ハンドアイシステムにおけるビジュアルフィードバックを用いた果実の検出(I) 関節型マニピュレータを用いた果実検出実験

A visual sensor which could recognize fruits was made in order to develop the sight sense of the fruit harvesting robot. This visual sensor was attached to an anthropomorphic type manipulator, and a fruit detecting experiment using a method of visual feedback was done. The results were obtained as follows ; 　It was observed that the hand was able to grip the orange balls which positioned at 30 cm in front of the visual sensor. It was given as defects that the error depended on the fruit diameter arose, number of the image input was big, and so on. It was considered that this method was more advantageous to telescopic type manipulator than anthropomorphic type manipulator

ハンドアイシステムにおけるビジュアルフィードバックを用いた果実の検出(II) コンピュータによる果実検出のシミュレーション

The computer simulation of detecting fruit by visual feedback on hand-eye system was done in order to investigate detecting accuracy under the various conditions. From the result, it was obtained as follows : 1. The smaller the distance from the visual sensor to the fruit was smaller, the error by visual feedback became smaller proportionally. 2. The error depended on the fruit diameter. 3. The bigger the picture element number was, the smaller the scattering. 4. The bigger the manipulator speed was, the bigger the picture element number recognizing fruit became, and the error became bigger. 5. It was not suitable that visual feedback on hand-eye system was independently used for detecting fruit whose diameter had the scattering fairly

農業用8自由度ロボットの研究(I) 8自由度マニピュレータの試作

8 degrees of freedom manipulator which articulated manipulator and polar coordinates manipulator were combined was made as a trial. The size of the manipulator was 2100mm in length, 540mm in width, 800mm in height from ground to shoulder joint, and weighed 200 kg. Fruit approaching experiment and plant pulling experiment were done in order to investigate the effectiveness of the redundant mechanism of the manipulator. From the results, it was observed that the manipulator could approach to the objects avoiding the obstacles because of the redundance, and that it could be used form many objects

Calculation of the Most Suitable Wavelength Bands for Discrimination between Fruit and Leaves Using their Spectral Reflectance

葉と異なる色を呈する果実を識別するだけでなく,葉と同系統の色の果実をも識別可能な視覚センサを開発する目的で,果実と葉の分光反射特性を測定し,各果実と葉に対するセンサの出力の比の差が最も大きくなる1組の波長帯域を計算機で求め,次のような結果を得た. 1.葉の反射率はいずれの品種も大きな差は見られないが,色の異なる果実は可視領域においてその差異を示し,近赤外領域においては葉よりも反射率の高いものと低いものに分類できた.1,200nmまでの領域では果実,茎にのみ水分の吸収帯が見られた. 2.最適波長帯域として,トマトは670nmと970nm付近,ナス,キュウリは550nmと,850nm付近,温州ミカン,カキは550nmと670nm付近の波長帯域が選定された.この結果赤,黄系統の色を呈する果実はクロロフィル吸収帯が,近赤外領域で葉より果実の反射率が高くなる果実は850nm前後の波長帯が識別に適することがわかった

Response of sweet pepper autofluorescence against solar radiation

Shades are adjusted in sweet pepper cultivation, based on solar exposure levels. Pyranometers and photosensitive films have recently been introduced to smart agriculture. However, there are no means of observing biological responses to solar exposure. In this study, we hypothesized that solar exposure levels affect the visible autofluorescence of sweet pepper under 365 nm illumination. To test this hypothesis, we cultivated sweet pepper plants under two exposure conditions, low (half of the normal) and high (the normal). Fluorescence photography (365 nm illumination) revealed that dark-fluorescent peppers only arise when cultivated under high-exposure conditions (0.7-fold decline at emission of 390 nm for high-exposure conditions). Microscopic and spectroscopic observations showed that blue autofluorescence was accompanied by an accumulation of UVB pigments (1.2-factor increase in the absorbance at 300 nm) and epidermal development (1.3-fold thicker cell wall). This study suggests that the autofluorescence of sweet pepper can possibly be used to understand the response of crop to solar radiation at a fruit level in horticulture

Investigation of Trafficability of Agricultural Machinery on Reclamation Field

農業機械の利用の立場から干拓畑における機械の走行性を調査するため,SR-2型土壌抵抗測定器を用いて,円錐貫入抵抗試験,沈下試験,剪断試験,摩擦試験ならびにコンシステンシー指数の測定を,暗渠排水を行い,数年聞蔬菜類を栽培した圃場において行った.その結果,畝の溝部においては,貫入抵抗は約10kg/cm2(小コーンで表面下0-15cm),矩形板沈下量は約0.1cm以内(小プレートで荷重30kg),剪断抵抗は約0.5kg/cm2(荷重25kg),摩擦抵抗は約0.25kg/cm2(荷重25kg),コンシステンシー指数は約1.0であり,農業機械の利用はほぼ可能であると言えた

A Nondestructive Eggshell Thickness Measurement Technique Using Terahertz Waves

Eggshells play a number of important roles in the avian and reptile kingdom: protection of internal contents and as a major source of minerals for developing embryos. However, when researching these respective roles, eggshell thickness measurement remains a bottleneck due to the lack of a non-destructive measurement techniques. As a result, many avian and reptile research protocols omit consideration of eggshell thickness bias on egg or embryo growth and development. Here, we validate a non-destructive method to estimate eggshell thickness based on terahertz (THz) reflectance spectroscopy using chicken white coloured eggs. Since terahertz waves are reflected from outer air-eggshell interface, as well as the inner eggshell-membrane boundary, the resulting interference signals depend on eggshell thickness. Thus, it is possible to estimate shell thickness from the oscillation distance in frequency-domain. A linear regression-based prediction model for non-destructive eggshell thickness measurement was developed, which had a coefficient of determination (R2) of 0.93, RMSEP of 0.009, RPD of 3.45 and RER 13.67. This model can estimate eggshell thickness to a resolution of less than 10 μm. This method has the potential to expand the protocols in the field of avian and reptile research, as well as be applied to industrial grading of eggs