@article{oai:miyazaki-u.repo.nii.ac.jp:00003341,
 author = {崔, 永杰 and Cui, Yongjie and 小林, 太一 and KOBAYASHI, Taichi and 永田, 雅輝 and NAGATA, Masateru and 崔, 永杰 and Cui, Yongjie},
 journal = {宮崎大学農学部研究報告, Bulletin of the Faculty of Agriculture University of Miyazaki},
 month = {Mar},
 note = {本論文では超音波を用いてイチゴの距離計測を行い,果柄を把持・切断して収穫するための最適な摘採ハンドの降下距離について検討した.供試イチゴは宮崎市木花地区ハウス栽培の"章姫"品種を用いた.超音波センサによる計測距離は実測距離より大きな値を示した.計測差Sは熟度が進むにつれて小さくなる傾向がみられた.形状の影響はAがBよりばらつきが小さいことが確認された.収穫適期のイチゴ(サイズ:M,L,2L,3L,熟度:8分着色,10分着色,形状:A)における計測差の平均値は3.8mmであった.よって,補正値a=3.8mmと決定した.補正値aを用いて果柄を把持する条件と摘採ハンドの安全条件を満たす降下距離は20mmと判断された.今回は,超音波センサによるイチゴの距離計測は,計測差から求めた補正値を用いることで,イチゴ収穫ロボットにおける摘採ハンドの降下距離の制御に適用できることが確認された., The vertical distance of the strawberry fruits was measured using ultrasonic wave in this research. The descent distance for the harvesting hand that could cut and hold the fruits through their peduncle was examined. The sample strawberries (Fragaria x ananassa Duch. Variety "Akihime") were taken from a greenhouse farm in Miyazaki Kibana area. The measured distance using the ultrasonic sensor had indicated consistently higher values than the true distance. The measurement difference S tended to become smaller as the degree of fruit ripeness progresses. The effects of shape confirmed A to be smaller than B. Because the mean value of the measurement difference in the strawberry (at various sizes : M, L, 2L, 3L; degree of ripeness : 80 % and 100 % ; and shape : A) during harvest time was 3.8 mm, a correction value of a=3.8 mm was selected. The descent distance that attains safe conditions forharvesting while the picking hand cutsand holds the fruits through their peduncle after applying a correction value a was decided tobe 20 mm. This time, the descent distance of the harvesting hand of the harvesting robot of strawberry can be effectively controlled using an ultrasonic sensor for distance measurementswhile applying a certain correction value.},
 pages = {9--16},
 title = {イチゴ収穫ロボットの超音波センサに関する基礎研究},
 volume = {51},
 year = {2005},
 yomi = {サイ, エイケツ and コバヤシ, タイチ and ナガタ, マサテル and サイ, エイケツ}
}