Fruit Harvesting Robot in Orchard

1.研究了一种大面积果实采摘机器人，如橙子。为此，试制了一台机器人操作器样机。在本研究项目中，对该机械手进行了改进，研制了水果检测视觉系统，并进行了实验。进行了果实采收的基础试验.彩色电视摄像机用于将水果图像输入计算机。通过水果与背景之间的颜色差异来识别水果。利用立体摄像法计算出每个果实的三维位置.试制了一种水果采摘柔性手。这只手由三个橡胶手指组成，用于抓住水果和剪刀用于切割茎。它们分别由气动橡胶执行器和气缸驱动.在实验室进行了果实采收试验。通过上述图像输入装置检测水果位置，用手指很好地抓住检测到的水果，用剪刀剪下茎。人们认为这种水果可以由机器人收割。研制了一种具有双图像传感器的水果识别专用电视摄像机，并进行了初步实验。将不同波长（即不同颜色）的两个图像馈送到这些图像传感器。通过比较这些视频信号，得到了清晰的水果图像.研制了一种光电传感器，用于检测水果附近的叶、茎等障碍物，并进行了实验。该传感器可以检测传感器前面的障碍物的位置。在果园中进行果实采收试验，考察其作业性能。

1. A robot which harvested fruits on a large canopy such as orange was investigated. For this purpose, a prototype robot manipulator had been made by trial. On this research project, this manipulator was improved and a fruit detecting vision system was made and experimented. Fundametal experiment of fruit harvesting was done.2. A color TV camera was used for feeding the fruit image to the computer. The fruit was recognized by the difference of color between the fruit and the background. The three-dimensional location of each fruit was calculated well by means of a stereo-camera method.3. A fruit harvesting flexible hand was made by trial. This hand consisted of three rubber fingers for grasping the fruit and scissors for cutting the stem. They were respectively driven by pneumatic rubber actuators and a cylinder.4. Fruit harvesting experiment was done in the laboratory. The fruit location was detected by above mentioned image input device and the detected fruit was grasped well by the fingers and the stem was cut by the scissors. It was considered that the fruit could be harvested by this robot.5. A special purpose TV camera with two image sensors for recognizing the fruit was made and the fundamental experiment was done. Two images of different wavelength (i.e. different color) were fed to these image sensors. A clear fruit image was obtained by comparing these video signals.6. An electro-optic sensor for detecting obstacles such as leaves and stems near the fruit was made by trial and experimented. This sensor could detect the position of the obstacles in front of the sensor.7. Fruit harvesting experiment will be done in the orchard and the operating performance will be investigated.