FUNDAMENTAL STUDY FOR PEACH HARVESTING ROBOT WITH FUNCTION OF JUDGEMENT OF RIPENESS USING ODOR OF PEACH

本研究的目的是研制一种具有成熟度判断功能的桃采摘机器人。为了利用机器或机器人采摘水果，我们试图通过栽培桃子来研究桃子成熟度与其颜色、大小和气味的关系。在此研究的基础上，我们研制了各种传感装置，并对它们的性能进行了测试。此外，我们利用一种基于相机虹膜光圈原理的收获机构，建立了一个末端执行器的原型。我们确认了该机制的基本性能。

The otjective of this research is to develop a peach harvesting robot with a function for estimation of the degree of ripeness. For harvesting fruits using machines or robots, we attempted to investigate the relationship of the ripeness of peaches with their color, size, and odor by using cultivating peaches. Based on this investigation, we developed each device for sensing each component, and tested their performance. Further, we built a prototype of an end-effector by using a harvesting mechanism that is based on the principle of the iris diaphragm of a camera. We confirmed the basic performance of that mechanism.