Studies on Robot to Harvest Grape to Thin Berry

葡萄藤种植在日本的棚架上。认为该训练比其他训练具有更强的机器人工作适应性。本研究在测量葡萄串位置、轴的摩擦阻力和切割阻力的基础上，制作了一个5自由度的机械手和一个收获手作为试验。该机械手为极坐标型，被控制在连续路径上运动。手具有抓、剪轴、推束三种功能。在视觉传感器中，首先测量葡萄各部分的光谱反射率，以选择适合视觉传感器识别的滤光片对。采用R滤波器、G滤波器、B滤波器和干涉滤波器进行了零件识别实验。从结果来看，它不仅能够区分葡萄不同颜色的部分，而且能够区分相似颜色的部分。利用附着CCD相机的机械手进行了束和轴的位置检测和束的收获实验。研究结果表明，当机器人进行采收工作时，这些误差作为检测误差是合理的，因为这些误差能够被采收手吸收。最后，分别在室内和田间进行了单束收获实验。从结果来看，该机器人能够令人满意地收获。除此之外，为了给机器人增加做其他工作的能力，还制造了浆果细化手。手可以采摘浆果，使收获更容易，可以剪束，使其长度标准化。

Grapevine is planted in trellis training in Japan. It is considered this training has much adaptability of robot working than other trainings. In this study, a manipulator with 5 degrees of freedom and a harvest hand were made as a trial based on the measurement of positions of grape bunches, frictional resistance and cutting resistance of rachis. The manipulator was a polar coordinate type its was controlled to move in continuous path. The hand had three functions that were grasping cutting rachis and pushing bunch.As for visual sensor, spectral reflectances of parts grapevines were at first measures in order to select pairs of optical filters which were suitable for discrimination by the visual sensor. Experiments to discriminate among the parts were done by using R, G, B filters and interference filters. From the result, it was able to discriminate not only between different color parts but also between simular color parts of grapevines. Besides, experiments to detect positions of bunch and rachis and to harvest bunches were done by using the manipulator which CCD camera was attached to. It was obtained that the errors were reasonable as detecting error when the robot worked to harvest, since such errors were able to be absorbed in harvesting hand. Finally, the experiment to harvest individual bunches was done by using the robot in room and in the field. From the results, it was observed the robot was able to harvest satisfactorily.In addition to that, berry thinning hand also manufactured in order to add ability to do other work to the robot. The hand could berries to make harvesting easy and could cut bunch to standardize its length.