Studies on Robot to Harvest Grape to Thin Berry

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，该误差作为机器人采集作业时的检测误差是合理的，因为采集手能够吸收这些误差。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，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，以增加机器人做其他工作的能力。手可以浆果，使收获容易，可以削减一堆标准化的长度.

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.