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

DOI Web Site 被引用文献11件 参考文献8件

書誌事項

タイトル別名
  • Harvesting Robot for Strawberry Grown on Table Top Culture. Part 1. Harvesting Robot Using 5 DOF Manipulator.
  • 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
  • Harvesting Robot Using 5 DOF Manipulator
  • 5自由度マニピュレータを用いた収穫ロボット

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抄録

In this paper, it is reported that a robot was developed for harvesting strawberry grown on table top culture. The robot mainly consisted of a 5 DOF manipulator, a pneumatic type end-effector, a visual sensor of a color CCD camera, and a traveling device with 4 wheels. Strawberry fruits were hanging from planting bed top which was hung down from the ceiling of greenhouse.<BR>As the manipulator, a polar coordinate type was adopted, because it was not necessary to avoid obstacles and control of the manipulator was not complicated. The end-effector could suck a fruit using a vacuum device and it could compensate detecting errors caused by the visual sensor. The visual sensor gave the robot two dimensional information based on an acquired image and fruit depth was calculated as an average value of previously harvested fruit depths obtained from end-effector positions when the robot actually harvested. The end-effector moved toward a target fruit based on the three dimensional position of the target fruit until the fruit was detected by two pairs of photo-interrupters on sucking head. Then, the robot's wrist joint rolled and its peduncle was introduced into a hole curved at the tip of the sucking head. After cutting the peduncle, the fruit was kept in the sucking head and was transported to a tray by manipulator.<BR>From fundamental harvesting experiments conducted in greenhouse, it was observed that the robot could harvest all target fruits with no injury, but that the end-effector also harvested immature fruits located around target fruits sometimes. It was considered that the mechanisms of robotic components and their software algorithms could be simple, because the strawberry on table top culture had a suitable condition for robotic harvesting.

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