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Development of Robot System for Tomato Production in Mobile Cultivation Facility

移动栽培设施番茄生产机器人系统的开发

基本信息

批准号：
14360151
负责人：
FUJIURA Tateshi
金额：
$ 7.36万
依托单位：
Osaka Prefecture University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
2002
资助国家：
日本
起止时间：
2002 至 2005
项目状态：
已结题

项目摘要

The purpose of this study is to automate tomato producing works in a mobile cultivation facility. Various works are required for the tomato production. Among these works, we discussed fruit harvesting, stem training and defoliation. In the mobile cultivation facility, tomato plants move with the movement of the cultivating beds. For the application to the facility, we studied on stationary robot.The robot manufactured for the experiment consisted mainly of a manipulator, a 3-D vision sensor, an end-effector and a personal computer. The 3-D vision sensor scanned a laser beam consisting of red and infrared components of wavelength in a line. It fed three images to the computer ; a range image, an infrared image and a red image. Number of pixels of each image was 50000. Locations of fruits, stems, leaves and a stem-supporting pole were recognized by processing these images. Fundamental experiments of harvesting, stem training and defoliation were carried out. Cherry tomato fruit needs to be harvested with its calyx. To harvest it with the calyx, the harvesting end-effector was equipped with a semicircular part that pulled the peduncle. By the pulling motion, the peduncle was cut at the joint position and most of the fruits were harvested with its calyx. The stem training was done by binding the main stem to the pole with a elastic ring. The ring was split to be spread C-like figure. The ring was opened by the expanding motion of the end-effector. Then it was moved to the location of the main stem and the pole so that they were surrounded by the ring. By stopping the expansion, the ring clipped the stem and the pole by its elasticity. Defoliation experiment was also carried out. The leaf stalk was grasped by the end-effector and was broken by the twisting motion of the end-effector.

本研究的目的是在移动栽培设施中实现番茄生产的自动化。番茄的生产需要多方面的工作。在这些工作中，我们讨论了果实的收获、茎的整形和落叶。在移动式栽培设施中，番茄植株随着栽培床的移动而移动。为了在该设施中的应用，我们对固定式机器人进行了研究，为实验制造的机器人主要由机械手、三维视觉传感器、末端执行器和个人计算机组成。三维视觉传感器扫描了一束激光，该光束由波长的红色和红外分量组成。它向计算机提供了三幅图像：一幅距离图像、一幅红外图像和一幅红色图像。每幅图像的像素数为50000。通过对这些图像的处理，识别出果实、茎、叶和茎支撑杆的位置。进行了采收、整枝、落叶等基础试验。樱桃番茄的果实需要用它的花萼来收获。为了用花萼收获它，收获末端执行器配备了一个半圆形的部分来拉动花梗。通过牵拉运动，在节位处切断花梗，并用花萼收获大部分果实。杆训练是通过用弹性环将主杆与杆子捆绑在一起进行的。环被劈开，呈C形展开。通过末端执行器的膨胀运动，环被打开。然后将其移动到主杆和杆子的位置，使它们被环包围。通过停止膨胀，环的弹性夹住了杆子和杆子。还进行了落叶试验。叶柄被末端执行器抓住，并被末端执行器的扭转运动折断。

项目成果

期刊论文数量（9）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

Multifunctional Robot for Tomato Production

多功能番茄生产机器人

DOI：
发表时间：
2004
期刊：
Int.Symp.Machinery and Mechatronics for Agriculture and Bio-systems Engineering s1
影响因子：
0
作者：
FUJIURA.T;OTOMUNE T;RIN;ISHIDA T;NISHIURA;IKEDA H
通讯作者：
IKEDA H

Kimiko Gotou, Tateshi Fujiura, et al.: "3-D Vision System of Tomato Production Robot"Proceedings IEEE/ASME International Conf. Adv. Mechatronics. (発表予定). (2003)

Kimiko Gotou、Tateshi Fujiura 等人：“番茄生产机器人的 3-D 视觉系统”IEEE/ASME 国际机电一体化会议论文集（即将发表）。