JPH072052B2 - Hands for harvesting fruits and vegetables - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of use] The present invention provides a trapping portion for trapping fruits and vegetables, and a cover body having a space for storing the trapping portion, and a tip portion of the cover body. A slit through which the handle of the fruit and vegetables is inserted, in the peripheral portion of the opening of the cover body, while forming an opening for passage of the fruit and vegetables which is large enough to pass the fruit and vegetables caught by the catching section. A plurality of groove-like grooves are formed at intervals in the circumferential direction of the opening so as to communicate with the opening, and imaging means for imaging the fruit and vegetables, and illuminating the fruit and vegetables during imaging by the imaging means. And a hand for harvesting fruit and vegetables provided with a lighting device.

[Conventional technology]

Such a fruit and vegetable harvesting hand is generally configured to guide the hand in the direction in which the fruit and vegetables are located based on the imaging information obtained by imaging the fruit and vegetables by the imaging means.

Further, when picking up an image of fruits and vegetables by the image pickup means, the fruits and vegetables are illuminated by an illuminating device so that an image can be picked up with an appropriate light amount regardless of the brightness of the surroundings.

Further, conventionally, the illuminating device is provided on the rear side of the cover body, and in a state in which most of it is largely exposed from the cover body when viewed in the front-back direction of the hand.

[Problems to be solved by the invention]

In this conventional structure, although it is possible to reliably illuminate the fruit and vegetables from the rear position of the cover body through the outer space of the cover body, the illuminating device largely protrudes to the outside of the cover body by that amount. When guiding a hand toward a fruit or vegetable, the lighting device may collide with a branch or the like located near the guiding path of the hand, and the lighting device may be damaged.

The object of the present invention is to focus on the fact that a large number of relatively wide slits are formed in the peripheral edge of the opening of the cover body to allow the handle of the fruit and vegetables to be captured, and the structure of this cover body is effective. The reason is that the rational modification used makes it possible to satisfactorily suppress damage to the lighting device due to a collision with a branch or the like while surely exhibiting a desired lighting function.

[Means for solving problems]

In order to achieve the above-mentioned object, the fruit and vegetable harvesting hand according to the present invention has, in the structure described in the beginning, the illumination device on the rear side of the cover body and in the hand front-rear direction view, the illumination. The apparatus is characterized in that the whole or most of the apparatus is arranged so as to enter the inside of the maximum diameter portion of the cover body.

The operation and effect of this characteristic configuration are as follows.

[Action]

That is, as described above, even if the illuminating device is arranged so as to largely enter the rear side of the cover body, the whole or most of the illuminating device is arranged so as to enter inside the maximum diameter portion of the cover body. Therefore, at the time of imaging, the illuminating light from the illuminating device can be surely illuminated onto the fruits and vegetables through the internal space of the cover body and the slits formed in the peripheral edge of the opening of the cover body. Therefore, when the hand is viewed from the front, the lighting device is not exposed from the cover body,
Or, even if it is exposed, the amount of protrusion to the outside becomes very small, and while guiding the hand toward the fruit and vegetables,
It is possible to suppress collision of the lighting device with a branch or the like located near the guide path of the hand as much as possible.

〔The invention's effect〕

Therefore, with a simple layout improvement of the lighting device that effectively utilizes the slit originally formed in the cover body to escape the trapped fruit and vegetables handle, the hand guiding can be performed while ensuring the desired lighting function. It has become possible to obtain a hand for harvesting fruits and vegetables, which is able to favorably prevent the illumination device from colliding with a branch or the like and sometimes be damaged, and which can reliably perform imaging for a long period of time.

〔Example〕

As shown in FIG. 5, the boom (1) is attached to the vehicle body (2) so that it can be raised and lowered and turned freely, the auxiliary boom (3) is attached to the boom (1) so as to be horizontally swingable, and fruit harvesting is performed. A working manipulator (4) equipped with a working hand (H) is attached to the tip of the auxiliary boom (3) to form a working machine for fruit harvesting. In the figure,
(5) is a boom lifting hydraulic cylinder, (6) is a boom swing electric motor, (7) is an auxiliary boom swing electric motor, and (K) is a box for storing the harvested fruits.

The working manipulator (4) comprises an articulated working arm (8) and a working hand (H) attached to the tip of the working arm (8). Then, the working arm (8) is pivotally operated around the vertical axis (X) by the electric motor (9a) and is pivotally operated around the horizontal axis (Y) by the electric motor (9b). And an electric motor (9c)
It is configured so that it can be expanded and contracted.

Explaining the working hand (H), as shown in FIG. 1 and FIG. 2, a vacuum pad (10) made of soft rubber as a trapping portion for trapping fruits has a suction port on the front side of the hand. In a state in which the ventilation pipe (11) is faced, the ventilation pipe (11) is externally fitted to the distal end of the ventilation pipe (11), and the ventilation pipe (1
2) is provided, and a flexible bellows-type hose (13) is connected to the branch pipe (12), and the branch pipe (12)
The base end of the above is bolted to the tip of the working arm (8). However, the bellows type hose (13) is connected to the intake pump (14) by piping as shown in FIG.

Further, as a cover body having a fruit cutting of a fruit captured in a state of being adsorbed to the vacuum pad (10), a so-called handle cutting device for cutting a handle, and a space for storing the vacuum pad (10). A catch case (15) is provided.

The capturing part case (15) will be described with reference to FIG.
As shown in FIG. 3, a base end portion (15) externally fitted and supported by the ventilation pipe (11) slidably movable in the longitudinal direction of the hand.
a) and the upper cover part (1
5b), lateral cover portions (15d) and (15d) fixed to the lateral side portion on the distal end side of the base end portion (15a), and fixed to the lower portion on the distal end side of the proximal end portion (15a). Lower cover part (15
c) and an air cylinder (16) for sliding operation of the trap case (15), which is inserted and retracted between the base end portion (15a) and the branch pipe (12). I am doing it. Therefore, a state in which the suction port of the vacuum pad (10) is located on the front side of the trap case (15),
The fruit adsorbed to the vacuum pad (10) can be switched to a state of being taken into the inside of the capturing portion case (15).

The upper cover portion (15b), the horizontal cover portion (15d),
(15d) and the lower cover portion (15c) will be described. They are formed in a hemispherical shape so as to cover the outer peripheral portion of the hand, and at the location facing the suction port of the vacuum pad (10), A fruit passage opening (26) having a size that allows the fruits captured by the vacuum pad (10) to pass therethrough is opened.
Also, the cover portions (15b), (15c), (15d), (15
A slit-shaped groove (27) through which a fruit handle is inserted is formed in a portion of d) near the opening (26).
When harvesting fruits as described below, only the harvested fruits adsorbed by the vacuum pad (10) can be taken into the catching case (15), and the handle moves smoothly when taking in the fruits. I am able to do it.

Further, on the lower rear side of the lower cover portion (15c), there is formed a discharging portion (B) for discharging downwardly cut fruit of the handle held in the catching portion case (15). ,
Align the lower cover part (15c) with the axis (Q
₁ ) A base end portion of the catch case (15) that can be opened and closed by an air cylinder (30) that opens and closes laterally with respect to the discharge port (B) in a swingable state. (15
It is attached to the bottom of a).

Explaining the handle cutting device, as shown in FIG. 1, a band plate-shaped and semi-circular hair clipper type cutter (17).
And both ends of the belt plate-shaped and semi-circular handle support member (18) so as to be swingable around the horizontal axis, the capturing portion case (15).
The cutter (17) and the handle support member (18) are respectively pivotally attached to the base end portion (15a) of the catcher in the catching case (15) to support the fruit handle between them. Thus, it is possible to swing back and forth so as to switch between a state of projecting to the front side of the hand and a state of retracting to the rear side of the hand so as to form a passage for introducing fruit between them.

In addition, an electric motor (19) for swinging the cutter (17) and the handle support member (18) is provided, and an air cylinder (20) for driving the slide of the cutter (17) is provided. The handle is supported between the cutter (17) and the handle support member (18) in accordance with the swinging motion to the handle, that is, the standing action, and the supported handle is cut by the slide action of the cutter (17). I am doing it.

However, the cutter (17) and the handle support member (18) are interlockingly connected to the electric motor (19) via a differential mechanism (21), and the cutter (17) and the handle support member (18) are connected. When either one of the handle and the handle first contacts the handle first, the handle support member (18) on the other side is held in a state in which the standing operation of the cutter (17) or handle support member (18) that is contacted first is stopped. Or cutter (1
7) can continue to stand up. That is, the protruding positions of the cutter (17) and the handle support member (18) can be automatically changed according to the position of the captured fruit handle.

As will be described later, various sensors for controlling the operation of each part of the work hand (H) are provided.

As shown in FIGS. 1 and 2, a negative pressure sensor (S ₁ ) for detecting that the fruit is adsorbed on the vacuum pad (10) is attached to the branch pipe (12).

As shown in FIGS. 1 to 3, a light reflection type proximity sensor (S ₂ ) for detecting that the work hand (H) has approached the harvest target fruit by a set distance, and the position of the harvest target fruit. An image sensor (S ₃ ) as an imaging means for detecting the direction in which the vacuum pad (10) is provided in a state where the detection direction of the image sensor faces the suction port front side of the vacuum pad (10). A flashing device (28) as a lighting device that emits light with a set light amount in synchronization with the image pickup process by the image sensor (S ₃ ) is provided at the rear of the upper cover part (15b), and Regardless of this, the image pickup process can be performed with an appropriate amount of light.

Also, as shown in FIGS. 2 and 3, the cutter (17)
And a potentiometer (S ₄ ) for detecting the swinging position of the handle support member (18) is interlockingly connected to the differential mechanism (21), and the cutter (17) and the handle support member (18) stand up. Completion and retirement operation completion can be detected.

Explaining the proximity sensor (S ₂ ), the sensor main body (22) accommodating the light emitting unit, the light receiving unit, and the signal processing unit for them is held at the upper rear part of the branch pipe (12), and the sensor An optical fiber (23) for projecting and receiving light extending from the main body (22) extends into the inside of the vacuum pad (10) through the inside of the branch pipe (12) and the ventilation pipe (11), and the proximity sensor ( The extending end of the optical fiber (23) serving as the detection surface of S ₂ ) is held by the holder (24) for supporting the image sensor (S ₃ ) in a state of facing the front side of the hand. It is supported on the upper part of S ₃ ).

The flashing device (28) illuminates when the fruit to be harvested is imaged by the image sensor (S ₃ ) at the intended position (L ₀ ) of the work hand (H) for long distances. In a state in which the light unit (28A) and the working hand (H) are located on the front side of the set distance with respect to the fruit to be harvested,
Become from the second flash unit for short distance for illuminating the harvested target fruit when re-imaged by the image sensor (S ₃₎ (28b), they flash unit (28A), the people husband (28B), A work hand (H) on the rear side of the capturing part case (15) and in a state in which the flashing parts (28A) and (28B) are entirely covered by the capturing part case (15) when viewed in the front-back direction of the hand. Are arranged in the vertical direction. That is, as shown in FIG. 1, the entire flash sections (28A) and (28B) are arranged so as to be inward of the outer peripheral virtual extension surface of the maximum diameter portion of the trap case (15). There is.

As a result, the light emitted from the flashing portions (28A) and (28B) is generated by the slit-shaped groove formed in the internal space of the capturing portion case (15) and the periphery of the opening of the capturing portion case (15). The fruits and vegetables will be irradiated through (27).

However, the first flash unit (28A) is configured to irradiate the light in a converged state and to irradiate a fruit at a long distance with a sufficient light amount. On the other hand, when the second flash unit (28A) irradiates light in a diffused state and assumes a surface orthogonal to the optical axis, it is possible to irradiate each part of the surface with a light amount as uniform as possible. Is configured.

Next, the structure of the control means for automatically approaching the fruit to be harvested by the work hand (H) and cutting and harvesting the handle of the captured fruit will be described.

As shown in FIG. 4, image processing means (100) for performing image processing on the basis of imaging information from the image sensor (S ₃ ) to obtain a direction in which the fruit to be harvested is located, the image sensor (S _3). ), The two flash units (28A), (2) are selected according to the position of the working hand (H).
Switching means (104) for switching to selectively use one of 8B), initial approach means (102) and final approach means (103) described below for guiding the working hand (H) toward the fruit to be harvested. Guidance means (101),
Further, there is provided a control device (32) constituting each of harvesting operation control means for controlling the operation of each part for cutting and harvesting the fruit handle captured in the capturing part case (15). That is, the control device (32) provides the imaging information from the image sensor (S ₃ ), the detection information of the negative pressure sensor (S ₁ ) and the proximity sensor (S ₂ ), and the potentiometer (S ₄ ). Each detection information is input.

Then, based on the information and the information stored in advance, the controller (33) for driving the cylinder (5) for raising and lowering the boom, the controller (34) for driving the boom turning motor (6), A drive controller (35) for the auxiliary boom swinging motor (7) and a drive controller (36) for the electric motors (9a), (9b), (9c) of the working arm (8).
a), (36b), (36c), a control valve (37) for the air cylinder (16) for operation of the trap portion case (15), and a control for the air cylinder (20) for operation of the cutter (17). A controller (3) for driving the electric motor (19) for undulating the valve (38), the cutter (17) and the handle support member (18).
9), a control valve (40) for controlling the suction operation of the vacuum pad (10), a control valve (41) for the air cylinder (30) for opening and closing the shutter (29), and the image sensor (S ₃ ). And an operation command is output to each of the flashing device (28) to detect the direction in which the fruit to be harvested is located, the work hand (H) is approached toward the fruit to be harvested, and the fruit is harvested. It is configured so that the harvesting of fruits and the discharging of the harvested fruits at predetermined positions are automatically performed.

However, the imaging visual field range of the image sensor (S ₃ ) includes movement of the vehicle body (2), swinging and lifting of the boom (1), horizontal swing of the auxiliary boom (3), and the working arm (8). It is set by changing the direction of the working hand (H), that is, the vacuum pad (10) by turning or swinging back and forth with respect to the auxiliary boom (3).

Next, the operation of the control device (32) will be described.

First, as shown in FIG. 1 (a), while the vacuum pad (10) is positioned at a preset initial position (L ₀ ), the direction of a predetermined range in which the fruit to be harvested is positioned is set. After setting to face, the first flash unit (28A)
Light is emitted in a state in which the amount of light is maximized (indicated by (a) in FIG. 8), and the fruit located at a distance is image-processed by the image sensor (S ₃ ). Next, the picked-up image information is taken in, image processing is performed to remove background such as branches and leaves, and image information corresponding to only the target fruit is extracted to obtain the direction in which the target fruit is located.

If the image processing for extracting the image information corresponding to only the target fruit by removing the backgrounds of branches and leaves is described, the captured image information by the image sensor (S ₃ ) (see FIG. 7B) is used. by binarizing based on the color of the fruit, fruit (F) to extract only a corresponding region (F _0), the area of the (F ₀₎ the geometric feature is a point the center of gravity of the (P ₀₎ By determining the position, the direction in which the fruit to be harvested is located,
It is calculated based on the coordinate value on the image where the center of gravity (P ₀ ) is located (see FIG. 7B).

Next, since the obtained direction, that is, the position of the vacuum pad (10) at the approach start position and the center of the imaging visual field of the image sensor (S ₃ ) match, the coordinates of the center of gravity (P ₀ ) Based on the value, while maintaining the suction port of the vacuum pad (10) in the direction in which the center of gravity (P ₀ ) is located, that is, toward the harvest target fruit, the working hand (H) is moved to the position of the harvest target fruit. Make them approach while moving at high speed in the direction of

However, the image sensor (S ₃₎ when a plurality of the harvested target fruit recognized from the captured image information by, said at the time of imaging processing by the image sensor (S _3), since thereby emitting the flash device (28) , The closer the distance is, the brighter the image looks, so that the brighter one should be approached first based on the difference in average brightness of the regions corresponding to only the color of the fruit (F ₀ ), Alternatively,
The approach order is set such that the lower the one, the closer the approach is made. In other words, the closer to the vacuum pad (10) or the easier to catch, the earlier the harvest.

Then, after the approach is started, when the proximity sensor (S ₃ ) detects that the harvest target fruit has approached within a set distance, the operation of the working arm (8) is stopped and the working hand ( After temporarily stopping the approach of (H), the work hand (H) is retracted by a set distance (L ₁ ) (in this embodiment, it is set to about 200 mm) to move the image sensor (S). _After the light receiving amount of ₃ ) is not saturated, the light amount of the second flash unit (28B) is reduced to a preset light amount (indicated by (b) in FIG. 8) and re-emitted. However, the re-imaging process is performed so that the position of the fruit with respect to the work hand (H) is accurately recognized.

However, if the proximity sensor (S ₂ ) does not operate even when the approach distance is equal to or greater than the set value corresponding to the position where the working arm (8) projects to the maximum extension position, it is determined that harvesting is impossible. Then, the working arm (8) is shortened and the working hand (H) is returned to the approach start position.

Therefore, the process until the work hand (H) is stopped in a state in which it is positioned on the front side by the set distance (L ₁ ) with respect to the work target fruit (F) based on the image information captured at the initial position thereof. In this, the initial approach means (102) is configured.

Then, the image information subjected to the re-imaging processing is subjected to the image processing again to re-extract one region (F ₀ ) corresponding to only the color of the fruit, and within the re-extracted region (F ₀ ). At, the highlight part (P ₁ ) that looks brightest (see Fig. 7 (c)) is extracted, and the approach direction is modified so that the vacuum pad (10) approaches the highlight part. Then, until the proximity sensor (S ₂ ) is turned on again, the approach is restarted in the state of low speed movement.

Therefore, the work hand (H) is used as a work target fruit (F).
With respect to the set distance (L ₁ ), the terminal approach means is stopped in a state in which it is positioned on the front side, and the approach is made toward the highlight part (P ₁ ) extracted based on the image information subjected to the most imaging processing. (103) is configured.

However, when there are a plurality of highlighted parts (P ₁ ) in the re-extracted region (F ₀ ) (shown by broken lines in FIG. 7 (c)), a plurality of fruits are two-dimensionally Only one highlight part (P ₁ ) is detected so that it is determined that they are adjacent to each other, and for example, those located in a preset direction such as the left side or the lower side are approached _first. Will be selected. When a plurality of fruits are adjacent to each other in the front-rear direction, the amount of light reflected by the flash device (28) is greater from the fruit located on the front side than the fruit located on the rear side. Therefore, the position information for the fruit located on the rear side is automatically removed, and even if a plurality of fruits are adjacent to each other, only one highlight part (P ₁ ) is extracted. Only the position corresponding to one fruit located on the front side of the working hand (H) is automatically extracted.

When the proximity sensor (S ₂ ) is turned on again, the suction operation of the vacuum pad (10) is started, and at the same time, the working hand (H) is moved at a low speed and moved forward.

After the suction operation of the vacuum pad (10) is started, the work hand (H) is moved forward by a set distance (for example, a distance corresponding to the working distance of the proximity sensor (S ₂ )) toward the fruit to be harvested, and the negative Based on the information detected by the pressure sensor (S ₁ ), it is determined whether or not the fruit has been adsorbed, and FIG.
As shown in Fig. 7, when adsorbing as desired, the vacuum pad (10) is stopped, and at the same time, the capturing case (15) is projected forward to capture the fruit to be harvested. The fruit is taken into the partial case (15) so that the fruit is located within the operating range of the handle cutting device (see FIG. 6C).

However, when the negative pressure sensor (S ₁ ) does not operate, it is judged that the harvesting is not possible, and the suction operation of the vacuum pad (10) is stopped while retracting it to the rear side of the capturing unit case (15). Then, the working arm (8) is shortened and the working hand (H) is returned to the approach start position.

After the fruit has been taken into the capturing part case (15), the motor (19) for up-and-down operation is moved forward so that the cutter (17) and the handle support member (18) are erected to the front side. Drive to roll. Then, based on the information detected by the potentiometer (S ₄ ), the standing operation can be temporarily stopped at an intermediate position on the front side of the standing operation completion position, and the suction operation of the vacuum pad (10) can be stopped to perform the work. By moving the entire hand (H) backward by a set distance toward the front of the fruit, the cutter (17) comes into contact with the captured fruit, that is, the cutter. The position of the handle relative to the cutter (17) is corrected so that the length of the handle cut at (17) is as short as possible (see FIG. 6 (d)).

After that, based on the detection information by the potentiometer (S ₄ ), the cutter (17) and the handle support member (18) are continuously operated to stand up until the standing operation is completed, and the fruit handle is removed. The pattern is held by being sandwiched between the cutter (17) and the handle support member (18), and the handle is cut by the cutter (17) (see FIG. 6 (e)).

However, if it is not possible to detect that the cutter (17) and the handle support member (18) have reached the stand-up operation completion position or the intermediate position, even if the set time required to reach the stand-up operation complete position or the intermediate position has passed, it is impossible to harvest. And the cutter (17) based on the detection information from the potentiometer (S ₄ ).
The handle support member (18) is retracted rearward to its retracted position, and the catch case (15) is retracted rearward of the hand, so that the vacuum pad (10).
After returning to the initial position in which the suction port of the above is projected to the front side of the opening (26) of the capturing part case (15), the working arm (8) is shortened and returned to the approach start position. It will be.

After cutting the handle, the work arm (8) is shortened and the work hand (H) is returned to a predetermined position while maintaining the state of holding the fruit in the capturing part case (15), By opening the lower cover portion (15c) downward, the harvested fruits are discharged into the storage box (K) placed beside the vehicle body (2).

After discharging the harvested fruit, on the basis of the information detected by the potentiometer (S _4), said cutter (17) and the handle support member (18), the retire operation rearwardly to its retracted end position, the The trapping case (15) is retracted to the rear side of the hand so that the suction port of the vacuum pad (10) projects to the front side of the opening (26) of the trapping case (15). Return to L ₀ ),
The harvesting operation for one fruit is completed.

[Another embodiment]

In carrying out the present invention, the configuration of each part such as the specific configuration of the work hand (H), the specific configuration of the work arm (8) provided for guiding the work hand (H) toward the harvest target, and the like can be variously changed. .

Further, in the above-mentioned embodiment, the case of harvesting fruits is exemplified, but the invention can be applied to the work of harvesting vegetables such as tomatoes.

Further, in the above embodiment, the flashing device (28) is used as the lighting device.
However, a light bulb or the like may be used. In addition, the flash device (2
8) the first flash unit (28A) and the second flash unit (28B) 2
Although it is composed of one flash unit, it may be composed of one flash unit.

Further, in the above-mentioned embodiment, the flash device (28) is arranged so that the whole thereof is covered by the catch case (15), but most of the flash device (28) is caught by the catch case (15). ).

Further, in the above-mentioned embodiment, the capturing part is the vacuum pad (10).
However, it may be composed of a holder or the like for holding the fruit.

It should be noted that reference numerals are added to the claims for convenience of the drawing, but the present invention is not limited to the structure of the accompanying drawings by the entry.

[Brief description of drawings]

The drawing shows an embodiment of a hand for harvesting fruits and vegetables according to the present invention, FIG. 1 is a side view with a part of the work hand cut away, FIG. 2 is a plan view with a part of the work hand cut out, and FIG. Front view of the work hand, FIG. 4 is a block diagram showing the control configuration, FIG. 5 is an overall side view of the fruit harvesting machine, and FIG. 6 (a), (b),
(C), (D), (E) are explanatory views showing the harvesting operation, No. 8
The figure is a graph showing the relationship between the amount of light and the distance. (10) …… Capture part, (15) …… Cover body, (26) …… Opening part, (27) …… Slit groove, (28) …… Illumination device,
(S ₃ ) ... Imaging means.

Claims (2)

[Claims] 1. A trapping portion (10) for trapping fruits and vegetables, and a cover body (15) having a space for accommodating the trapping portion (10) are provided, and a tip portion of the cover body (15) comprises: The capture unit (1
And forming an opening (26) for passage of fruits and vegetables which is large enough to pass the fruits and vegetables caught by (0),
In the periphery of the opening (26) of the cover body (15), a plurality of slit-shaped grooves (27) through which a handle of fruit and vegetables is inserted are communicated with the opening (26). circumferentially formed at intervals of 26), and imaging means for imaging the fruit vegetables (S _3), and the imaging means (S ₃₎ illumination device for illuminating the fruit vegetables during imaging by (28) A hand for harvesting fruits and vegetables provided, wherein the lighting device (28) is the whole or a large size of the lighting device (28) on the rear side of the cover body (15) and in the front-back direction of the hand. A hand for harvesting fruits and vegetables, the part being arranged so as to enter the inside of the maximum diameter part of the cover body (15). 2. The fruit and vegetable harvesting hand according to claim 1, wherein the image pickup means (S ₃ ) is provided in the capturing section (10).