DEVELOPMENT OF CHRYSANTHEMUM CUTTING STICKING ROBOT SYSTEM

为实现菊花育苗系统的自动化，研制了菊花切贴机器人系统并进行了试验。机器人系统主要由四个部分组成；一种切割提供系统、一种机器视觉系统、一种叶片去除装置和一种粘贴装置。首先，将一捆岩屑放入水箱中。由于水箱的振动，岩屑散布在水面上。机械手根据电视摄像机采集到的岩屑位置信息，将岩屑逐一送到下一阶段。其次，另一个电视摄像机检测到被运输的切割的位置和方向，并在切割杆上指示一个抓取点供另一个机械手移动。再次，机械手将被切物移动到去叶装置上，安排被切物的形状。最后，每次将10个岩屑放入托盘中。实验结果表明，实现菊花扦插自动化操作是可行的。所有的机器人部件都显示出相对较高的成功率。为了提高成功率，不仅要提高机器人各部件的性能，而且要为机器人系统提供无弯曲的切割。

A chrysanthemum cutting sticking robot system was manufactured and tested to automate the chrysanthemum seedling production system. The robot system mainly consisted of four sections ; a cutting providing system, a machine vision system, a leaf removing device, and a sticking device. First, a bundle of cuttings was put into a water tank. The cuttings were spread out on the water by vibration of the water tank. The cuttings were picked by a manipulator based on information of cutting position from a TV camera to be sent one by one to next stage. Secondly, another TV camera detected the position and orientation of the transported cutting and indicated a grasping point in the cutting stem for another manipulator moving. Thirdly, the manipulator moved the cutting to the leaf removing device to arrange the shape of cutting. Finally, ten cuttings were stuck into a tray at a time. From the experimental results, feasibility to automate chrysanthemum cutting sticking operation was found. All the robotic components showed relative high success rates. To improve the percentage of success, it was considered not only that the performance of each robotic components should be improve but also that no-bent cuttings should be provided for the robot system.