内成り栽培用イチゴ収穫ロボットの研究　１　　１号機の試作と収穫基礎実験

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タイトル別名
  • Harvesting Robot for Strawberry Grown on Annual Hill Top. Part 1. Manufacture of the First 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 ノ ケンキュウ ダイ1ポウ 1ゴウキ ノ シサク ト シュウカク キソ ジッケン
  • Manufacture of the First Prototype Robot and Fundamental Harvesting Experiment
  • 1号機の試作と収穫基礎実験

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A robot consisting of a 3 DOF manipulator, an end-effector, a visual sensor, and a gantry type traveling device was built as a prototype for harvesting strawberry grown on ridge top. In this paper, the mechanism and basic performance of the end-effector for retrieving fruit by vacuum force were described.<BR>The end-effector was developed to suck fruit into an inner cylinder connected to a vacuum device and to cut peduncle by the inner cylinder rotation, and was used for harvesting experiment in a greenhouse. First, an ultrasonic sensor measured distance to ridge top and an image was acquired by a color CCD camera. Secondly, the manipulator moved to a position above a target fruit and the end-effector moved downward to suck the fruit until it was detected by three pairs of photo-interrupters. Thirdly, the inner cylinder rotated and the fruit's peduncle was cut. Then, the manipulator transported the fruit to a tray.<BR>From the experimental results, it was observed that most fruits were sucked into the end-effector at a position 20 mm above the fruits. The fruit sucking method was effective for harvesting small size fruit, because the end-effector could quickly harvest a fruit with no injury to the fruit and could compensate detection error of fruit position from the visual sensor. However, 34% of fruits could not be harvested because some fruits were not sucked and some peduncles were not cut successfully. Improvement of the mechanism of the end-effector needs to be made based on the experimental results.

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