JPS5931615A - Fruit harvesting apparatus - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a fruit harvesting device for harvesting all fruits such as oranges, apples, etc. The present invention relates to a fruit harvesting device including a control means for moving a fruit picking section attached to a moving means to a position where the fruit can be picked based on a detection result by the means.

Traditionally, fruit harvesting has been carried out by hand and has not been mechanized. However, this kind of harvesting work not only requires a lot of manpower, but also involves unexpectedly heavy labor, so mechanization is strongly desired.
As such a device, a fruit harvesting device having a novel configuration as described above can be considered.

The present invention has been made in view of the above circumstances, and in configuring the fruit harvesting device f having the taiki structure, the operator can always specify the fruit to be picked while staying at a fixed location, and can also reliably pick the fruit. The purpose of this invention is to detect the position of the fruit and thereby enable reliable picking work.

In order to achieve this objective, the fruit harvesting device of the present invention has the following features:
In the configuration described above, a television camera and its display whose direction can be changed as the detection means, and a spot light emitting device that changes the spot light emitting position or its direction for each change command are provided, and the detection means This system employs a configuration characterized in that the position of the fruit is detected based on the principle of bigonal surveying based on the direction of the television camera and the position and direction of the spot light emitting device when the command signal is issued. .

Because of this characteristic configuration, the operator directs the spot beam in any direction, then controls the direction of the television camera to show the fruit hit by the spot beam on the monitor display and designates that fruit on the screen. By simply changing the direction of the spot light beam sequentially, it has become possible to perform harvesting work while staying in a fixed location.Hereinafter, an embodiment will be described based on the drawings.

(11 Overall configuration @ Figure 1 and Figure 2 are examples of the complete implementation of the final implementation.
Figure 1 shows an example of the riding-type fruit harvesting device, while Figure 2 operates based on commands from the monitor device ft1g+, which is placed separately from the aircraft. 1 shows an embodiment of a remote-controlled fruit harvesting device.

The riding type fruit harvesting device shown in Fig. The remote-controlled fruit harvesting device shown in the figure has a frame-shaped main body (1) so that it can work even when the fruit trees are small and the distance between the fruit trees is narrow, such as for mandarin oranges. It is configured to do the following.

The main body (1) of each of these fruit harvesting devices is equipped with a traveling device (!l provided b) so that it can be moved to any location.
It consists of a position detection device (3) installed on the main body (1) to detect the position of the fruit, and a picking device (41).

This picking device 1i41 is composed of a multi-jointed arm (rl) having multiple degrees of freedom and a picking section 161 attached to the tip of the arm (6), and the picking section 161 is connected to the multi-joint arm +61. The structure is such that the fruit can be moved to a position where the fruit can be picked. The articulated arm (61) used as this movement means includes a hydraulically driven link structure as shown in Fig. 1, various electric types with high rigidity structure as shown in Fig. 2, and many others. Any multi-degree-of-freedom, multi-joint arm can be used, such as one of flexible construction with several joints.

The fruit picked with the picking part 16) at the tip of the arm (6) is
It is also possible to transport the arm (6) to a storage section provided at a predetermined location by moving the arm (6);
! In the fruit harvesting device shown in FIG. 12, in order to improve the efficiency of harvesting work, a transport cylinder (7) having elasticity and burnability is connected to the main body 111 from the picking section (61), and this transport It is configured to transport fruit to a storage section (not shown) in the main body (1) through the cylinder (71).In addition, in the one shown in FIG. +51
This prevents the transport cylinder (71) from interfering with the movement of the arm (6), and thereby expands the selectivity of the position in which the arm (5) is housed. be.

In addition, 1B1 shown in Figures 1 and 2 is a television camera (
This is an example of a fruit position detecting device constructed using the following.9) etc., and its detailed construction and operation will be described later.

The traveling device 121 ii' can also be configured to move up and down w1 with respect to the main body 111, or to be provided with an auxiliary device such as an actuator so that it can be applied to slopes.

([1 Structure of the picking section The picking section 181 has a cylindrical catching section 00, as shown in FIG. The upper opening of the portion f101 is provided with a guiding portion fll+ that expands upward, and
It is configured to suck air from this upper opening.

This guide part (111) is configured to have a contact sensor m i that detects the direction in which the object comes into contact and issues a signal, and the bending arm (5) is activated based on this signal, details of which will be described later. The picking part 161 at the tip of the arm (6) is moved under control so that the fruit is introduced into the catching part (101).Furthermore, when the picking part 161 approaches the fruit, the surrounding leaves are removed. An upwardly opened exhaust port (191) is provided around the guide portion (111) to blow away the dirt.

Further, the guiding portion (11) is connected to the contact sensor f- as described above.
A plurality of contact members (1,
18) ..., each contact 1i; 4[11
A switch (1l b) is attached to each contact member rlla) -Φ in order to detect rotation based on contact with the fruit.

The contact sensor (11c) is not limited to this configuration, and a contact sensor such as a touch sensor may be attached to the inner wall of the guiding portion (11).

With this configuration, a tenon cutting cutter 02 is provided at the upper end of the trapping part (101) in order to cut the tenon of the fruit introduced into the C extracting part (10).

The structure of this cutter (121) is that it meshes with the external ring gear 0 (to) as shown in FIG. The air motor 0υ that rotates this external ring gear is arranged so as to coincide with the center of the catching part (10).
is installed on. Now, this external ring gear (13)
is rotated in the direction of the arrow by the air motor (15), the l1jl fixed to each blade 041 catcher 110)
The axis center (rotates around X1 in the direction of the arrow, and at this time, the i intersection point gathers at the center and cuts the tenon.

Therefore, since the tenon is cut close to the center of the upper opening of the catching part (10), no excessive force is applied to the fruit and the fruit is not damaged, and the tenon is prevented from escaping and cut. It can be cut into

The necessary fat setting for tenon cutting with the cutter (121) is carried out by the control method described below based on signals from a plurality of optical sensors 0 (2) installed immediately below the cutter 021 (blade 04). hru.

These optical sensors α61 have a structure consisting of 16 light emitting parts (16) and a pair of light receiving parts (16b), and each sensor (
The field is also arranged so that the light traverses the opening from the center of the upper opening of the trapping part +101, being biased to the sides about the width of a tenon. Therefore, the fruit is cutter +112
When the tenon is in the cutter position 1, all the light is blocked, but when the tenon is in the cutter 0 position, at least some of the light is not blocked because it is thin, and based on this, these Based on the signal from the optical sensor (161...), the cutter f
The picking part (61) is positioned so that the tenon is at the position 121.

At the lower part of the capturing part (10), there are optical sensors αη, etc. similar to those described above.
The light is captured by a trapping unit (lO
The optical sensor F is provided so as to pass through the central axis of the optical sensor F.
Vr is configured so that when positioning is performed based on signals from Q81, the size of the fruit can be detected by detecting the position of the bottom of the fruit. This sensor 0η... is provided for the purpose of detecting the size of the fruit, but it can also be used to confirm that the fruit is reliably in the trap (10).

As mentioned above, the opening at the bottom of the capture part (H+l) and the storage part on the ill side of the main body are connected to the transport cylinder (7) which has flexibility and elasticity.
), and the fruit picked by cutting the tenon is transported to storage 1 ζ through this transportation cylinder (71) by the air sucked in from the bent trap (1101) and its own weight. be done.

The exhaust of the air pump holder installed on the main body (1) side for sucking air is carried out through the exhaust passage (through the exhaust port 09 of the guide part) which is integrally held by the -11 Luji transport cylinder (71).
It is also led to the air motor 0υ that drives the cutter (121).The exhaust passage (2) that sends the exhaust gas to the air motor (IfO) is equipped with a solenoid valve +Jll, and these solenoid valves 711 and 21f are connected to the send,
The air motor rotor is configured to control the lowering operation as necessary. As described above, in this embodiment, the cutter (121) for cutting the tenon is operated by using the exhaust gas, but an air cylinder may be used instead of the air motor, and another drive source such as an electric motor may be used. It is also possible to operate the cutter (121).

In addition, the contact member (11a) of the guiding portion (111) may have a suitable rigidity according to the target fruit (for example, paulowniae).
By selecting com), the fruit picking work can be carried out reliably.

Alternatively, a part of the exhaust gas may be ejected into the upper opening of the trapping part (10) so that the fruit is centered with respect to the opening of the trapping part (110).

(Control of the 1111 arm) The arm (5) is configured to be controlled by a computer, and the control computer has the arm (1111).
There is a routine that moves a part by a given coordinate, or a routine that moves a tip by a given amount. By preparing routines for performing basic operations, it is configured to be programmable using a so-called robot language. The structure of this robot wi is the arm (6
The same structure as the conventional structure can be used together with the first method.

Further, this computer is configured to be able to receive signals from a plurality of sensors and change control based on these signals, and is made up of the contact member (11 and its switch RLLB). Contact/Sen1' (llo)
...and the light sensor of the capture unit (lO)? fl(11, θ
The configuration is such that the signal 71e@ is fed into the computer, and control is performed based on the blank signal from the sensor.

The control of the arm (5) by this computer is carried out according to the sequence shown in Figure @5 (A) and figure fI&5 (B).

First, read the position of the fruit to be picked from the memory, which is a storage medium, as shown in (i) of Figure 5 (A), (i'+l K), and then read the position of the fruit to be picked from the memory, which is a storage medium, and move the position directly below +1 tJ?j from that position by a predetermined distance.
K picking unit (61) is moved.The position of this fruit is measured in advance by means described later, the order in which the fruit should be picked is determined, the order is rearranged in that order, and it is stored in memory. In the loading stage, the data are simply read from memory sequentially.

Next, the control moves from fiiiil to (viil), and the contact sensor rl 1 c) of the guiding section (11)...
Based on the signal from the contact sensor l' that touched the fruit
By moving the iH161 (picked to the l1 c)... side, the 411i is gradually adjusted while adjusting the water position so that the 1f1 trapping part FIOI moves directly below the fruit.
Raise the handle (61).

During this rise (when the optical sensor (16) installed in the upper opening of the C trap (6)... emits a signal indicating that all light is cut off, this is detected at the stage (vl) and the control is started. (Proceed to the stage indicated by XI. Meanwhile, these optical sensors-061.
When the light-shielding signal is not emitted even if .passes the height read out from the memory, control 1d (v
-11] Stage Kara (Viii), (iX) (73
At this stage, the harvesting operation for that fruit is stopped and the harvesting operation for the next fruit is started. Also L-, ('i“1) to (Vi+)
When the bottom of the fruit enters the upper opening which is the entrance of the trapping part +1111 at the stage , Pt8- is emitted from the optical sensor H. Therefore, in the following sequence, h! determines whether what has entered the capture unit tto+ is fruit. I agree, 5IL and 111
11! Only when dazzled IIIJ Katta Katsuta 1121
The structure is designed to allow the harvest to be carried out.

This method of fruit confirmation is that after the optical sensors 1J- (lI31...) installed at the upper opening of the trapping unit (lO) emit the above-mentioned signal, a predetermined number of these optical sensors 10... The picking section 18 is in the process of emitting a signal when the
1, the distance that the fruit rises is measured, and only when this distance is within a predetermined range, the fruit enters the trapping section (101), and the tenon recognizes that it has reached the corresponding position of these optical sensors (101). The cutter a21 is operated 11 times to perform the picking operation.

That is, in step (3), the measurement of the ascending distance starts from I11. In the next step (x1), the light sensor Q (It fist) installed at the upper opening of the trapping part (6) emits a signal when light passes through it, so that an interrupt occurs when L7 is reached. belongs to.

The picking section 16) is raised by the arm (51) based on the sequence shown by #"t (cutting). When the above-mentioned interruption occurs during this raising, the control f: After checking the -F ascending distance, if the ascending distance is within a predetermined range, the cutter 021 is operated.On the other hand, if the interrupt does not occur even after ascending by the predetermined distance, the auction wholesaler operates (×1・I), (xrv), the harvesting operation of the fruit is stopped, and the collecting section (
After returning 61 to the initial position 17, the operation moves on to harvesting the fire fruit.

That is, when the control shifts to the sequence shown in FIG. 5(b) due to the interrupt, it is determined whether the picking capital tGl has risen to the size of the fruit at the stage C×V), il, 4Ibe, If the amount has not reached that amount, the control is transferred to the step C11i) in FIG. 5(A) through the sequence of mL), and the process is restarted from the introduction of the fruit into the trapping section (61).In this way, the amount of increase is The thickening prevents malfunctions caused by foreign objects such as leaves entering the trapping section (61).

Now, if there is an increase in the above-mentioned predetermined company, KFi, and the fruit has entered the trapping section (61), Fig. 5 (b) (D (
xvi) The control shifts to the sequence shown by r
After detecting the entire size by 1G)..., cutter 021
Operate and pick the fruit. Then, the collecting section (6) is returned to the initial position (R1), the harvesting operation for that fruit is finished, and the harvesting operation for the next fruit is started.

In addition, the optical sensor provided in the lower part 1 of the capturing part (10)
The thickness detected by 0 to . is used for selection, but it can also be used to prevent W4# production. In other words, the optical sensor 07) detects whether or not the fruit is within the 1m capture section IQI, and only when it is detected, the position detector 07) switches the position detection device to mrTk3° (Fig. 6H). What is shown is a principle diagram of an embodiment of a position detection device, including a television camera (9) and a laser light source (2).
It operates based on the sequence shown in Figure 6 (b).

A television camera (91 is its optical axis; it is placed in a position perpendicular to the first horizontal axis (pus), and is rotated four times by a motor not shown at the 70-axis center (m). At the same time, the optical axis (rl
The second horizontal axis ω is perpendicular to the second horizontal axis ω, and the axis ω is fixed so that it can be rotated by a motor (not shown). Further, the television camera (91) and the vertical axis (E3) of the laser light source are also configured to be rotatably driven by motors (not shown).

These horizontal axes (Ilnl) and (E2) are parallel to each other, and the optical axis (t+) of the television camera (9) and the vertical axis (E) are at the same point. They are arranged so that they intersect at the same point, and the second horizontal axis, the laser light source, and the vertical axis Qc=) intersect at the same point.
B] (G) II) rotates around the lower axis (11IL1) in a half-row state while rotating around the lower axis (11IL1), while the second horizontal axis remains in the above state and rotates around the upper and lower axis (Illa) It is configured to move on top.

Therefore, the television camera (9) and the laser light source @ have their optical axes [t) and frl always on the same plane, and this plane rotates around the vertical axis (pn) and
Optical axis ftl. tri rotates within its plane rfi1 and intersects at one point except when parallel.

Each axis ('Elsu, rotation angle ωl from the reference around C), ω-), ω is @1 provided at each axis,
It is configured to be detected by the second and thirtieth encoders.

Additionally, a television camera (
l]) can be arbitrarily rotated about the first horizontal axis cE, and this detection device fil fs+
It is configured so that the computer controlling the laser light source can be instructed to move the laser light source, detect its position, complete the work, and change the rotation angle of the second horizontal axis, which is the offset of the laser light source. .

When the computer commands the movement of the laser light source as shown in the flow chart of FIG. In this embodiment, a predetermined range around the vertical axis ω is rotated by a fixed angle for each command, and when the rotation within the predetermined range is completed, the laser light source is then rotated around this axis B). It is set to rise a certain distance within a predetermined range, and then rotate again at that position in the same way as before. Therefore, the laser beam on the optical axis (rl) moves for each movement command and is emitted at regular intervals within a specific search axis rotation.

In short, each time the operator moves the laser beam, the operator rotates the television camera (91) around the first horizontal axis ω to capture the fruit (4) irradiated by the laser beam at the reference point on the screen. You can enter the coordinates using .In other words, this screen is optically the same as the schematic screen shown at +81, and this reference point corresponds to the optical axis 1tl of the television camera (9). Each axis ωl), (Ea), (rotation angle ωl around It), (θ).

The distance from the television camera (8) to the laser light source is 1<11'f:, and the coordinates of the fruit are calculated by detecting the distance 1<11'f.

That is, as shown in Figure 6 (b), when a position detection command is issued, the computer calculates the information ωs, ωs, ωs, (d
) and calculate the coordinates of the position within the fruit using the principle of triangulation and cylindrical coordinates. Next, based on the calculated coordinates, it is determined whether the picking device (41) can reach the coordinates. If it cannot reach the coordinates, a display is only made to notify the operator, and if the picking device (41) does not reach the coordinates. The coordinates are stored in the memory, and the picking order is determined by comparing the previously detected positions with the following.
Sort and store the data so that it is arranged in that order. In this order, the lower the order, the higher the order, and the next closest the order is set. Therefore, when picking, the items are picked in order from the bottom, and the items at approximately the same height are picked starting with the items tlr and <.

Here, to explain the offset angle ω of the laser light source, it is possible to change the search range for fruit by changing this amount, and it is also useful when the laser beam hits an obstacle such as a leaf in front. To avoid this, vary this amount

[Brief explanation of drawings]

The drawings show an embodiment of the fruit harvesting device according to the present invention, and show the first embodiment of the fruit harvesting device according to the present invention.
FIG. 2 is an overall perspective view of the fruit harvesting device, M
Figure 8 is a longitudinal cross-sectional view of the extraction part. Fig. 4 is a view taken along the line 11 in Fig. 8, and Fig. 5 (a),
(b) is a flowchart showing the control sequence of the arm, and FIG. +Al... Fruit, (3)... Position detection command % (5)... Fruit picking unit moving means, (6)
. . . Fruit picking part, (9) . . . TV camera, (2) . . . Spot light emitting device. (2s)

Claims (1)

[Claims] A means (3) for detecting the position of the fruit IAI and a fruit picking unit (6) attached to the moving means (5) based on the detection result by the detecting means (3) pick the fruit (Al). In a fruit harvesting device having a control means for moving the fruit to a possible position, the detection means (3) is entirely composed of a television camera 19 whose direction can be changed, a display device thereof, and
A spot light emitting device (c) that changes the emitting position or direction of the Nubot light beam for each change command is provided, and the direction of the television camera (9) and the direction of the spot light emitting device when the detection command signal is issued are provided. A fruit harvesting device characterized in that the position M of a fruit (3) is detected by the principle of triangulation based on the position and orientation.