Robotic system for nursing micropropagated sugarcane

用于护理微繁甘蔗的机器人系统

• 批准号: 11556044
• 负责人: OKAMOTO Tsuguo
• 金额: $ 8.38万
• 依托单位: The University of Tokyo
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 1999
• 资助国家: 日本
• 起止时间: 1999 至 2001
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-11556044/
• 关键词: micropropagation; sugarcane; shoot; separation; cell plug tray; robot; 画像処理

A robot system that automatically separates a clump of ex vitro micropropagated sugarcane into individual shoots without using a machine vision system was developed and tested. The shoots were planted in a 50-cell plug tray before division. They grew thickly and their roots became entangled with each other in a cell, forming a root ball, therefore the separation was a delicate task. To separate the thickly grown shoots, two types of end-effecters were developed. The first one was a continuous shoots picking mechanism (CSPM). This end-effecter was designed to bring the thickly grown shoots into a line and hold them without damaging them. The second o5ie was a single shoot separator (SSS). This end-effecter was designed to pull off the shoots from the clump one by one. These two end-effecters were installed on two types of robots. As a result, 77.1 % of shoots were properly separated into individual shoots by this system and 66.7 % of the shoots rooted after division.

开发并测试了一种机器人系统，该系统无需使用机器视觉系统即可将甘蔗体外微繁殖的一丛甘蔗自动分离成单独的甘蔗新梢。在分裂前，芽被种植在50个细胞的塞盘中。它们生长得很茂密，它们的根在一个细胞里相互缠绕，形成一个根球，因此分离是一项微妙的任务。为了分离生长茂密的嫩枝，开发了两种类型的末端效应器。第一种是连续采笋机构(CSPM)。这种末端执行器的设计目的是将茂密生长的嫩芽放在一条线上，并在不损坏它们的情况下握住它们。第二个O5ie是单枝分离器(SSS)。这个末端执行器的设计是为了从丛生的枝条上一个接一个地拔出嫩芽。这两个末端执行器安装在两种类型的机器人上。结果表明，77.1%的试管苗分离成单株，66.7%的试管苗分裂后生根。

项目成果

Kaizu et al.: "Robotic separation of stageIV micropropagated sugarcane shoots"Proceedings of 2001 ASAE Annual Meeting. 013134 (2001)

Kaizu 等人：“IV 期微繁殖甘蔗芽的机器人分离”2001 年 ASAE 年会记录。

Kaizu, Y., T. Okamoto, K. Imou: "System for automatic separation of ex vitro micropropagated sugarcane"The CIGR journal of scientific research and development. Vol.III. (2001)

Kaizu, Y., T. Okamoto, K. Imou：“体外微繁殖甘蔗自动分离系统”CIGR 科学研究与开发杂志。

海津ほか: "サトウキビメリクロン株分けロボットシステムの開発"農業機械学会第60回年次大会講演要旨. 253-254 (2001)

Kaizu 等人：“甘蔗 mericlon 库存分割的机器人系统的开发”日本农业机械学会第 60 届年会摘要 253-254（2001 年）。

Kaizu et al.: "Automatic separation of micropropagated sugarcane seedlings"Proceedings of IV international scientific conference of microprocessor system in agriculture. 92-98 (2001)

Kaizu等：“微繁殖甘蔗幼苗的自动分离”第四届农业微处理器系统国际科学会议论文集。

Kaizu et al.: "System for automatic separation of ex vitro micropropagated sugarcane"The CIGR journal of scientific research and development. Vol III. (2001)

Kaizu等人：“体外微繁殖甘蔗自动分离系统”CIGR科学研究与发展杂志。