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Study on Small Intelligent Robot for Production of Young Plants

小型智能苗木生产机器人的研究

基本信息

批准号：
63460215
负责人：
NAMIKAWA Kiyoshi
金额：
$ 1.15万
依托单位：
KYOTO UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for General Scientific Research (B)
财政年份：
1988
资助国家：
日本
起止时间：
1988 至 1989
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-63460215/
关键词：
Young Plants Robot Handling Image Processing Transplanting Grip Hand Drawing マニピュレータ指 2値画像

项目摘要

It would satisfy the agricultural social need to develop advanced methods to make the intelligent robot work in various labors to young plants. Handling method to such young plants, extracting binary images of young plants, calculating their central positions and evaluating the grade of each young seedling were studied. Summaries are as follows.1. The small hand was not manufactured to handle small spherical plants, so that a rubber made plant-harvesting hand was used. It was analyzed that the probability where the 4-fingers hand could grip the plant became higher than that where the 3-fingers hand gripped. The position of the 4-fingers hand was controlled to hold the plant softly from detecting the deformation of fingers.2. Transplanting operation was studied as an labor to young plants. A robot hand handling young seedlings with root soils was made and transplanting was done by the robot. Seedlings were fairly well digged from a nursery and put in the holes of the other one.3. Two color TV cameras were individually used for detecting positions of seedlings and evaluating their grades. From the difference of light reflectances of young seedlings and soils, the clear binary image could be obtained through grey levels of G - Y. Evaluation was done from the calculation the size and the diameter of a seedling taken from the lateral position.4. It would become important to develop the automatic handling of saplings. A small type pneumatic drawing hand was made and drawing test of Japanese cypress saplings were run. The pulling force was about 100N.

开发先进的方法使智能机器人能够从事各种各样的工作，以适应农业社会的需要。研究了对这类幼苗的处理方法、提取幼苗二值图像、计算其中心位置和评价幼苗等级。主要内容如下：1.小手不是用来处理小的球形植物的，所以使用了橡胶制成的植物收割手。据分析，4指手能够抓住植物的概率变得高于3指手抓住植物的概率。通过检测手指的变形，控制四指手的位置，使其轻柔地握住植物.移植操作是作为一种劳动力来研究的。研制了一种带根土的苗木搬运机器人手，并由该机器人完成移栽作业。幼苗是从一个苗圃里挖出来的，放在另一个苗圃的洞里。用两台彩色电视摄像机分别检测苗木的位置和评价苗木的等级。利用幼苗与土壤光反射率的差异，通过G-Y灰度值的变换，可以得到清晰的二值图像。通过计算从侧面取下的幼苗的大小和直径进行评价.开发树苗的自动搬运技术将变得十分重要。制作了小型气动拔手，并进行了日本柏树苗的拔插试验。拉力约为100 N。