4225 高設栽培用イチゴ収穫ロボットの収穫率向上の一考察(S68 農業ロボット,S68 農業ロボット)

概要

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An end-effector which consisted of a suction head and two fingers with a cutter was made as a trial and attached to a manipulator for a harvesting experiment. Its success rate was 46% under a condition and a problem that the robot could not adapt to fruits whose peduncles were bent or overlapped with another peduncle was found. To solve the problem, it was considered that machine vision recognition, addition of a rotational joint for bending peduncles, and horticultural approach to enhance to expose hidden fruits and peduncles. In this report, fruit and peduncle arrangements were classified into 5 types each from acquired images the horticultural approach on peduncle length by chemical control was discussed for developing the strawberry harvesting robot.
社団法人日本機械学会の論文
2007-09-07