AUTONOMOUS WEEDING ROBOT WITH PARALLEL MANIPULATOR

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Movement of a parallel manipulator was examined, and an autonomous navigation in the field was tested.1) A high speed handing test of Hexa robot, which was constucted as a weeding manipulator, was executed. Taking an advantage of a high speed handling apparatus, a development of an increase of a handing force applying a inertia force was performed. Row crop tracking of a weeding apparatus using a parallel mechanism was tested.2) A new image analysis algorithm, which detect the soil frrow area, was developed. After color transformation and noise reduction, to detect the soil furrow area on which the camera should track, the largest soil area was selected using a labeling operation. A three dimensional perspective view transformaion was executed, resultig that the offset error was within 6cm, and the attitude angle error was within 1.5 deg. The autonomous navigation test in the field was also tested, resulting that the offset error was within 6cm at the speed of 0.5 m/s.