Ｖ字型整枝されたナスを対象としたロボット収穫システム（第２報）―ナスの収穫実験―

DOI Web Site 被引用文献4件 参考文献6件

書誌事項

タイトル別名
  • Robotic Harvesting System for Eggplants Trained in V-Shape (Part 2)-Harvesting Experiment for Eggplants-
  • Vジガタセイシ サレタ ナス オ タイショウ ト シタ ロボット シュウカク システム ダイ2ホウ ナス ノ シュウカク ジッケン
  • Harvesting Experiment for Eggplants
  • ナスの収穫実験

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抄録

A robotic harvesting system was developed to realize selective harvesting for eggplants. The purpose of the second part is to explain the local sensing for fruit-size judgment and picking control and to examine the harvesting performance. After the system approached the fruit, which was detected by the global sensing, the local sensing judged the fruit size with a fusion of the vision sensor and distance sensor. The end-effector then approached the peduncle. The harvesting scissors cut the peduncle, and the lower blades held it simultaneously. Therefore, the system conveyed it to a container without contact with the fruit. The harvesting experiment was done for eggplants trained in V-shape to examine the harvesting performance. The system could harvest the fruit with a successful harvesting ratio of 29.1%. The main cause of unsuccessful harvesting was that the fruit was invisible owing to leaves or stems. Moreover, it was found that the system misjudged fruit size or dropped fruit during conveyance to the container. The picking method using the lower blades was effective, since no damage to the fruit was observed. The picking time per fruit was 43.2 s/fruit. The work efficiency, including traveling time, was 14.9 m/h. In the future, it will be necessary to develop a more effective fruit-size judgment technique and a traveling method to the adjacent inter-ridge in the future.

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