Study on Small Intelligent Robot for Production of Young Plants

开发先进的方法，使智能机器人对幼嫩植物进行各种劳动，是满足农业社会需要的。研究了这些幼苗的处理方法，提取幼苗的二值图像，计算幼苗的中心位置，评价每个幼苗的等级。摘要如下：小手不是为了处理小的球形植物而制造的，所以使用了橡胶制成的植物收割手。分析发现，4指手握住植物的概率高于3指手握住植物的概率。通过检测手指的变形，控制四指手的位置，使其能够轻柔地握住植物。将移栽操作作为幼苗的一种劳动进行了研究。制作了带根土的机械手搬运幼苗，并由机械手进行移栽。幼苗从一个苗圃里挖得相当好，放在另一个苗圃的洞里。利用两台彩色电视摄像机分别检测秧苗的位置和评价秧苗的等级。根据幼苗与土壤的光反射率差异，通过G - y的灰度值得到清晰的二值图像，通过计算侧面取苗的大小和直径进行评价。开发树苗自动处理技术具有重要的现实意义。制作了一种小型气动拉丝手，对日本柏树树苗进行了拉丝试验。拉力约为100N。

It would satisfy the agricultural social need to develop advanced methods to make the intelligent robot work in various labors to young plants. Handling method to such young plants, extracting binary images of young plants, calculating their central positions and evaluating the grade of each young seedling were studied. Summaries are as follows.1. The small hand was not manufactured to handle small spherical plants, so that a rubber made plant-harvesting hand was used. It was analyzed that the probability where the 4-fingers hand could grip the plant became higher than that where the 3-fingers hand gripped. The position of the 4-fingers hand was controlled to hold the plant softly from detecting the deformation of fingers.2. Transplanting operation was studied as an labor to young plants. A robot hand handling young seedlings with root soils was made and transplanting was done by the robot. Seedlings were fairly well digged from a nursery and put in the holes of the other one.3. Two color TV cameras were individually used for detecting positions of seedlings and evaluating their grades. From the difference of light reflectances of young seedlings and soils, the clear binary image could be obtained through grey levels of G - Y. Evaluation was done from the calculation the size and the diameter of a seedling taken from the lateral position.4. It would become important to develop the automatic handling of saplings. A small type pneumatic drawing hand was made and drawing test of Japanese cypress saplings were run. The pulling force was about 100N.