Studies on Robot to Harvest Grape to Thin Berry

葡萄薄浆果采收机器人的研究

基本信息

  • 批准号:
    02556033
  • 负责人:
  • 金额:
    $ 3.33万
  • 依托单位:
  • 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

Grapevine is planted in trellis training in Japan. It is considered this training has much adaptability of robot working than other trainings. In this study, a manipulator with 5 degrees of freedom and a harvest hand were made as a trial based on the measurement of positions of grape bunches, frictional resistance and cutting resistance of rachis. The manipulator was a polar coordinate type its was controlled to move in continuous path. The hand had three functions that were grasping cutting rachis and pushing bunch.As for visual sensor, spectral reflectances of parts grapevines were at first measures in order to select pairs of optical filters which were suitable for discrimination by the visual sensor. Experiments to discriminate among the parts were done by using R, G, B filters and interference filters. From the result, it was able to discriminate not only between different color parts but also between simular color parts of grapevines. Besides, experiments to detect positions of bunch and rachis and to harvest bunches were done by using the manipulator which CCD camera was attached to. It was obtained that the errors were reasonable as detecting error when the robot worked to harvest, since such errors were able to be absorbed in harvesting hand. Finally, the experiment to harvest individual bunches was done by using the robot in room and in the field. From the results, it was observed the robot was able to harvest satisfactorily.In addition to that, berry thinning hand also manufactured in order to add ability to do other work to the robot. The hand could berries to make harvesting easy and could cut bunch to standardize its length.
葡萄藤在日本种植在棚架训练中。认为这种训练比其他训练更具有机器人工作的适应性。通过对葡萄串位置、摩擦阻力和果轴切割阻力的测量,研制了一台5自由度机械手和一个收获手,并进行了试验。机械手为极坐标式,其运动轨迹为连续轨迹,机械手具有抓、切、推三种功能;视觉传感器首先测量葡萄藤各部位的光谱反射率,选择适合视觉传感器识别的滤光片对。利用R、G、B滤波器和干涉滤波器进行了部分判别实验。结果表明,该方法不仅能区分葡萄不同颜色部位,而且能区分相似颜色部位。此外,还利用该机械手进行了串、轴位置检测和串收获试验。结果表明,机器人在收割时检测到误差,这些误差是合理的,因为这些误差能够被收割手吸收。最后,利用该机器人进行了室内和田间单束收获试验。从结果来看,观察到机器人能够令人满意地收获。除此之外,还制造了浆果细化手,以增加机器人执行其他工作的能力。手可以浆果,使收获容易,可以削减一堆标准化的长度.

项目成果

期刊论文数量(5)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)
MONTA M.: "Agricultural Robots(3)-Grape Bunch Thinning Hand-" ASAE Paper No.923519. (1992)
MONTA M.:“农业机器人(3)-葡萄串间伐手-”ASAE论文第923519号。
  • DOI:
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  • 影响因子:
    0
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  • 通讯作者:
KONDO N.: "Basic Studies on Robot to Work in Vineyard (Part 2) -Discriminating, Position Detecting and Harvesting Experiments by Using Visual Sensor-" Journal of JSAM.
KONDO N.:“葡萄园工作机器人的基础研究(第二部分)-使用视觉传感器进行辨别、位置检测和收获实验-”JSAM 杂志。
  • DOI:
  • 发表时间:
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  • 影响因子:
    0
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  • 通讯作者:
近藤 直: "ブドウ管理・収穫用ロボット開発のための基礎的研究(第1報)" 農業機械学会誌.
近藤直树:“开发葡萄管理和收获机器人的基础研究(第一篇报告)”日本农业机械学会杂志。
  • DOI:
  • 发表时间:
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  • 影响因子:
    0
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  • 通讯作者:
近藤 直: "果実収穫・管理用ロボット" 日本ロボット学会ビデオ特集号. 10. (1992)
Naoki Kondo:“用于水果收获和管理的机器人”日本机器人学会视频特刊 10。(1992 年)
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SHIBANO Yasunori其他文献

SHIBANO Yasunori的其他文献

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{{ truncateString('SHIBANO Yasunori', 18)}}的其他基金

Experimental Studies on Characteristics of Combined Arrangement of Drawing and Rotary Tillage Implements and its Technique of Saving Energy and Prevention of Soil Contamination
牵引旋耕机具组合布置特点及节能防土技术试验研究
  • 批准号:
    06660315
  • 财政年份:
    1994
  • 资助金额:
    $ 3.33万
  • 项目类别:
    Grant-in-Aid for Scientific Research (C)
Influence of Farm Work Noise on the Quantity and Quality of Mental work
农活噪声对脑力劳动数量和质量的影响
  • 批准号:
    02660255
  • 财政年份:
    1990
  • 资助金额:
    $ 3.33万
  • 项目类别:
    Grant-in-Aid for General Scientific Research (C)
Noise Growth Mechanism and Sound Pressure Level on the Noise of Rice Transport Pipe in Rice-Drying and Storage Facility
水稻烘干储运设施输送管道噪声的噪声增长机理及声压级
  • 批准号:
    63560239
  • 财政年份:
    1988
  • 资助金额:
    $ 3.33万
  • 项目类别:
    Grant-in-Aid for General Scientific Research (C)

相似海外基金

Fruit Harvesting Robot in Orchard
果园水果采摘机器人
  • 批准号:
    61560280
  • 财政年份:
    1986
  • 资助金额:
    $ 3.33万
  • 项目类别:
    Grant-in-Aid for General Scientific Research (C)
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