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All Hydraulic Manipulator and Hand for Agricultural Use

农业用全液压机械手和手

基本信息

批准号：
02556032
负责人：
NAMIKAWA Kiyoshi
金额：
$ 5.82万
依托单位：
KYOTO UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for Developmental Scientific Research (B)
财政年份：
1990
资助国家：
日本
起止时间：
1990 至 1992
项目状态：
已结题

项目摘要

Hydraulic drive robot is suitable to agricultural robot, for it has advantage about power weight ratio, handling of heavy work and dust proof. Therefore all hydraulic drive manipulator and hand have been developed. Agricultural robots are requited to operate several farm works. To operate several works, one farm work must be operated certainly. Then we selected watermelon harvesting as the one. The manipulator with the hand was installed on the commercial based vehicle, and laboratory and field experiment were done.Kinematics and dynamics analysis and manipulator parameter identification were done. Further function of control device and algorithm were confirmed. As a results, the manipulator is capable of real time control and has sufficient performance about positioning as agricultural robot. To develop watermelon harvesting hand, shape and mass of watermelon were measured. The function of gripper and control system were sufficient.Watermelon harvesting robot, also, are required the function of fruit recognition and proper harvesting time decision, On the discriminate between fruit and leaves, how to combine methods using moving image processing and difference of RGB density distribution was possibility for practical use. To decide proper harvesting time in field, change of physical and wave propagation property with maturity were measured. As a results, proper harvesting time decision was difficult only by batting, because individual difference was large.

液压驱动机器人在功率比、重物搬运、防尘等方面具有优势，适用于农业机器人。因此，各种液压驱动机械手和机械手应运而生。农业机器人被要求操作几项农活。要经营几个工种，一定要经营一个农活。然后我们选择了西瓜收割作为一个。将带手机械手安装在商用车上，进行了实验室和现场实验，并进行了运动学和动力学分析及机械手参数辨识。进一步确定了控制装置和算法的功能。结果表明，该机械手具有较强的实时控制能力，并具有农业机器人足够的定位性能。为了研制西瓜采摘手，对西瓜的形状和质量进行了测量。西瓜采摘机器人还需要具备果实识别和适时采摘决策的功能，在果实和叶片的识别上，如何将运动图像处理方法和RGB密度分布的差异性方法相结合，具有实际应用的可能性。为确定田间适宜的采收时间，对其物理特性和波传播特性随成熟度的变化进行了测定。结果表明，由于个体差异较大，仅靠击球很难确定合适的收获时间。