Tele-robotics in Agriculture

为了开发农业远程机器人，采用数据采集机器人、收获机器人和网络进行了番茄收获实验。由彩色摄像机、激光扫描仪、升降机等组成的数据采集机器人收集温室内的彩色图像、三维数据等信息后，通过无线局域网（LAN）发送给服务器。由服务器进行成熟果实的判别和深度测量，并将结果存储在服务器中。远程操作员随时检查服务器的判断。判断中如有错误或需要纠正的事项，由操作者进行修改。结果通过服务器发送给收割机器人。该收获机器人由一个5自由度的铰接机械手、一个多指手和一个升降机组成。机器人通过前后移动的吸盘将目标水果从丛中分离出来，通过旋转来收获水果。从结果来看，74%的水果被服务员区分了。摘果机器人在摘果过程中，当簇的位置发生变化时，无法摘果。总采收成功率为56.7%。为了提高果实识别的成功率，改进了果实识别算法，在收获机器人中加入了彩色摄像机，即使改变了果实的位置也能检测到果实的位置。从结果来看，90%以上的水果被该算法识别并成功收获。在本研究中，认为远程机器人在农业中实现的可行性得到了证实。

Tomato harvesting experiments were carried out by using a data-collecting robot, a harvesting robot and networks in order to develop a tele-robotics in agriculture.The data-collecting robot which consisted of a color camera, a laser scanner and a lift collected information including color images and three-dimensional data in a greenhouse and sent them to a server via wireless LAN. Discrimination and depth measurement of ripe fruits were carried out by the server and the results were stored in the server. A distant operator checked the judgment by the server at anytime. If there were errors or matters to be corrected in the judgment, they were modified by the operator. The results were sent to the harvesting robot via the server. The harvesting robot consisted of a 5 DOF articulated manipulator, a multi-fingered hand, a lift. The robot harvested fruits by rotating after the target fruits separated from the cluster by a suction cup moved back and forth. From the results, 74 % of fruits were discriminated by the server. The harvesting robot harvested a front fruit in a cluster, however could not harvest fruits when a cluster position was changed during harvesting action. The total success rate of harvesting was 56.7 %.To enhance the success rates, the algorithm of fruit discrimination was improved and a color camera was added to the harvesting robot so that fruit location could be detected even though it has been changed. From the results, more than 90 % of fruits were discriminated by the algorithm and were harvested successfully.In this study, it was considered that a feasibility of actualization of tele-robotics in agriculture was confirmed.