pruned five crops, including bell peppers and green onions, and the success rate of the tool changer was confirmed through experiments by allowing for arm position errors. This enabled the robot to switch tools freely.