机械手英语文献翻译

机械手英语文献翻译内容摘要：

of 90◦. Photoelectric currents from PSDs are amplified. Red and infrared signals are detected separately using lockin amplifiers, which also eliminate the influence of ambient light. The 3D vision sensor can be used even under sunlight, where the illuminance is 100 klx. A red image and an infrared image are fed to the puter, and then a range image and segmentation are obtained. 6 The range image is calculated by triangulation using the infrared signals from anode A and B of the PSD. Segmentation is obtained from the ratio between the infrared and red signals. Red fruits were distinguished from other objects such as leaves by the reflectivity of the red laser. However, the trunk as well as the fruits reflect a red laser beam. Therefore, it was distinguished from fruits using other methods. Fruits reflect with specula phenomenon. When they are scanned, the fruit center reflects the laser beam well. How ever, this phenomenon does not occur at the trunk surface. The center of each fruitwas recognized using this specula phenomenon. When the center of a fruit is visible from the 3D vision sensor, fruits could be recognized by this method. By processing these images, the location of red fruits and obstacles, such as leaves and trunks, could be recognized. Fig. 4 shows examples of the image. The range image was obtained by the method of triangulation using the infrared signals of the PSD. By processing the infrared, red, and the range images, the object was segmented into red fruits and others. The image in the right side shows the result of segmentation. Cherry fruit must be harvested with its peduncle attached. The tensile strength needed to detach the fruit was measured. The strength between the peduncle and the fruit was about 1N. On the other hand, the strength between the peduncle and the branch was about . Therefore, if the fruit was pulled it would detach the peduncle and the fruit because the strength in that area is 7 the weakest. To harvest the fruit with its peduncle, a special end effector was used. It consisted of a fruit sucking device, an openclose mechanism, a backand forth mechanism, and a pair of fingers. It is about 80 mm high, 30 mm wide, and 145 mm long (Fig. 5). The vacuum pressure from the vacuum cleaner sucks the fruit so that the fruit position is fixed at the tip of the pipe. The finger can be opened or closed by the rotation of a servomotor attached on the end effector. After the fingers grasp the peduncle, the end effector is lifted up to remove the peduncle from the tree. Fig. 6 shows the motion of the end effector. First, the fingers are opened and retracted by the servomotors. Then, the end effector approaches a fruit and sucks it. After sucking the fruit, the fingers move halfway forward, and close halfway until the clearance between fingers bees 5mm. In order to enclose only the target fruit, the fingers are equipped with soft rubber ponents for obstacle exclusion, so that other fruits may not enter between the fingers. It is necessary to grip the peduncle as near as possible to its root . Therefore, after the fingers are closed halfway, they move further forward. Then, they close pletely and grasp the peduncle. Finally, the end effector moves upward to detach the peduncle. The end effector moves to the position above a fruit box, and the fingers open and release the fruit. 8 …… 9 樱桃采摘机器人 简介 在日本，采摘樱桃是一项细致的人工劳动。 因为收获的季节是短暂的，收获工作必须在有限的短时间段内完成，所以劳力短缺成了限制农场发展扩大的主要因素。 更甚者，樱桃树都很高，收获时需要大量的梯子之类的装置。 这增加了收获工作的危险性，也使得工作和效率低下。 为了节约劳动力，一种基于尝试性和理论性试验的机器人得到研制。 对于采摘机器人的研究早就有人涉足 （河村 etal ， 1984。 哈瑞尔等人， 1990 年。 藤浦等人， 1990 年。 hanten 等人， 2020 年）。 许多水果采摘机器人被研制前都被告知将装备摄像头。 这个装置可以在复杂的颜色和其他的特殊环境中识别水果。 水果的三维空间 位置， 经过 双目立体视觉。