Harvesting Robot for Strawberry Grown on Table Top Culture (Part 2) Harvesting Robot with a Suspended Manipulator under Cultivation Bed
-
- ARIMA Seiichi
- Faculty of Agriculture, Ehime University
-
- MONTA Mitsuji
- Faculty of Agriculture, Okayama University
-
- NAMBA Kazuhiko
- Faculty of Agriculture, Okayama University
-
- YOSHIDA Yuichi
- Faculty of Agriculture, Okayama University
-
- KONDO Naoshi
- Department of Technology Development, Ishii Industry Co., Ltd.
Bibliographic Information
- Other Title
-
- 高設栽培用イチゴ収穫ロボット (第2報) ―つり下げ型マニピュレータを有する収穫ロボット―
- コウセツサイバイヨウ イチゴ シュウカク ロボット ダイ2ホウ ツリ サゲ ガタ マニピュレータ オ ユウスル シュウカク ロボット
- Harvesting Robot with a Suspended Manipulator under Cultivation Bed
- つり下げ型マニピュレータを有する収穫ロボット
Search this article
Abstract
In part 1 of this series, a harvesting robot consisting of a 5 DOF polar-coordinate manipulator, a harvesting end-effector using sucking force, a visual sensor and a traveling device was manufactured and tested with strawberry grown on table top culture. From the results, it was observed that the table top culture was a suitable cultivation method for robotic operations because there were few obstacles around the target fruits, and that harvesting using a sucking force inflicted no damage on the fruits. However, it took the robot 14 to 20 seconds to harvest a single fruit because of the complicated construction and control method of the manipulator. <BR>In this study, a cartesian coordinate manipulator suspended under the planting bed of strawberry was employed in order to simplify construction and control method of the manipulator intended for practical use. The robot was capable of moving along the planting bed without a traveling device because one prismatic joint of the manipulator played the role of a traveling device. Furthermore, depth measurement by a visual sensor was simplified because distance between the robot and the fruits was kept approximately constant by suspending the robot under the planting bed. Harvesting experiments were conducted in a greenhouse by using the manipulator equipped with an improved end-effector and a visual sensor. From the results, time required to harvest a fruit was reduced to around 10 seconds because of the simplified construction and control method of the manipulator.
Journal
-
- Shokubutsu Kojo Gakkaishi
-
Shokubutsu Kojo Gakkaishi 15 (3), 162-168, 2003
JAPANESE SOCIETY OF AGRICULTURAL, BIOLOGICAL AND ENVIRONMENTAL ENGINEERS AND SCIENTISTS
- Tweet
Details 詳細情報について
-
- CRID
- 1390282679357876608
-
- NII Article ID
- 10012024847
-
- NII Book ID
- AN10451761
-
- ISSN
- 18803555
- 09186638
-
- NDL BIB ID
- 6690064
-
- Text Lang
- ja
-
- Data Source
-
- JaLC
- NDL
- Crossref
- CiNii Articles
-
- Abstract License Flag
- Disallowed