An omni-wheel robot platform prototype for batch soybean handling in a tempeh industry 4.0

Abstract In tempeh production, the availability of nutrition and bioactive compounds is significantly influenced by the production process, equipment, and sanitation standards. However, conventional methods face several challenges, including a high risk of product failure due to weather or process inconsistencies, unstable tempeh quality, the need for extensive experience, and uncertain hygiene standards. Additionally, batch soybean handling by human workers is prone to contamination and inconsistent processing times. This paper aims to develop a mobile robot platform optimized for soybean handling within a tempeh production facility. The prototype robot, designed with omni-directional movement capabilities using omni-wheels, can navigate constrained spaces efficiently. It is equipped with an RFID sensor and two Time-of-Flight distance sensors to accurately recognize production stations and position itself for precise soybean basket handling. The implementation of an omni-wheel robot for soybean handling is expected to stabilize tempeh quality and improve overall production efficiency.