DEVELOPMENT OF CHRYSANTHEMUM CUTTING STICKING ROBOT SYSTEM

为实现菊花苗木生产系统的自动化，研制了菊花插条粘贴机器人系统，并进行了试验。该机器人系统主要由四个部分组成：切割提供系统、机器视觉系统、除叶装置和粘贴装置。首先，把一捆插穗放进一个水箱里。随着水箱的震动，岩屑在水面上铺开。机械手根据电视摄像机采集的切割位置信息，将切割后的岩屑逐一送入下一阶段。其次，另一台电视摄像机检测到被传送的切割的位置和方向，并在切割杆上指示另一台机械手移动的抓取点。第三，机械手将切割移动到除叶装置，以安排切割的形状。最后，一次把10根插穗塞进一个托盘里。从实验结果可以看出，菊花切花贴片作业自动化是可行的。所有的机器人部件都显示出相对较高的成功率。为了提高成功率，不仅要提高每个机器人部件的性能，而且要为机器人系统提供不弯曲的切割。

A chrysanthemum cutting sticking robot system was manufactured and tested to automate the chrysanthemum seedling production system. The robot system mainly consisted of four sections ; a cutting providing system, a machine vision system, a leaf removing device, and a sticking device. First, a bundle of cuttings was put into a water tank. The cuttings were spread out on the water by vibration of the water tank. The cuttings were picked by a manipulator based on information of cutting position from a TV camera to be sent one by one to next stage. Secondly, another TV camera detected the position and orientation of the transported cutting and indicated a grasping point in the cutting stem for another manipulator moving. Thirdly, the manipulator moved the cutting to the leaf removing device to arrange the shape of cutting. Finally, ten cuttings were stuck into a tray at a time. From the experimental results, feasibility to automate chrysanthemum cutting sticking operation was found. All the robotic components showed relative high success rates. To improve the percentage of success, it was considered not only that the performance of each robotic components should be improve but also that no-bent cuttings should be provided for the robot system.