DEVELOPMENT OF CHRYSANTHEMUM CUTTING STICKING ROBOT SYSTEM

菊花切贴机器人系统的研制

• 批准号: 10556055
• 负责人: MONTA Mitsuji
• 金额: $ 3.71万
• 依托单位: OKAYAMA UNIVERSITY
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B).
• 财政年份: 1998
• 资助国家: 日本
• 起止时间: 1998 至 2000
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-10556055/
• 关键词: CHRYSANTHEMUM; SEEDLING PRODUCTION; CUTTING; ROBOT; IMAGE PROCESSING; 分離作業; 供給作業; 整形; 植え付け; 挿し木作業; 差し穂

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.

制作并测试了菊花切贴机器人系统，实现了菊花育苗生产系统的自动化。机器人系统主要由四个部分组成；提供切割系统、机器视觉系统、除叶装置、粘贴装置。首先，将一捆插条放入水箱中。通过水箱的振动，切屑散布在水面上。机械手根据电视摄像机提供的切割位置信息来拾取切屑，然后将其逐个发送到下一阶段。其次，另一个电视摄像机检测所传输的切割物的位置和方向，并指示切割杆中的抓握点，以供另一个机械手移动。第三，机械手将插条移至除叶装置，以调整插条的形状。最后，一次将十个插条插入托盘中。实验结果表明自动化菊花切贴作业的可行性。所有机器人组件都显示出相对较高的成功率。为了提高成功率，不仅需要提高机器人各部件的性能，还需要为机器人系统提供无弯曲切削。

项目成果

門田充司: "キクの挿し木作業の自動化に関する基礎的研究(第4報)"農業機械学会誌. 60(5). 37-43 (1998)

Mitsushi Kadota：“菊花插条自动化的基础研究（第四次报告）”日本农业机械学会杂志 60（5）37-43（1998）。

N.KONDO: "BASIC STUDY ON AUTOMATIZATION OF CHRYSANTHEMUM CUTTING STICKING OPERATION (PART 2)"JOURNAL OF THE JAPANESE SOCIETY OF AGRICULTURAL MACHINERY. 60-3. 63-70 (1998)

N.KONDO：《菊花切粘作业自动化基础研究（第2部分）》日本农业机械学会会刊。

M.MONTA: "BASIC STUDY ON AUTOMATIZATION OF CHRYSANTHEMUM CUTTING STICKING OPERATION (PART 3)"JOURNAL OF THE JAPANESE SOCIETY OF AGRICULTURAL MACHINERY. 60-4. 37-44 (1998)

M.MONTA：《菊花切粘作业自动化基础研究（第3部分）》日本农业机械学会会刊。

N.KONDO: "DEVELOPMENT OF CHRYSANTHEMUM CUTTING PROVIDING SYSTEM FOR CUTTING STICKING ROBOT"JOURNAL OF THE JAPANESE SOCIETY OF AGRICULTURAL MACHINERY. 61-5. 109-116 (1999)

N.KONDO：“割粘机器人菊花切割供给系统的开发”日本农业机械学会会刊。

N.KONDO: "CHRYSANTHEMUM CUTTING STICKING ROBOT SYSTEM"JOURNAL OF ROBOTICS AND MECHATRONICS. 11-3. 220-224 (1999)

N.KONDO：“菊花切割粘贴机器人系统”机器人与机电一体化杂志。