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首页> 外文期刊>植物工场学会誌 >Harvesting robot for strawberry grown on table top culture (Part 2) harvesting robot with a suspended manipulator under cultivation bed
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Harvesting robot for strawberry grown on table top culture (Part 2) harvesting robot with a suspended manipulator under cultivation bed

机译：台式培养草莓生长的收获机器人（第2部分）栽培床下悬挂机械手的收获机器人

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摘要

In part 1 of this series, a harvesting robot consisting of a 5 DOF polar-coordinate manipulator, a harvesting end-effector using sucking force, a visual sensor and a traveling device was manufactured and tested with strawberry grown on table top culture. From the results, it was observed that the table top culture was a suitable cultivation method for robotic operations because there were few obstacles around the target fruits, and that harvesting using a sucking force inflicted no damage on the fruits. However, it took the robot 14 to 20 seconds to harvest a single fruit because of the complicated construction and control method of the manipulator. In this study, a cartesian coordinate manipulator suspended under the planting bed of strawberry was employed in order to simplify construction and control method of the manipulator intended for practical use. The robot was capable of moving along the planting bed without a traveling device because one prismatic joint of the manipulator played the role of a travelling device. Furthermore, depth measurement by a visual sensor was simplified because distance between the robot and the fruits was kept approximately constant by suspending the robot under the planting bed. Harvesting experiments were conducted in a greenhouse by using the manipulator equipped with an improved end-effector and a visual sensor. From the results, time required to harvest a fruit was reduced to around 10 seconds because of the simplified construction and control method of themanipulator.
机译：在本系列的第1部分中，制造了一个收割机器人，该机器人由5自由度极坐标机械手，利用吸力的收割末端执行器，视觉传感器和移动装置组成，并通过在台式培养皿上种植的草莓进行了测试。从结果可以看出，台式培养是一种适合机器人操作的栽培方法，因为目标果实周围几乎没有障碍物，并且使用吸力进行收获对果实没有造成损害。但是，由于机械手的构造和控制方法复杂，机器人只能花14到20秒才能收获单个水果。在本研究中，为了简化实际使用的机械手的构造和控制方法，采用了悬挂在草莓种植床下的笛卡尔坐标机械手。由于机械手的一个棱柱关节起到了行进设备的作用，因此该机器人能够在没有行进设备的情况下沿着种植床移动。此外，由于通过将机器人悬挂在种植床下而使机器人和水果之间的距离保持大致恒定，因此简化了通过视觉传感器进行的深度测量。使用配备了改进型末端执行器和视觉传感器的机械手在温室中进行收获实验。从结果来看，由于操纵器的简化构造和控制方法，收获水果所需的时间减少到10秒左右。

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