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Lavor saving of the vegetable farming by use of robot

蔬菜种植机器人的省力化

基本信息

批准号：
05556042
负责人：
FUJIURA Tateshi
金额：
$ 6.34万
依托单位：
Shimane 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：
1993
资助国家：
日本
起止时间：
1993 至 1995
项目状态：
已结题

项目摘要

The purpose of this research is to automate the farming of leafy vegetables in the field by applying a flexible intelligent robot which can recognize the crop.A three-dimensional vision sensor was made for trial purposes to measure the three-dimensional shape of the crop. Recognition of the mature crisp head lettuce was tried by processing the three-dimensional shape measured with the sensor. The three-dimensional shape of the lettuce could be measured under the sun light of the outdoors and also under the indoor condition. The characteristics of the three-dimensional shape of the mature lettuce were discussed. The height of the mature lettuce head was comparatively high, the undulations were small. The height of the immature lettuce was relatively low, and the undulations were large. The position of the mature lettuce was able to be recognized by using such characteristics.The quality judgment of the seedling was tried by the image processing with a color video camera to automate the transplanting, and the judging performance was clarified.The traveling unit, the manipulator, the hand, and the three-dimensional vision sensor were combined and a lettuce selective harvesting robot was made for trial purposes. Fundamental experiments were done to investigate the performance of each component of the robot at the current year, and the expected performance was obtained.To make the robot a multi-function one, the transplanting of the cell molded seedling and the harvesting of leafy vegetables such as spinach were attempted on addition to the selective lettuce harvesting work. The cell molded seedling could be transplanted by a transplanting hand. Such leafy vegetables were harvested by a harvesting hand consisted of soft conveyer belts by pulling the vegetables.

为了实现叶菜类蔬菜的自动化种植，研制了一种能够识别作物的柔性智能机器人，并对三维视觉传感器进行了试验研究。通过处理用传感器测量的三维形状，尝试识别成熟的脆头莴苣。生菜的三维形状可以在室外的阳光下测量，也可以在室内条件下测量。探讨了成熟生菜的三维形态特征。成熟莴苣球头高度较高，起伏较小。未成熟生菜的高度较低，起伏较大。利用这些特征，可以识别成熟生菜的位置。通过彩色摄像机的图像处理，尝试了幼苗的质量判断，实现了自动化移栽，并明确了判断性能。将行走单元、机械手、手部和三维视觉传感器相结合，制作了生菜选择性收获机器人，用于试验目的。对该机器人各部件的性能进行了初步的试验研究，得到了预期的性能指标，并在生菜选择性收获的基础上，尝试了细胞成型苗的移栽和菠菜等叶菜类蔬菜的收获，使机器人成为多功能机器人。细胞成型苗可通过移栽手进行移栽。这样的叶菜通过由软传送带组成的收割手通过拉动蔬菜来收割。