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2014 Vol.23, Issue 2 Preview Page
Development of Oriental Melon Harvesting Robot in Greenhouse Cultivation

시설재배 참외 수확 로봇 개발

Yu Shin Ha1
,
Tae Wook Kim2*
하유 신1
,
김태 욱2*
1Department of Bio Industrial Machinery Engineering, College of Agriculture and Life Science, Kyungpook National University, Daegu 702-701, Korea
2Department of Precision Mechanical Engineering, College of Science and Technology, Kyungpook National University, Sangju 742-711, Korea
1경북대학교 생물산업기계공학과
2경북대학교 정밀기계공학과
*Corresponding Author : kimtw@knu.ac.kr
30 April 2014. pp. 123-130
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Abstract

Oriental melon (Cucumis melo var. makuwa) should be cultivated on the soil and be harvested. It is difficult to find because it is covered with leaves, and furthermore, it is very hard to grip it due to its climbing stems. This study developed and tested oriental melon harvesting robots such as an end-effector, manipulator and identification device. The end effector is divided into a gripper for harvest and a cutter for stems. In addition, it was designed to control the gripping and cutting forces so that the gripper could move four fingers at the same time and the cutter could move back and forth. The manipulator was designed to realize a 4-axis manipulator structure to combine orthogonal coordinate-type and shuttle-type manipulators with L-R type model to rotate based on the central axis. With regard to the identification device, oriental melon was identified using the primary identification global view camera device and secondary identification local view camera device and selected in the prediction of the sugar content or maturity. As a result of the performance test using this device, the average harvest time was 18.2 sec/ea, average pick-up rate was 91.4%, average damage rate was 8.2% and average sorting rate was 72.6%.

Keywords
End-effector
Manipulator
Pick-up rate
Damage rate
Sorting rate

참외 재배환경은 토양 위의 수평바닥에서 재배된 것을 수확하여야 하며, 참외가 잎으로 덮여져 있어 인식이 어 렵고, 덩굴성 줄기로 인해 참외를 그립하기에도 매우 불 리하다. 이러한 재배환경에 적합하도록 엔드이펙트, 머니 퓰레이터, 인식장치 등의 참외 수확 로봇을 개발하였고 이를 시험하였다. 엔드이펙터는 수확물을 잡기 위한 그 립퍼와 줄기를 절단하는 커터로 구분되며, 그립퍼는 4개 의 핑거가 동시에 구동하고, 커터는 2개로 전후진 동작 이 되도록 설계하여 파지력과 절단력을 제어할 수 있도 록 하였다. 머니퓰레이터는 중심축을 기준으로 회전을 하는 L-R형 모델에 직교 좌표형과 셔틀형 머니퓰레이터 를 조합한 4축 매니플레이트 구조로 설계하였다. 인식장 치는 1차 인식장치인 GVC와 2차 인식장치인 LVC를 이용하여 참외를 식별하고 그 중에서 당도나 숙도를 예 측하여 선별하였다. 이 장치를 이용하여 로봇의 성능시 험을 한 결과 수확시간은 평균 18.2sec/ea, 픽업율은 평 균 91.4%, 손상율은 평균 8.2%, 선별율은 평균 72.6%로 나타났다.

키워드
엔드이펙터
머니퓰레이터
픽업율
손상율
선별율
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Information
  • Publisher :The Korean Society for Bio-Environment Control
  • Publisher(Ko) :(사)한국생물환경조절학회
  • Journal Title :Protected Horticulture and Plant Factory
  • Journal Title(Ko) :시설원예ㆍ식물공장
  • Volume : 23
  • No :2
  • Pages :123-130
  • Received Date : 2014-05-19
  • Revised Date : 2014-05-29
  • Accepted Date : 2014-06-10
  • DOI :https://doi.org/10.12791/KSBEC.2014.23.2.123
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