Analysis of Work Efficiency of Multiple Heterogeneous Robots for Harvesting Crops in the Green House

Recently, a lot of research on green house such as smart farms to which the 4th revolution technology is applied has been conducted. Among them, robot technologies such as harvesting robots and transporting robots to move crops by human workers are being researched. Existing research is mostly focused on the realization of functions of a single robot. In this study, it is shown that when a plurality of harvesting robots and transporting robots are properly mixed for harvesting crops in green house, work efficiency is higher than using only a single harvesting robot. To this end, the harvesting speed and transportingspeed of the harvesting robot and the transporting robot are modeled in consideration of the facility environment, and based on this, the working speed of the robot group consisting of the harvesting robot and the group consisting of the harvesting robot and the transfer robot is derived. In addition, by analyzing the derived working speed based on the experimental data of the actually developed harvesting robot and transporting robot, it is shown that the overall working speed is higher when the harvesting robot and the transporting robot are properly mixed and cooperative work is performed between the robots.