内成り栽培用イチゴ収穫ロボット　第２報　　２号機の試作と収穫基礎実験

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書誌事項

タイトル別名
  • Harvesting Robot for Strawberry Grown on Annual Hill Top. Part 2. Manufacture of the Second Prototype Robot and Fundamental Harvesting Experiment.
  • ウチナリ サイバイヨウ イチゴ シュウカク ロボット ダイ2ホウ 2ゴウキ ノ シサク ト シュウカク キソ ジッケン
  • Manufacture of the Second Prototype Robot and Fundamental Harvesting Experiment
  • 2号機の試作と収穫基礎実験

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抄録

The second prototype robot for harvesting strawberries grown on annual hill top was made for trial based on experimental results of the first prototype robot. Its manipulator was a cartesian coordinate type with three degrees of freedom and a sucking type end-effector was attached to the manipulator. Harvesting action of the robot was as follows : The end-effector moved downward until the sucking head reached ground. It was possible to stop end-effector movement without measuring the depth to ground by an external sensor because a limit switch was attached to sucking head of the end-effector. The end-effector could suck a target fruit into the sucking head. When two pairs of photo-interrupters detected the fruit in the sucking head, the manipulator moved upward and internal cylinder rotated to cut peduncle. Even if the peduncle was not cut by the rotation, an open-close section was closed and detached the fruit from the peduncle. As the visual sensor, a color CCD camera was used. Three dimensional positions of target fruits were calculated from a two dimensional image acquired by the camera and from the depth when the end-effector reached ground. The depth was stored and ac-cumulated in computer memory and the averaged value was used as z coordinate of the next target fruit.<BR>From the experimental results, it was observed that every mature fruit could be harvested in about 7 seconds. Although the success rate was 100%, some adjacent immature fruits were sucked with the target fruits. It was considered that control of volume flow rate of the vacuum device and immature fruit position detection were necessary from engineering view point and that control of peduncle length was desired from horticultural view point in order to reduce the sucked immature fruits.

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