Development of Gantry Systems for Strawberry Cultivation

草莓栽培龙门系统的开发

基本信息

批准号：
12660233
负责人：
YAMASHITA Jun
金额：
$ 2.11万
依托单位：
Ehime University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2000
资助国家：
日本
起止时间：
2000 至 2002
项目状态：
已结题

项目摘要

In order to save labor in strawberry cultivation, two types of gantries, for a single-span greenhouse and a wide-span greenhouse, a rotary tiller, ridger, a fungicide sprayer , workbenches for picking operation and harvesting robot were manufactured and tested. Furthermore, a prototype truck controlled by a programmable device to transfer the gantry to a neighboring ridge in the multi-span greenhouse was made. The following are main results of this study.1.The working performance test of the gantry showed that with a 7 kW motor for driving operation machine, a running speed of gantry for rotary tillage at less than 30cm /s and that for 25 cm high ridging work at less than 14 cm/s, the gantry works flawlessly. The soil pulverizing performance, theoretical field capacity, and ridge shaping accuracy of the gantry were equivalent to conventional operation.2.From the results of spraying experiments, it was observed that the gantries could accomplish effective spraying with less fungicide consumption and the necessary time was reduced to 58 % compared with manual spraying. In addition, physical burden for picking operation was deceased by using the workbench. Furthermore, from the viewpoint of the man-machine system, psychological burden of the gantry operator was clarified by the chaos analysis.3.As a consequence of wheel derailment tests, the several advantages of side-flanged wheel compared with both-flanged wheel were clear : (1) restrain of frame deformation ; (2) adaptation to some track deviation ; (3) low power consumption of driving motor.4.Strawberry harvesting robot which consisted of 4 degrees of freedom cartesian coordinate manipulator, a hook type end-effector, and a color CCD camera was developed, and its performance was confirmed.The experiments above-mentioned have clarified the basic characteristics of the gantry systems. The practical application of the gantry systems is now being envisioned.

为了节省草莓栽培劳动力，制作并测试了单跨温室和大跨温室两种龙门架、旋耕机、起垄机、杀菌剂喷雾机、采摘作业工作台和采摘机器人。此外，还制作了一辆由可编程设备控制的原型卡车，用于将龙门架转移到多跨温室的相邻屋脊上。主要研究结果如下： 1、龙门架工作性能测试表明，采用7kW电机驱动作业机，旋耕龙门架运行速度小于30cm/s，25cm高起垄工作速度低于 14 厘米/秒，龙门架工作完美。龙门架的土壤粉碎性能、理论田间持水量、成垄精度与常规作业相当。 2、喷施试验结果表明，龙门架能以较少的杀菌剂用量实现有效喷施，且所需时间缩短。与手工喷涂相比减少58%。另外，使用工作台减轻了拣选作业的体力负担。此外，从人机系统的角度，通过混沌分析明确了龙门操作员的心理负担。 3.通过车轮脱轨试验，发现侧凸缘轮与双凸缘轮相比具有以下几个优点：明确：（1）抑制框架变形； (2)适应一些轨道偏差； (3)驱动电机功耗低。4.研制了由4自由度直角坐标机械臂、钩式末端执行器和彩色CCD相机组成的草莓采摘机器人，并验证了其性能。 -上述内容阐明了龙门系统的基本特征。现在正在设想龙门系统的实际应用。