{"@context":{"@vocab":"https://cir.nii.ac.jp/schema/1.0/","rdfs":"http://www.w3.org/2000/01/rdf-schema#","dc":"http://purl.org/dc/elements/1.1/","dcterms":"http://purl.org/dc/terms/","foaf":"http://xmlns.com/foaf/0.1/","prism":"http://prismstandard.org/namespaces/basic/2.0/","cinii":"http://ci.nii.ac.jp/ns/1.0/","datacite":"https://schema.datacite.org/meta/kernel-4/","ndl":"http://ndl.go.jp/dcndl/terms/","jpcoar":"https://github.com/JPCOAR/schema/blob/master/2.0/"},"@id":"https://cir.nii.ac.jp/crid/1390282680208965888.json","@type":"Article","productIdentifier":[{"identifier":{"@type":"DOI","@value":"10.2525/shita.25.29"}},{"identifier":{"@type":"URI","@value":"https://agriknowledge.affrc.go.jp/RN/2030850765"}},{"identifier":{"@type":"NDL_BIB_ID","@value":"024310525"}},{"identifier":{"@type":"URI","@value":"http://id.ndl.go.jp/bib/024310525"}},{"identifier":{"@type":"URI","@value":"https://ndlsearch.ndl.go.jp/books/R000000004-I024310525"}},{"identifier":{"@type":"NAID","@value":"10031156457"}}],"resourceType":"学術雑誌論文(journal article)","dc:title":[{"@language":"en","@value":"Collision-free control of a strawberry-harvesting robot by recognition of immature fruits"},{"@value":"未熟果実認識によるイチゴ収穫ロボットの衝突回避制御"},{"@language":"ja-Kana","@value":"ミジュク カジツ ニンシキ ニ ヨル イチゴ シュウカク ロボット ノ ショウトツ カイヒ セイギョ"}],"dc:language":"ja","description":[{"type":"abstract","notation":[{"@language":"en","@value":"This paper presents a procedure and the results of obstacle-avoidance control of a stationary strawberry-harvesting robot to be used with circulating-type movable bench cultivation. The stereovision unit detects mature and immature fruits from beneath the bench while being conveyed laterally. Based on the positional relation between them, the most appropriate direction for the end-effector approach is determined to avoid collision with immature fruits. The end-effector approaches along the calculated direction and controls its posture at 120 mm and 80 mm front of the target fruit, using visual feedback so as to match the roll angle of the end-effector with the peduncle angle, as estimated using a hand-eye camera. In the peduncle detection procedure, green LED lights are used to emphasize the calyx and peduncle. The proposed stereovision algorithm showed a success rate for detection of the appropriate approach angle of 89-93%. In the insertion test, the hand-eye camera was able to recognize the target peduncle at a success rate of 77-80% by facing the fruit from the most appropriate approach angle, and the end-effector was able to insert a peduncle at a success rate of 73-78%. The end-effector approach along the appropriate approach angle was confirmed to be the effective way to avoid collision with immature fruits, although several multiple insertions were observed. Our proposed procedure proved to work functionally together with the lateral movement of the movable bench."},{"@value":"イチゴの移動栽培への適用を目的に, 栽培ベッド横移送ユニットと定置型収穫ロボットを組み合わせた定置型ロボットシステムを用いて, 近傍果実を傷つけることなく対象果実に接近する障害物回避制御アルゴリズムを開発した. 果実の下側に設置したステレオビジョンカメラを用いて着色果実と未熟果実の位置関係を求め, 接近時の障害となる未熟果に傷つけないように最適な接近方向を決定した. そして, 採果エンドエフェクタのハンドアイカメラで検出した果柄を基にビジュアルフィードバック制御により果柄に接近した. 果実接近方向の検出試験, 果柄への進入試験および収穫試験を行い, 以下の知見が得られた.<br>栽培ベッドから下垂するイチゴ果実を下側から撮影し, 画像処理を施すことにより, 着色果実と未熟果実を識別することができ, それらの位置関係から採果エンドエフェクタが接近する方向を決定することができた. 接近方向の検出成功率と, その検出精度は, ‘あまおとめ’で89.2%および1.75°, ‘紅ほっぺ’で93.3%および1.58°であった.<br>ステレオビジョンユニットにより導出した接近方向から収穫対象果実を撮影することで, 正面からの撮影に比べ果柄の検出精度が向上し, ‘あまおとめ’で80.0%, ‘紅ほっぺ’で76.7%であった. さらに, 果柄検出に基づくビジュアルフィードバック制御により果柄に接近することで進入精度も高く, ‘あまおとめ’で73.3%, ‘紅ほっぺ’で78.3%であった. しかし, 複数の果柄が進入することが散見された.<br>障害物回避制御機能を定置型ロボット収穫システムに埋め込むことにより栽培ベッドの横移送と連動した自動収穫が可能であった. 複数果実の採果, 収穫適否の誤判定, 栽培ベッド停止時の果実振動などが発生し, これらへの対応が今後の技術課題である."}],"abstractLicenseFlag":"disallow"}],"creator":[{"@id":"https://cir.nii.ac.jp/crid/1030566608837214849","@type":"Researcher","personIdentifier":[{"@type":"KAKEN_RESEARCHERS","@value":"80391530"},{"@type":"NRID","@value":"1000080391530"},{"@type":"NRID","@value":"9000001124959"},{"@type":"NRID","@value":"9000256712629"},{"@type":"NRID","@value":"9000018374097"},{"@type":"NRID","@value":"9000022027151"},{"@type":"NRID","@value":"9000408430472"},{"@type":"NRID","@value":"9000256713587"},{"@type":"NRID","@value":"9000256704147"},{"@type":"NRID","@value":"9000001601150"},{"@type":"NRID","@value":"9000283586116"},{"@type":"NRID","@value":"9000256714988"},{"@type":"NRID","@value":"9000021363250"},{"@type":"NRID","@value":"9000292870150"},{"@type":"NRID","@value":"9000303998334"},{"@type":"NRID","@value":"9000255908371"},{"@type":"NRID","@value":"9000256705315"},{"@type":"NRID","@value":"9000256711635"},{"@type":"NRID","@value":"9000391753765"},{"@type":"NRID","@value":"9000258239381"},{"@type":"NRID","@value":"9000261010946"},{"@type":"NRID","@value":"9000001570611"},{"@type":"NRID","@value":"9000256713641"},{"@type":"NRID","@value":"9000256706400"},{"@type":"NRID","@value":"9000256705711"},{"@type":"NRID","@value":"9000253685007"},{"@type":"NRID","@value":"9000022182606"},{"@type":"NRID","@value":"9000256714196"},{"@type":"NRID","@value":"9000256712575"},{"@type":"NRID","@value":"9000283311089"},{"@type":"NRID","@value":"9000256714950"},{"@type":"NRID","@value":"9000018355931"},{"@type":"RESEARCHMAP","@value":"https://researchmap.jp/shigey"}],"foaf:name":[{"@language":"en","@value":"HAYASHI Shigehiko"},{"@language":"ja","@value":"林 茂彦"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Bio-oriented Technology Research Advancement Institution (BRAIN), NARO"},{"@language":"ja","@value":"農業·食品産業技術総合研究機構  生物系特定産業技術研究支援センター"}]},{"@id":"https://cir.nii.ac.jp/crid/1410853646630110469","@type":"Researcher","personIdentifier":[{"@type":"NRID","@value":"9000256893489"}],"foaf:name":[{"@language":"en","@value":"TAKESHITA Daisaku"},{"@language":"ja","@value":"武下 大作"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Graduate School of Agricultural and Life Sciences, the University of Tokyo"},{"@language":"ja","@value":"東京大学大学院農学生命科学研究科"}]},{"@id":"https://cir.nii.ac.jp/crid/1420845751139227904","@type":"Researcher","personIdentifier":[{"@type":"KAKEN_RESEARCHERS","@value":"40184832"},{"@type":"NRID","@value":"1000040184832"},{"@type":"NRID","@value":"9000256700921"},{"@type":"NRID","@value":"9000256705265"},{"@type":"NRID","@value":"9000255910019"},{"@type":"NRID","@value":"9000256715635"},{"@type":"NRID","@value":"9000361696818"},{"@type":"NRID","@value":"9000255907375"},{"@type":"NRID","@value":"9000256699497"},{"@type":"NRID","@value":"9000379605468"},{"@type":"NRID","@value":"9000255909980"},{"@type":"NRID","@value":"9000258218711"},{"@type":"NRID","@value":"9000256695889"},{"@type":"NRID","@value":"9000399374416"},{"@type":"NRID","@value":"9000255907481"},{"@type":"NRID","@value":"9000258205779"},{"@type":"NRID","@value":"9000256702852"},{"@type":"NRID","@value":"9000018355952"},{"@type":"NRID","@value":"9000016755603"},{"@type":"NRID","@value":"9000255908805"},{"@type":"NRID","@value":"9000256693675"},{"@type":"NRID","@value":"9000256700976"},{"@type":"NRID","@value":"9000256699423"},{"@type":"NRID","@value":"9000256708183"},{"@type":"NRID","@value":"9000256700695"},{"@type":"NRID","@value":"9000256697897"},{"@type":"NRID","@value":"9000256707564"},{"@type":"NRID","@value":"9000344828854"},{"@type":"NRID","@value":"9000255908583"},{"@type":"NRID","@value":"9000256703868"},{"@type":"NRID","@value":"9000256695266"},{"@type":"NRID","@value":"9000256710860"},{"@type":"NRID","@value":"9000311787210"},{"@type":"NRID","@value":"9000345324254"},{"@type":"NRID","@value":"9000360550696"},{"@type":"NRID","@value":"9000345324523"},{"@type":"NRID","@value":"9000397684921"},{"@type":"NRID","@value":"9000256698679"},{"@type":"NRID","@value":"9000256704203"},{"@type":"NRID","@value":"9000345324337"},{"@type":"NRID","@value":"9000286621342"},{"@type":"NRID","@value":"9000255910022"},{"@type":"NRID","@value":"9000255907340"},{"@type":"NRID","@value":"9000017426620"},{"@type":"NRID","@value":"9000256695767"},{"@type":"NRID","@value":"9000256705202"},{"@type":"NRID","@value":"9000256699556"},{"@type":"NRID","@value":"9000256703421"},{"@type":"NRID","@value":"9000377394252"},{"@type":"NRID","@value":"9000256710827"},{"@type":"NRID","@value":"9000256694118"},{"@type":"NRID","@value":"9000256701466"},{"@type":"NRID","@value":"9000377394358"},{"@type":"NRID","@value":"9000255907294"},{"@type":"NRID","@value":"9000255907331"},{"@type":"NRID","@value":"9000258206293"},{"@type":"NRID","@value":"9000256700894"},{"@type":"NRID","@value":"9000256700972"},{"@type":"NRID","@value":"9000256706279"},{"@type":"NRID","@value":"9000256707375"},{"@type":"NRID","@value":"9000255908485"},{"@type":"NRID","@value":"9000256708826"},{"@type":"NRID","@value":"9000396095003"},{"@type":"NRID","@value":"9000255910079"},{"@type":"NRID","@value":"9000256708537"},{"@type":"NRID","@value":"9000256710767"},{"@type":"NRID","@value":"9000293510440"},{"@type":"NRID","@value":"9000256699688"},{"@type":"NRID","@value":"9000256708849"},{"@type":"NRID","@value":"9000256696580"},{"@type":"NRID","@value":"9000256712330"},{"@type":"NRID","@value":"9000248197727"},{"@type":"NRID","@value":"9000301744932"},{"@type":"NRID","@value":"9000345286593"},{"@type":"NRID","@value":"9000309570699"},{"@type":"NRID","@value":"9000256700963"},{"@type":"NRID","@value":"9000256699539"},{"@type":"NRID","@value":"9000256699506"},{"@type":"NRID","@value":"9000256699216"}],"foaf:name":[{"@language":"en","@value":"IMOU Kenji"},{"@language":"ja","@value":"芋生 憲司"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Graduate School of Agricultural and Life Sciences, the University of Tokyo"},{"@language":"ja","@value":"東京大学大学院農学生命科学研究科"}]},{"@id":"https://cir.nii.ac.jp/crid/1410853646630110464","@type":"Researcher","personIdentifier":[{"@type":"NRID","@value":"9000006736073"}],"foaf:name":[{"@language":"en","@value":"SAGA Kiyotaka"},{"@language":"ja","@value":"佐賀 清崇"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Graduate School of Agricultural and Life Sciences, the University of Tokyo"},{"@language":"ja","@value":"東京大学大学院農学生命科学研究科"}]},{"@id":"https://cir.nii.ac.jp/crid/1420282801206171904","@type":"Researcher","personIdentifier":[{"@type":"KAKEN_RESEARCHERS","@value":"20391526"},{"@type":"NRID","@value":"1000020391526"},{"@type":"NRID","@value":"9000018675040"},{"@type":"NRID","@value":"9000256423405"},{"@type":"NRID","@value":"9000242165015"},{"@type":"NRID","@value":"9000408430471"},{"@type":"NRID","@value":"9000255909971"},{"@type":"NRID","@value":"9000241571650"},{"@type":"NRID","@value":"9000019176230"},{"@type":"NRID","@value":"9000001294036"},{"@type":"NRID","@value":"9000255910011"},{"@type":"NRID","@value":"9000255909575"},{"@type":"NRID","@value":"9000283586115"},{"@type":"NRID","@value":"9000404848452"},{"@type":"NRID","@value":"9000398445495"},{"@type":"NRID","@value":"9000411526086"},{"@type":"NRID","@value":"9000410652320"},{"@type":"NRID","@value":"9000283311034"},{"@type":"NRID","@value":"9000292870149"},{"@type":"NRID","@value":"9000303998332"},{"@type":"NRID","@value":"9000240066292"},{"@type":"NRID","@value":"9000405657825"},{"@type":"NRID","@value":"9000391753764"},{"@type":"NRID","@value":"9000345199089"},{"@type":"NRID","@value":"9000411967279"},{"@type":"NRID","@value":"9000256708931"},{"@type":"NRID","@value":"9000261010945"},{"@type":"NRID","@value":"9000409289057"},{"@type":"NRID","@value":"9000256708515"},{"@type":"NRID","@value":"9000256710821"},{"@type":"NRID","@value":"9000293836909"},{"@type":"NRID","@value":"9000412190328"},{"@type":"RESEARCHMAP","@value":"https://researchmap.jp/read0202126"}],"foaf:name":[{"@language":"en","@value":"YAMAMOTO Satoshi"},{"@language":"ja","@value":"山本 聡史"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Bio-oriented Technology Research Advancement Institution (BRAIN), NARO"},{"@language":"ja","@value":"農業·食品産業技術総合研究機構  生物系特定産業技術研究支援センター"}]},{"@id":"https://cir.nii.ac.jp/crid/1410001205886529794","@type":"Researcher","personIdentifier":[{"@type":"NRID","@value":"9000018745667"}],"foaf:name":[{"@language":"en","@value":"SAITO Sadafumi"},{"@language":"ja","@value":"齋藤 貞文"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Bio-oriented Technology Research Advancement Institution (BRAIN), NARO"},{"@language":"ja","@value":"農業·食品産業技術総合研究機構  生物系特定産業技術研究支援センター"}]}],"publication":{"publicationIdentifier":[{"@type":"PISSN","@value":"18802028"},{"@type":"LISSN","@value":"18802028"},{"@type":"EISSN","@value":"18803563"},{"@type":"ISSN","@value":"18802028"},{"@type":"NDL_BIB_ID","@value":"000007711167"},{"@type":"NCID","@value":"AA12010914"}],"prism:publicationName":[{"@language":"en","@value":"Shokubutsu Kankyo Kogaku"},{"@language":"ja","@value":"植物環境工学"},{"@language":"en","@value":"Journal of Science and High Technology in Agriculture"},{"@language":"en","@value":"J. SHITA"},{"@language":"en","@value":"J. Sci. High Tech. Agric."},{"@language":"ja","@value":"植物環境工学"}],"dc:publisher":[{"@language":"en","@value":"Japanese Society of Agricultural, Biological and Environmental Engineers and Scientists"},{"@language":"ja","@value":"日本生物環境工学会"}],"prism:publicationDate":"2013","prism:volume":"25","prism:number":"1","prism:startingPage":"29","prism:endingPage":"37"},"reviewed":"false","url":[{"@id":"https://agriknowledge.affrc.go.jp/RN/2030850765"},{"@id":"http://id.ndl.go.jp/bib/024310525"},{"@id":"https://ndlsearch.ndl.go.jp/books/R000000004-I024310525"},{"@id":"https://agriknowledge.affrc.go.jp/RN/2010850765"}],"availableAt":"2013","foaf:topic":[{"@id":"https://cir.nii.ac.jp/all?q=approach%20angle","dc:title":"approach angle"},{"@id":"https://cir.nii.ac.jp/all?q=harvesting%20robot","dc:title":"harvesting robot"},{"@id":"https://cir.nii.ac.jp/all?q=strawberry","dc:title":"strawberry"},{"@id":"https://cir.nii.ac.jp/all?q=visual%20feedback%20control","dc:title":"visual feedback control"}],"project":[{"@id":"https://cir.nii.ac.jp/crid/1040000782211345408","@type":"Project","projectIdentifier":[{"@type":"KAKEN","@value":"24580382"},{"@type":"JGN","@value":"JP24580382"},{"@type":"URI","@value":"https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-24580382/"}],"notation":[{"@language":"ja","@value":"イチゴ植物工場を核とする群落生育診断技術の開発"},{"@language":"en","@value":"Development of a diagnose technique for plant growth using strawberry plant factory"}]}],"relatedProduct":[{"@id":"https://cir.nii.ac.jp/crid/1050564288686807040","@type":"Article","resourceType":"学術雑誌論文(journal article)","relationType":["cites"],"jpcoar:relatedTitle":[{"@language":"ja","@value":"移動栽培装置を利用したイチゴの高密植栽培に適した栽培ベッドの間隔と養水分供給方法の検討"},{"@language":"ja-Kana","@value":"イドウ サイバイ ソウチ オ リヨウ シタ イチゴ ノ コウミツショクサイバイ ニ テキシタ サイバイ ベッド ノ カンカク ト ヨウスイブン キョウキュウ ホウホウ ノ ケントウ"}]},{"@id":"https://cir.nii.ac.jp/crid/1360855570867863808","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@value":"Collision-free Motion Planning for a Cucumber Picking Robot"}]},{"@id":"https://cir.nii.ac.jp/crid/1363951794800609536","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@value":"Collision-free inverse kinematics of the redundant seven-link manipulator used in a cucumber picking robot"}]},{"@id":"https://cir.nii.ac.jp/crid/1364233269589490432","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@value":"Strawberry Harvesting Robot for Bench-type Cultivation"}]},{"@id":"https://cir.nii.ac.jp/crid/1390001204313455232","@type":"Article","resourceType":"学術雑誌論文(journal article)","relationType":["cites"],"jpcoar:relatedTitle":[{"@language":"en","@value":"Robot for Harvesting Cherry Tomatoes in Mobile Cultivation Facilities (Part 1)"},{"@value":"移動型栽培施設のミニトマト収穫ロボット（第1報）"},{"@language":"ja-Kana","@value":"イドウガタ サイバイ シセツ ノ ミニトマト シュウカク ロボット ダイ1ポウ ロボット ノ ガイヨウ ト 3ジゲン ガゾウ ニンシキ"}]},{"@id":"https://cir.nii.ac.jp/crid/1390001204382160512","@type":"Article","relationType":["cites"],"jpcoar:relatedTitle":[{"@language":"en","@value":"Harvesting Robot for Strawberry Grown on Table Top Culture. Part 1. Harvesting Robot Using 5 DOF Manipulator."},{"@value":"高設栽培用イチゴ収穫ロボット　（第１報）　　５自由度マニピュレータを用いた収穫ロボット"},{"@language":"ja-Kana","@value":"コウセツサイバイヨウ イチゴ シュウカク ロボット ダイ1ポウ 5 ジユウド マニピュレータ オ モチイタ シュウカク ロボット"}]},{"@id":"https://cir.nii.ac.jp/crid/1390001204701318656","@type":"Article","relationType":["references","cites"],"jpcoar:relatedTitle":[{"@language":"en","@value":"Development of Circulating-Type Movable Bench System for Strawberry Cultivation"}]},{"@id":"https://cir.nii.ac.jp/crid/1390001205079948416","@type":"Article","relationType":["cites"],"jpcoar:relatedTitle":[{"@language":"en","@value":"Investigation of Basic Mechanism of Manipulator Based on Training of Tomato Plant."},{"@value":"トマトの栽培様式に基づくマニピユレータの基本機構の検討"}]},{"@id":"https://cir.nii.ac.jp/crid/1390282679289186432","@type":"Article","relationType":["cites"],"jpcoar:relatedTitle":[{"@language":"en","@value":"Development of a Stationary Robotic Strawberry Harvester with Picking Mechanism that Approaches Target Fruit from Below 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