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Studies of Cherry Harvesting by a Robot

Research Project

Project/Area Number 17380154
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Agricultural information engineering
Research InstitutionYamagata University

Principal Investigator

AKASE Akika  Yamagata University, Faculty of Agriculture, Professor (30007075)

Co-Investigator(Kenkyū-buntansha) FUJIURA Tateshi  Osaka Prefecture University, Graduate School of Life and Environmental Sciences, Professor (00026585)
IMAGAWA Junichi  Nara Prefectural Agricultural Experiment Station, Nara Fruit Tree Research Center, Chief Researcher (70393402)
Project Period (FY) 2005 – 2007
Project Status Completed (Fiscal Year 2007)
Budget Amount *help
¥13,150,000 (Direct Cost: ¥12,100,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2007: ¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2006: ¥3,300,000 (Direct Cost: ¥3,300,000)
Fiscal Year 2005: ¥5,300,000 (Direct Cost: ¥5,300,000)
Keywordstrellis cultivation / 3-D vision sensor / rectangular robot / harvesting hand / percentage of fruit harvestin / single trunk training / onenable fingers / low trunk / 1本仕立て / 知能ロボティクス / 計測工学 / 農業工学 / 園芸学 / 省力化 / ロボット / オウトウ / 収穫 / 自動化 / 果樹
Research Abstract

We manufactured a rectangular robot with a 3-D vision sensor for harvesting cherries grown by trellis cultivation. We made an opening-and-shutting type, a parallel link type, a ring type and a cut type as harvesting hands. The most suitable distance between a fruit and the robot was 30 cm. In the field test the hand could not always reach position of a peduncle. The gap was about 1 cm in maximum. Probability of suitable positioning of the hand was 57.2%. Percentage of fruit harvesting was over 80% in the opening-and-shutting type hand and the parallel link type hand at suitable positioning of the hand. In the ring type hand that was 0%, for the diameter of the ring was too small.
Another harvesting robot was manufactured for application in an orchard where cherry trees are cultivated using single trunk training in rows and are trained vertically with their branches pruned. The main parts of the robot are a manipulator with 4 degrees of freedom (DOF), a 3-D vision sensor, a hand, a compu … More ter and a traveling device. By processing the images from the 3-D vision sensor, the locations of the fruits and obstacles were recognized, and the trajectory of the hand was determined. Fruits were picked by the hand, while avoiding collisions with obstacles. An hand that sucks the fruit and grasps the peduncle to pick up was tested. The result showed that another fruit close to the target fruit is easy to be damaged by the grasping motion of the fingers. To prevent the damage, the distance between fingers was narrowed down. After decreasing the distance, the fruits were not damaged.
In the low single trunk training, it was able to get a yield of 500kg per 10 a in the fifth year after planting and 800kg per 10 a in the seventh year. In this training, the time of harvest was two-thirds compared with the vase form training, the time of pruning was one-fourth, and the time of pinching was three times. For harvesting in the middle of May, it was effective to set a minimum temperature at the start as 5℃ just after dormancy awakening in forcing-cultured cherry. Less

Report

(4 results)
  • 2007 Annual Research Report   Final Research Report Summary
  • 2006 Annual Research Report
  • 2005 Annual Research Report
  • Research Products

    (17 results)

All 2008 2007 2006 2005

All Journal Article (12 results) (of which Peer Reviewed: 2 results) Presentation (5 results)

  • [Journal Article] Cherry-harvesting robot2008

    • Author(s)
      Kanae, Tanigaki, Tateshi, Fujiura, Akira, Akase, Junichi, Imagawa
    • Journal Title

      Computers and Electronics in Agriculture 63

      Pages: 65-72

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
    • Peer Reviewed
  • [Journal Article] Junichi Imagawa, Cherry-harvesting robot2008

    • Author(s)
      Kanae Tanigaki, Tateshi Fujiura, Akira Akase
    • Journal Title

      Computers and Electronics in Agriculture 63

      Pages: 65-72

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Journal Article] Cherry-harvesting robot2008

    • Author(s)
      Kanae Tanigaki, Tateshi Fujiura, Akira Akase, Junichi Imagawa
    • Journal Title

      Computers and Electronics in Agriculture (IN PRESS)

      Pages: 8-8

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Journal Article] トレリス栽培オウトウのロボット収穫2007

    • Author(s)
      鈴木竜也・赤瀬章・長谷部慈康・藤浦建史・中上富紀子・今川順一
    • Journal Title

      農業機械学会東北支部報 54

      Pages: 1-4

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Journal Article] Robotic harvesting of trellis-cultivated Cherries2007

    • Author(s)
      Tatsuya Suzuki, Akira Akase, Shigeyasu Hasebe, Tateshi Fujiura, Tokiko Nakaue, Junichi Imagawa
    • Journal Title

      Tohoku Branch Report of The Japanese Society of Agricultural Machinery No.54

      Pages: 1-4

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Journal Article] トレリス栽培オウトウのロボット収穫2007

    • Author(s)
      鈴木竜也・赤瀬 章・長谷部慈康・藤浦建史・中上富紀子・今川順一
    • Journal Title

      農業機械学会東北支部報 54

    • Related Report
      2007 Annual Research Report
  • [Journal Article] オウトウロボット収穫の基礎試験-ハンドの収穫動作-2006

    • Author(s)
      赤瀬章・藤浦建史・今川順一・谷垣奏恵・鈴木竜也
    • Journal Title

      農業機械学会東北支部報 53

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Journal Article] Basic Experiments of Cherry Harvesting by a Robot-Harvesting Action of a Hand2006

    • Author(s)
      Akira Akase, Tateshi Fujiura, Junichi Imagawa, Hanae Tanigaki, Tatsuya Suzuki
    • Journal Title

      Tohoku Branch Report of The Japanese Society of Agricultural Machinery No.53

      Pages: 3-6

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Journal Article] Cherry harvesting robot2006

    • Author(s)
      Kanae Tanigaki, Tateshi Fujiura, Akira Akase, Junichi Imagawa
    • Journal Title

      3rd IFAC International Workshop on Bio-Robotics, Information, Technology and Intelligent Control for Bioproduction Systems

      Pages: 254-259

    • Related Report
      2006 Annual Research Report
  • [Journal Article] オウトウロボット収穫の基礎試験-ハンドの収穫動作-2006

    • Author(s)
      赤瀬 章, 藤浦建史, 今川順一, 谷垣奏恵, 鈴木竜也
    • Journal Title

      農業機械学会東北支部報 53号

      Pages: 3-6

    • Related Report
      2006 Annual Research Report
  • [Journal Article] オウトウ収穫ロボットの収穫機構2005

    • Author(s)
      谷垣奏恵, 定廣和也, 藤浦建史, 西浦芳史, 今川順一
    • Journal Title

      農業機械学会関西支部報 98号

      Pages: 42-43

    • Related Report
      2005 Annual Research Report
  • [Journal Article] オウトウ(サクランボ)収穫ロボットの研究2005

    • Author(s)
      谷垣奏恵, 定廣和也, 藤浦建史, 西浦芳史
    • Journal Title

      ロボティクスメカトロニクス2005講演論文集 ROBOMEC-05

    • Related Report
      2005 Annual Research Report
  • [Presentation] オウトウの低樹高一本仕立てによる早期成園化技術の開発2007

    • Author(s)
      今川順一・藤浦建史
    • Organizer
      農業生産技術管理学会
    • Place of Presentation
      熊本県立大学環境共生学部
    • Year and Date
      2007-11-03
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Development of Technique in Early2007

    • Author(s)
      Junichi Imagawa, Tateshi Fujiura
    • Organizer
      Japanese Society of Agricultural Technology Management
    • Place of Presentation
      Kumamoto Prefecture Univ.
    • Year and Date
      2007-11-03
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] オウトウの低樹高一本仕立てによる早期成園化技術の開発2007

    • Author(s)
      今川順一・藤浦建史
    • Organizer
      農業生産技術管理学会
    • Place of Presentation
      熊本県立大学
    • Year and Date
      2007-11-03
    • Related Report
      2007 Annual Research Report
  • [Presentation] トレリス栽培オウトウのロボット収穫2007

    • Author(s)
      赤瀬章・藤浦建史・鈴木竜也・今川順一
    • Organizer
      農業環境工学関連学会2007年合同大会
    • Place of Presentation
      東京農工大学農学部
    • Year and Date
      2007-09-14
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Annual Research Report 2007 Final Research Report Summary
  • [Presentation] Robotic harvesting of trellis-cultivated Cherries2007

    • Author(s)
      Akira Akase, Tateshi Fujiura, Tatsuya Suzuki, Junichi Imagawa
    • Organizer
      Joint Conference on Environmental Engineering in Agriculture 2007
    • Place of Presentation
      Tokyo Univ. of Agriculture and Technology
    • Year and Date
      2007-09-14
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary

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Published: 2005-04-01   Modified: 2016-04-21  

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