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Fruit Harvesting Robot in Orchard

Research Project

Project/Area Number 61560280
Research Category

Grant-in-Aid for General Scientific Research (C)

Allocation TypeSingle-year Grants
Research Field 農業機械
Research InstitutionKyoto University

Principal Investigator

FUJIURA Tateshi  Kyoto University, Assistant, 農学部, 助手 (00026585)

Co-Investigator(Kenkyū-buntansha) URA Motonobu  Kyoto University, Assistant, 農学部, 助手 (10109043)
Project Period (FY) 1986 – 1987
Project Status Completed (Fiscal Year 1987)
Budget Amount *help
¥2,100,000 (Direct Cost: ¥2,100,000)
Fiscal Year 1987: ¥700,000 (Direct Cost: ¥700,000)
Fiscal Year 1986: ¥1,400,000 (Direct Cost: ¥1,400,000)
KeywordsAgricultural robot / Fruit harvesting / Image processing / Manipulator / Sensor / 光電センサ / 農作業自動化
Research Abstract

1. A robot which harvested fruits on a large canopy such as orange was investigated. For this purpose, a prototype robot manipulator had been made by trial. On this research project, this manipulator was improved and a fruit detecting vision system was made and experimented. Fundametal experiment of fruit harvesting was done.
2. A color TV camera was used for feeding the fruit image to the computer. The fruit was recognized by the difference of color between the fruit and the background. The three-dimensional location of each fruit was calculated well by means of a stereo-camera method.
3. A fruit harvesting flexible hand was made by trial. This hand consisted of three rubber fingers for grasping the fruit and scissors for cutting the stem. They were respectively driven by pneumatic rubber actuators and a cylinder.
4. Fruit harvesting experiment was done in the laboratory. The fruit location was detected by above mentioned image input device and the detected fruit was grasped well by the fingers and the stem was cut by the scissors. It was considered that the fruit could be harvested by this robot.
5. A special purpose TV camera with two image sensors for recognizing the fruit was made and the fundamental experiment was done. Two images of different wavelength (i.e. different color) were fed to these image sensors. A clear fruit image was obtained by comparing these video signals.
6. An electro-optic sensor for detecting obstacles such as leaves and stems near the fruit was made by trial and experimented. This sensor could detect the position of the obstacles in front of the sensor.
7. Fruit harvesting experiment will be done in the orchard and the operating performance will be investigated.

Report

(2 results)
  • 1987 Final Research Report Summary
  • 1986 Annual Research Report
  • Research Products

    (15 results)

All Other

All Publications (15 results)

  • [Publications] 川村登: 農業機械学会関西支部報. 62. 68-69 (1987)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1987 Final Research Report Summary
  • [Publications] 川村登: 農業機械学会関西支部報. 62. 70-71 (1987)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1987 Final Research Report Summary
  • [Publications] 川村登: 農業機械学会関西支部報. 62. 66-67 (1987)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1987 Final Research Report Summary
  • [Publications] 川村登: 農業機械学会関西支部報. 62. 64-65 (1987)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1987 Final Research Report Summary
  • [Publications] 並河清: 農業機械学会関西支部報. 64. (1988)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1987 Final Research Report Summary
  • [Publications] 並河清: 農業機械学会関西支部報. 64. (1988)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1987 Final Research Report Summary
  • [Publications] Noboru Kawamura: "Improvement of Linear Motion Type Fruit Harvesting Robot (I)" Kansai Branch Report of the Japanese Society of Agricultural Machinery. No.62. 68-69 (1987)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1987 Final Research Report Summary
  • [Publications] Noboru Kawamura: "Improvement of Linear Motion Type Fruit Harvesting Robot (II)" Kansai Branch Report of the Japanese Society of Agricultural Machinery. No.62. 70-71 (1987)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1987 Final Research Report Summary
  • [Publications] Noboru Kawamura: "TV Camera with Two Image Sensors for Agricultural Robot" Kansai Branch Report of the Japanese Society of Agricultural Machenery. No.62. 64-65 (1987)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1987 Final Research Report Summary
  • [Publications] Noboru Kawamura: "Hand of Fruit Harvesting Robot" Kansai Branch Report of the Japanese Society of Agricultural Machenery. no.62. 66-67 (1987)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1987 Final Research Report Summary
  • [Publications] Kiyoshi Namikawa: "Crop Recognition by TV Camera with Two Image Sensors" Kansai Branch Report of the Japanese Society of Agricultural Machinery. No.64. (1988)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1987 Final Research Report Summary
  • [Publications] 川村登: 農業機械学会関西支部報. 62号. (1987)

    • Related Report
      1986 Annual Research Report
  • [Publications] 川村登: 農業機械学会関西支部報. 62号. (1987)

    • Related Report
      1986 Annual Research Report
  • [Publications] 川村登: 農業機械学会関西支部報. 62号. (1987)

    • Related Report
      1986 Annual Research Report
  • [Publications] 川村登: 農業機械学会関西支部報. 62号. (1987)

    • Related Report
      1986 Annual Research Report

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Published: 1987-03-31   Modified: 2016-04-21  

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