Browse > Article
http://dx.doi.org/10.13067/JKIECS.2012.7.5.1125

A development of H/W and S/W platform of remote controllable agricultural robot based on XP embedded system  

Hyun, Woong-Keun (호남대학교 전자광공학과)
Publication Information
The Journal of the Korea institute of electronic communication sciences / v.7, no.5, 2012 , pp. 1125-1131 More about this Journal
Abstract
According to abrupt decrese in number of farmer and ageing society, there has been a need for development of low cost agricultural robot. In this paper, a H/W and S/W platform of caterpillar type agricultural chemical dusting robot based on XP embedded system were described. The developed agricultural robot has 2 d.o.f caterpillar type driving wheel and 2 d.o.f chemical dusting spray mechanical system. The H/W platform of the agricultural robot consists of robot controller, remote controller and sensor controller. In S/W platform, 5 processes work concurrently, which are task manager, TCP-IP communication process, localization process, wheel control, and sensor control process. This robot platform has been developed for chemical dusting robot. We proved this system's validity through field test.
Keywords
Agricultural robot; H/W platform; SW platform; remote controller; sensor controller; XPE;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
연도 인용수 순위
1 Simon Blackmore1, Bill Stout, Maohua Wang, Boris Runov, BlackmoreB., W.Wang, M., and Runov. B., " ROBOTIC AGRICULTURE THE FUTURE OF AGRICULTURAL MECHANISATION", 5th European Conference on Precision Agriculture, Netherlands, pp. 621-628, 2005.
2 Martin Holm Pedersen and Jens Lund Jensen, "Autonomous Agricultural Robot", AALBORG UNIVERSITY press, 2007.
3 노성우, 김태균, 고낙용, 배영철, "이동로봇의 GPS 위치정보 보정을 위한 파티클 필터 방법", 한국전자통신학회논문지, 7권, 2호, pp. 381-390, 2012.
4 문용선, 노상현, 조광훈, 배영철, "정밀 GPS 기반의 실외환경에서의 로봇 위치 추정 및 openRTM을 이용한 모니터링", 한국전자통신학회, 7권, 2호, pp. 425-432, 2012.
5 http://www.wired.com/science/discoveries/ne ws /2007/06/robo_picker
6 http://www.cyberdyne.jp/english/ robotsuithal/ index.html.
7 R.N. Jorgensen, C.G. Sorensen1, and J. Maagaard," HortiBot: A System Design of a Robotic Tool Carrier for High-tech Plant Nursing", gricultural Engineering International, Vol. 4, July, pp. 713-726, 2007.
8 Hans Utz, Stefan Sablatnog, Stefan Enderle, and Gerhard Kraetzschmar, "Miro-middleware for mobile robot applications," IEEE Transaction on Robotics and Automation, Vol. 18, No. 4, pp. 1012-1018, August 2002.
9 S. S. Hong, J. S. Lee, H. S. Eom, and G. I. Jeon, "The Robot Software Communication Architecture(RSCA): embedded middleware for networked service robots," Proceeding of the IEEE International Workshop on Parallel and Distributed Real Time Systems (WPDRTS), pp. 487-493, April 2006.
10 CORBA specification. http://www.omg.org.
11 김광진 고낙용 "이동 로봇 장애물 회피 방법의 수치적 성능분석", 한국전자통신학회논문지, 7 권, 2호, pp. 401-408, 2012.