D202 イチゴの自動選別・パック詰め技術の開発(OS14 農業機械の運動と制御1)

概要

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To reduce working hours of a strawberry production in Japan, we developed an automation technology for a sorting-and-packing of the fruit. The sorting-and-packing machine consists of a fruit-supplying unit and a sorting-and-packing unit. The former unit picks up fruits which are put in a box with random position and attitude when they were harvested. Then, it supplies the picked fruit to the latter. The latter unit sorts the supplied fruits into three classes according to their size. At last, it put the fruits on a returnable tray or a commercialized shipping-package. Each unit has a manipulator, a vacuum hand, a machine-vision and belt-conveyers which convey fruits or shipping boxes. Since a strawberry fruit is prone to be damaged, we developed a technology of soft-handling for a strawberry fruit, and applied them to the machine. As a result of the performance test at Saga pref. from January to February in 2011, the packing-success-rates were more than 90% with the process time for a fruit was from seven to eight seconds. The sorting-success-rates, however, were less than 80%.
一般社団法人日本機械学会の論文
2011-06-28