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1992 Fiscal Year Final Research Report Summary

Studies on Robot to Harvest Grape to Thin Berry

Research Project

Project/Area Number 02556033
Research Category

Grant-in-Aid for Developmental Scientific Research (B)

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

Principal Investigator

SHIBANO Yasunori  Okayama Univ. Faculty of Agr. Prof., 農学部, 教授 (00033332)

Co-Investigator(Kenkyū-buntansha) MONTA Mitsuji  Okayama Univ. Faculty of Agr. Inst., 農学部, 助手 (80239714)
KONDO Naoshi  Okayama Univ. Grad. school Inst., 大学院・自然科学研究科, 助手 (20183353)
MOHRI Kentaro  Okayama Univ. Faculty of Agr. Prof., 農学部, 教授 (20081531)
Project Period (FY) 1990 – 1992
KeywordsAgricultural robot / Fruit harvesting / Polar Coordinate Manipulator / Visual feedback / Berry thinning / Continuous path control / Grape / Most suitable wavelength band
Research Abstract

Grapevine is planted in trellis training in Japan. It is considered this training has much adaptability of robot working than other trainings. In this study, a manipulator with 5 degrees of freedom and a harvest hand were made as a trial based on the measurement of positions of grape bunches, frictional resistance and cutting resistance of rachis. The manipulator was a polar coordinate type its was controlled to move in continuous path. The hand had three functions that were grasping cutting rachis and pushing bunch.
As for visual sensor, spectral reflectances of parts grapevines were at first measures in order to select pairs of optical filters which were suitable for discrimination by the visual sensor. Experiments to discriminate among the parts were done by using R, G, B filters and interference filters. From the result, it was able to discriminate not only between different color parts but also between simular color parts of grapevines. Besides, experiments to detect positions of bunch and rachis and to harvest bunches were done by using the manipulator which CCD camera was attached to. It was obtained that the errors were reasonable as detecting error when the robot worked to harvest, since such errors were able to be absorbed in harvesting hand. Finally, the experiment to harvest individual bunches was done by using the robot in room and in the field. From the results, it was observed the robot was able to harvest satisfactorily.
In addition to that, berry thinning hand also manufactured in order to add ability to do other work to the robot. The hand could berries to make harvesting easy and could cut bunch to standardize its length.

  • Research Products

    (14 results)

All Other

All Publications (14 results)

  • [Publications] 芝野 保徳: "視点の移動による位置検出方法を用いたブドウ収穫ロボット" 農業機械学会関西支部報. 70. 139-140 (1991)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] KONDO N.: "Study on Grape Harvesting Robot" IFAC/ISHS 1st Warkshop Mathematical and Control Applications in Agri and Hort.243-246 (1991)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 近藤 直: "果実収穫・管理用ロボット" 日本ロボット学会ビデオ特集号. 10. (1992)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] KONDO N.: "Agricultural Robots(2)-Manipulators and Fruit Harvesting Hands-" ASAE Paper No.923518. (1992)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] MONTA M.: "Agricultural Robots(3)-Grape Bunch Thinning Hand-" ASAE Paper No.923519. (1992)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 近藤 直: "ブドウ管理・収穫用ロボット開発のための基礎的研究(第1報)" 農業機械学会誌.

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] SHIBANO Y.: "Grape Harvesting Robot by Using Visual Feedback" Journal of Kansai Branch of JSAM. 70. 139-140 (1991)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] KONDO N.: "Study on Grape Harvesting Robot" IFAC/ISHS 1st Workshop Mathematical and Control Applications in Agriculture and Horticulture. 243-246 (1991)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] KONDO N.: "Robots to work in Orchard" Journal of the Robotics Society of Japan(Video). 10. (1992)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] KONDO N.: "AGRICULTURAL ROBOTS (2) -Manipulators and Fruits Harvesting Hands-" ASAE Paper. No.923518. (1992)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] MONTA M.: "AGRICULTURAL ROBOTS (3) -Grape Bunch Thinning Hand-" ASAE Paper. No.923519. (1992)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] KONDO N.: "Basic Studies on Robot to Work in Vineyard (Part 1) -Manipulator and Harvesting Hand-" Journal of JSAM.

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] KONDO N.: "Basic Studies on Robot to Work in Vineyard (Part 2) -Discriminating, Position Detecting and Harvesting Experiments by Using Visual Sensor-" Journal of JSAM.

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] MONTA M.: "Basic Studies on Robot to Work in Vineyard (Part 3) -Measurement of Physical Properties for Robotization and Manufacture of Berry Thinning Hand-" Journal of JSAM.

    • Description
      「研究成果報告書概要(欧文)」より

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Published: 1994-03-24  

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