WEKO3
アイテム
走行環境に応じて走行形態をホイール/トラックに変化させる農業用ロボットの開発
https://doi.org/10.18997/0002000944
https://doi.org/10.18997/0002000944025af202-4c5e-4e96-8c11-c107fec081bb
| 名前 / ファイル | ライセンス | アクション |
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sei_k_486.pdf (16.8 MB)
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| アイテムタイプ | 学位論文 = Thesis or Dissertation(1) | |||||||
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| 公開日 | 2024-09-03 | |||||||
| 資源タイプ | ||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_db06 | |||||||
| 資源タイプ | doctoral thesis | |||||||
| タイトル | ||||||||
| タイトル | Development of an agricultural robot with wheel and track locomotions based on soil condition | |||||||
| 言語 | en | |||||||
| タイトル | ||||||||
| タイトル | 走行環境に応じて走行形態をホイール/トラックに変化させる農業用ロボットの開発 | |||||||
| 言語 | ja | |||||||
| 言語 | ||||||||
| 言語 | eng | |||||||
| 著者 |
Supaphon, Kamon
× Supaphon, Kamon
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| 抄録 | ||||||||
| 内容記述タイプ | Abstract | |||||||
| 内容記述 | The use of agricultural machinery has led to soil degradation and the consequent crop yield reduction and maintenance costs increase. During operations on the farm, the heavy vehicles cause damage of soil by compaction and distortion. The soil compaction is damage that occurs in topsoil and subsoil. It is determined by the reduction of soil volume by compressing the soil’s pore space. The effect of pore space compressing affects the limitation for water to infiltrate and reach the nutrients in the plant’s roots. The soil distortion is damage that occurs only at the topsoil because of the shear force and it destroys the soil’s pore space thorough shear deformation. The farmers have to restore the original state of soil and use expensive costs because the soil is damaged. The soil damage is affected by the state of the soil and by the contact area between soil and running gear. The commonly used running gear in agricultural tasks are wheel system and track system. The main difference between the wheel system and the track system is the contact area with the soil and the pressure distribution. A vehicle with small contact like wheels causes higher soil compaction while tracked system cause higher the soil distortion. This thesis presents a new reconfigurable agricultural vehicle that can switch between the wheeled system and the tracked system according to the terrain conditions. The wheel/track reconfigurable vehicle has 2 wheels on the rear axle and 2 tracks on the front axle. The wheel/track reconfigurable vehicle can adjust the vehicle’s contact area by lifting a part of the front tracks off the ground, remaining parts contacting the ground as if they were wheels (wheeled mode), and pushing a part of the tracks to the ground (tracked mode). We present all of the mechanical and electronic parts of the wheel/track reconfigurable vehicle. The power system, system architecture and a user-friendly graphical interface is presented. The user can control the vehicle by a user-friendly graphical interface. A wheel/track robot is designed to minimize soil compaction, soil distortion and power consumption. Soil compaction can be defined as a cone index (CI) of soil. We use a cone penetrometer test to measure CI of soil before and after the vehicle pass. The soil distortion can be defined as shear displacement. We put the chalk and measure chalk displacement after vehicle pass. The power consumption of motors can be measured by angular velocity and torque sensor of motor. We compared the soil compaction, soil distortion and power consumption between wheeled mode and tracked mode, without payload and with payload, on firm soil, soft soil and wet soil conditions to define which locomotion mode is preferable in soil conditions. On firm soil, tracked mode causes higher soil distortion, but the power consumption is similar to wheeled mode, so wheeled mode is preferable. On soft soil and wet soil, wheeled mode causes higher power consumption and soil compaction, so tracked mode is preferable. After we decide which mode is better, we design the cost function to switch mode autonomously. The cost function is used in this research to switch modes. The cost function is a function of soil compaction and soil distortion. The cost function is the tradeoff between wheel mode and track mode. Wheel mode causes higher soil compaction, and track mode causes higher soil distortion. In the test, we tested wheeled mode, tracked mode, and autonomous switching mode on two different soil conditions (firm soil and soft soil). We compare the results of sinkage, power, and shear displacement between autonomous switching mode and single mode (wheel and track mode). Autonomous switching mode can reduce sinkage and power if compared with wheel mode. Also, autonomous switching mode can reduce shear displacement if compared with track mode. |
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| 目次 | ||||||||
| 内容記述タイプ | TableOfContents | |||||||
| 内容記述 | 1. Introduction| 2. Agricultural Robot with Wheel and Track Locomotions| 3. Basic performance| 4. Locomotion Switching| 5. Conclusion | |||||||
| 備考 | ||||||||
| 内容記述タイプ | Other | |||||||
| 内容記述 | 九州⼯業⼤学博⼠学位論⽂ 学位記番号：生工博甲第486号 学位授与年⽉⽇: 令和6年3⽉25⽇ | |||||||
| 学位授与番号 | ||||||||
| 学位授与番号 | 甲第486号 | |||||||
| 学位名 | ||||||||
| 学位名 | 博士（工学） | |||||||
| 学位授与年月日 | ||||||||
| 学位授与年月日 | 2024-03-25 | |||||||
| 学位授与機関 | ||||||||
| 学位授与機関識別子Scheme | kakenhi | |||||||
| 学位授与機関識別子 | 17104 | |||||||
| 学位授与機関名 | 九州工業大学 | |||||||
| 言語 | ja | |||||||
| 学位授与年度 | ||||||||
| 内容記述タイプ | Other | |||||||
| 内容記述 | 令和5年度 | |||||||
| 出版タイプ | ||||||||
| 出版タイプ | VoR | |||||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||
| アクセス権 | ||||||||
| アクセス権 | open access | |||||||
| アクセス権URI | http://purl.org/coar/access_right/c_abf2 | |||||||
| ID登録 | ||||||||
| ID登録 | 10.18997/0002000944 | |||||||
| ID登録タイプ | JaLC | |||||||
