JPS63116617A - Hand for harvesting fruits and vegetables - Google Patents

Abstract

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

Description

Detailed Description of the Invention [Industrial Field of Application] The present invention is directed to fruits and vegetables to be harvested in a horizontal or nearly horizontal direction, and a space for capturing fruits and vegetables is provided in the front. This invention relates to a hand for harvesting fruits and vegetables, which is provided with an entrance for fruits and vegetables opened on the side thereof.

[Conventional technology]

In this type of fruit and vegetable harvesting hunt described above, after the harvesting operation is completed, it is necessary to discharge the fruits and vegetables located in the trapping space to the outside, but horizontally toward the fruits and vegetables to be harvested. Furthermore, since the hand is guided along a direction close to C, when fruits and vegetables are harvested, the harvesting hand is oriented horizontally or in a direction close to that.

Therefore, conventionally, the fruit and vegetable inlet provided on the front side is provided by redirecting the fruit and vegetable inlet downward or pushing out the fruit and vegetables located in the trapping space toward the inlet. It was designed to be discharged from the

[Problems that the invention attempts to solve]

However, with the above conventional configuration, for example, when changing the direction of the entire hand, there is a disadvantage that work efficiency tends to decrease, and when extruding, fruits and vegetables may get caught in the entrance of the catching space during ejection. In addition, there is a risk that the harvested fruits and vegetables may be damaged by the members in the trapping space.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to enable the fruits and vegetables located in the trapping space to be quickly discharged without damaging them.

[Means for solving problems]

A characteristic configuration of the fruit-vegetable-like Vff hand according to the present invention is that the fruit-vegetable outlet located in the capturing space is opened at the bottom side, and a lid body for opening and closing the outlet is provided. Its actions and effects are as follows.

[For production]

That is, since the outlet for the fruits and vegetables is opened on the bottom side, the fruits and vegetables located in the catching space can be easily and quickly discharged without changing the direction of the harvesting hand.

Further, since a lid body is provided to open and close the discharge port, it is possible to easily switch between a state in which a trapping space is formed and a state in which a discharge opening is formed.

〔Effect of the invention〕

Therefore, since the fruits and vegetables located in the trapping space are discharged from the outlet opened at the bottom, the fruits and vegetables can be quickly discharged, and unlike the conventional method, the fruits and vegetables are discharged from the trapping space. There is now no risk of getting caught in the entrance or damaging the harvested fruits and vegetables with parts inside the trapping space.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in Fig. 4, a boom (1) is attached to the vehicle body (2) so as to be able to rise and fall and turn freely, an auxiliary boom (3) is attached to the boom (1) so as to be able to swing freely in the horizontal direction, and fruit harvesting is carried out. Work manipulator (4) equipped with hand (H) for
) can be attached to the tip of the auxiliary boom (3) to constitute a working machine for fruit harvesting. In the figure, (5) is a hydraulic cylinder for lifting the boom, (6) is an electric morph for boom rotation, (7) is an electric motor for swinging the auxiliary boom, and (14) is an electric morph for boom rotation.
) is a suction pump for the vacuum pad (10) provided in the harvesting hand (11), which will be described in detail later, and is used to pump the harvested fruit into the vehicle body (2) after discharging the harvested fruit from the harvesting hand (11). ) is also used as a means for suctioning the inside of a bellows-type conveying hose (42) for conveying to the storage box (K) mounted on the storage box (K).

The working manipulator (4) consists of a multi-jointed telescoping arm (8) and a harvesting hand (+1) attached to the tip of the telescoping arm (8). The telescopic arm (8) is moved by an electric motor (9a) to the vertical axis (X).
), and is swung around the horizontal axis (Y) by the electric motor (9b), and the electric IJJ
It is configured to be expanded and contracted by a motor (9C).

To explain the harvesting hand (H), as shown in FIGS. 1 and 2, a vacuum pad (10) made of soft rubber is attached with its suction port facing the front side of the hand,
The vent pipe (11) is fitted externally to the tip of the vent pipe (11).
) is provided with a branch pipe (12) for ventilation, and a flexible bellows-type suction hose (B) is attached to the branch pipe (12).
The proximal end of the branch pipe (12) is bolted to the distal end of the telescoping arm (8). However, the suction hose (B) is connected to the suction pump (14) by piping, as shown in FIGS. 4 to 6, although the details will be described later.

Further, there are provided a delivery cutter for cutting off the stem, or so-called stalk, of the fruit captured while being attracted to the vacuum pad (10), and a capture unit case (15).

To explain the trapping part case (15), as shown in FIGS. 1 to 3, the proximal end portion (
15a), a part of the upper cover (15b) fixed to the upper part of the distal end thereof, and a part of the lower cover (15c) fixed to the lower part of the distal end of the base end part (15a), and An air cylinder (16) for sliding operation of the part case (15) is connected to the base end part (15a).
) and the branch pipe (12). Accordingly, the suction port of the bakibu, -mpanodo (10) is located in the front side of the trapping part gauge (15), and the fruit adsorbed by the bakibu, the fruit (10) is +i
It is configured so that it can be freely switched to a state in which it is taken into a trapping space (A) formed inside the trapping part gauge (15).

The upper cover portion (15b) and the lower cover portion (1
5c) f. To give a more detailed explanation, 1 is also formed into a spherical shape so as to cover the outer periphery of the hunt, and there is one at the location facing the suction port of the vacuum band (]0). The population of the fruit neck is large enough to allow the fruit to pass through, and the fruit at 7) ■ The application opening (26) is opened.

Moreover, the opening LI portion (
26) Pickpocket 7t in which the fruit handle is inserted into the vicinity of
・The shape>m (27) is formed, so when harvesting the fruit as described later, the above-mentioned Hakyu J, Buff F' (10
) is designed so that only the fruits to be harvested that have been adsorbed by the trap 15) can be taken into the trapping part gage 15), and the δ handle can be smoothly moved during the taking in (Fig. 8). (See ++)).

Further, on the lower rear side of the lower cover part (+, 5c),
a shutter as a lid body that opens and closes the discharge port (11) for discharging the fruits with cut stalks held in the trapping part case 15), and opens and closes the discharge a51J(B); 5. Connect the evening (29) to the air cylinder for opening and closing (30
), and is fixedly attached to the lower part of the proximal end portion (15a) of the trapping part case (15) so as to be openable and closable.

To explain the delivery deadline device, as shown in Fig. 11, a clipper-type cutter (1
7) and a strip-shaped and semi-circular arc-shaped handle support member 18). Both ends of each are swingable around the horizontal axis. One part (15a) is attached to the base of the catching part case (15). A state in which the grip (17) and the handle support member (18) are respectively pivoted to protrude to the front side of the hunt in order to support the handle of the captured fruit between them, and the fruit is placed between them. It is designed to be able to freely swing in and out so that the hand can be retracted to the rear side to form a path for entering λq.

Then, the cutter (17) and handle support part +4' (18
) is provided with an electric motor (19) for 18-movement operation, and an air cylinder () for driving the slide of the cutter (7).
20), so that when the cutter (]7) and the handle support member (18
), and the supported handle is attached to the cutter (]7
) is designed to cut by sliding operation (8th
(see figure).

However, the cutter (17) and handle support member (18) are
It is interlocked and connected to the electric motor (19) via a differential mechanism (21), and the cutter (17) and handle support member (
18) If either of the above touches the handle first,
The cutter (17) or handle support part 14' (18
), the handle support member (18) or the cutter (17) on the other side can continue to be operated in the upright position. In other words, the protruding positions of the force/vine (17) and stalk support member (18) can be automatically changed in accordance with the position of the stalk of the captured fruit.

Further, as will be described later, various sensors are provided to control the operation of each part of the harvesting handle I'' (If).

As shown in FIGS. 1 and 2, a negative pressure sensor (S+) is attached to the branch pipe (12) to detect when fruit is adsorbed to the Hakyu 1 and Paso I" (11). be.

As shown in Figures 1 to 3, the harvesting hand (11
) In other words, a light reflection type proximity sensor (s2) detects each time the Hakipoom Pasod (1o) approaches within a set distance from the fruit to be harvested, and detects the direction in which the fruit to be harvested is located. The image sensor (S,) that
With their detection directions facing toward the front side of the suction port of the pad (10), the
1(]), and at the rear of the partial cover portion (15b), a smart robot device (28) that emits light at a set light amount in synchronization with the imaging processing by the image sensor (s3). The camera is equipped with a high-quality filter so that image processing can be performed with the appropriate amount of light regardless of the surrounding brightness.

Moreover, as shown in FIG. 1 and 2M, the cutter (17
) and the handle support member (18) are interlocked and connected to the differential mechanism (21).
), it is possible to detect the completion of the standing operation and the completion of the retiring operation.

Further, a switch-type cutting completion detection sensor (S5) that detects the completion of cutting when the fruit whose handle has been cut falls onto and comes into contact with the shutter (29) is connected to the shutter (29).
9), and the opening/closing of the shutter (29) is controlled based on the detection information of this cutting completion detection sensor (S5) (see FIG. 8(d)).

To explain the proximity sensor (S2), a sensor body (22) that houses a light emitting part, a light receiving part, a signal processing part for these, etc. is held at the rear upper part of the branch pipe (12), and the sensor body The optical fiber (23) for emitting and receiving light is fed out from the branch pipe (1).
2) and extends into the inside of the vacuum pad (10) through the inside of the ventilation pipe (11), and the proximity sensor (
The above-mentioned optical fiber (23) as the detection working surface of S2)
The extending end of the image sensor (S3) is supported by the holder (24) for supporting the image sensor (S3) on the upper part of the image sensor (S3) in a state facing the front side of the hand.

Next, the configuration of the control means for automatically causing the harvesting hand (l()) to approach the fruit to be harvested and harvesting the fruit by cutting the stalk of the captured fruit will be described.

As shown in FIG. 6, an image processing means for determining the direction in which the fruit to be harvested is located based on the imaging information Q from the image sensor (S3), and a means for directing the harvesting hand (H) toward the fruit to be harvested. a control device (1) comprising an operation control means, etc., which controls the operation of each part in order to cut and harvest the stalk of the fruit caught in the trapping part case (15); 32) is provided. That is, the control device (32) has the image sensor (S
3), detection information from the negative pressure sensor (S+) and proximity sensor (S2), and the potentiometer make (S4).
), and the detection information of the cutting completion detection sensor (S, ) are input.

Based on these information and previously stored information, the controller (33) for driving the cylinder (5) for raising and lowering the boom, the controller (34) for driving the boom rotation motor (6), A drive controller (35) for the auxiliary boom swinging morph (7), each electric motor (9a), (9b) for the telescoping arm (8),
(9c) drive controller (36a).

(36b), (36c), the trapping part case (15
) control valve (
37), an air cylinder (2) for reproducing the cutter (17);
0), a controller (39) for driving the electric motor (19) for raising and lowering the cutter (17) and handle support member (18), and the vacuum pad (
10), a control valve (40) for controlling the suction operation, a control valve (41) for the air cylinder (30) for opening and closing the shank (29), and each of the image sensor (S3) and the strobe device (28). output an operation command to
Detecting the direction in which the fruit to be harvested is located, directing the harvesting hand (H) toward the fruit to be harvested, harvesting the fruit, and positioning the harvested fruit at a predetermined position. It is configured so that each of the discharging operations is performed automatically.

However, as described above, the control valve (40) for controlling the suction operation of the vacuum pad oo:+ is configured such that the suction pump (14) serves as the suction air supply source for the transfer hose (42). Therefore, as shown in FIG. 4, when the vacuum pad (10) is not in suction operation, the first general supply hose (42)
), the air cylinder (43) for switching the suction direction is driven so that the air cylinder (43) is in a suction state.

To explain the switching operation of the suction direction of the suction pump (14), as shown in FIGS. 4 to 6,
The end of the suction hose (B) is connected to the middle part of the piping (44) extending from the suction pump (14) toward the front side of the vehicle body (2), and the piping (44)
The end of the conveying hose (42) is read directly at the distal end of the conveyor hose (42). and a first valve body (45) for starting and stopping suction to the vacuum pad (10);
A pair of gears (46), which starts and stops suction to the air blowing port (42), are connected to each other so that when one side is in the open state, the other is in the closed state. 47),
(48) and the second valve body (48).
G) is configured to be opened and closed by a single associative link (43) for switching the direction of suction (O1I).

In Fig. 5, (49) is a fruit discharge lid which is urged toward the closing side by a spring (50) and is automatically opened by the weight of the harvested fruit. Then, the two storage boxes (K) mounted on the vehicle body (2) are partially misaligned, and the tip of the pipe (44) ◇i is installed on the lower blade.
It is 1.

Next, the operation of the 1++I control device (32) will be explained based on the flow J yard shown in FIGS. 7(A) and (T+).

First, the vacuum pad (10) is positioned at a predetermined approach start position and is turned so as to face a predetermined range in which the fruits to be harvested are located, and then the strobe device ( 28) is caused to emit light, and the image sensor (S, ) performs imaging processing.

However, if the imaging field of view of the image sensor (Sl) is
Movement of the vehicle body (2), turning and lifting of the vehicle (1),
The orientation of the harvesting hand (11), that is, the vacuum pad (10), is controlled by the horizontal swinging of the auxiliary boom (3), as well as the rotation and back-and-forth swinging of the telescoping arm (8) relative to the auxiliary booms 1 and (3). You will have to change and set it.

Next, the captured image information is taken in and image processing is performed to remove the background such as branches and leaves and extract image information corresponding only to the fruit to be harvested.2. Find the direction in which the fruit to be harvested is located.

While holding the string 11 in the direction of the suction port of the band (10) or towards the fruit to be harvested, ]) 1) Direct the harvesting hand (11) in the direction where the fruit to be harvested is located. The telescoping arm (8) is extended so as to approach the state-C in which the robot moves at high speed along a horizontal or nearly horizontal direction.

Then, after starting the approach, while extending the first set distance (in this embodiment, it is set to half the maximum approach distance that the telescoping arm (8) can extend), the proximity sensor (S2) When it is detected that the fruit to be harvested has approached within a set distance, the suction operation of the vacuum pad (10) is started, and the moving speed of the harvesting hand page 1 () is switched to a low speed, advance.

On the other hand, if the proximity sensor (SZ) does not turn ON even after extending the telescoping arm (8) by the first set distance 1ηU, the approach of the harvesting hunt (II) is temporarily stopped and the The strobe device (28) is re-imaged without angular emission, and based on the captured image information, the direction in which the fruit to be harvested is located is extracted again, and the proximity sensor (28) is directed toward the extracted direction. S2) is O
Restart ab 1':1-ch until N operates.

However, the approach distance is a second set distance ^1 corresponding to the position where the telescoping arm (8) is extended to its maximum extension position.
Even if f is reached, if the proximity sensor (S) is not ONL, it is determined that harvesting is impossible, and the telescoping arm (8) described in l''ii■ is shortened and the harvesting hand (II) is Return to approach starting position.

After the suction operation of the vacuum pad (10) starts, it is determined whether or not the fruit has been suctioned based on the detection information of the negative pressure sensor (S) (see FIG. 8(A)), and whether the fruit has been suctioned as desired. If so, stop the vacuum pad (10), and then proceed to remove the trap case (10).
5) protrudes forward to capture the fruit to be harvested into the trapping part gauge (15), so that the fruit is located within the operating range of the delivery deadline cutter (eighth).
(See figure (b)).

However, even if the harvesting hand (lI) is moved a set distance (for example, a distance corresponding to the working distance of the proximity sensor (S)) +'+ir towards the harvest target fruit side, the negative pressure sensor (Sl) does not operate, it is determined that harvesting is impossible, and the mI capture unit case (15) is evacuated to the rear side, and the suction operation of the hatchet 14-1 and the bat (10) is stopped. Then, shorten the telescopic arm (8) and return the harvesting hunt (11) to the starting position.

After taking the fruit into the trapping part case (X5),
The motor (
19) in normal rotation. Then, based on the information detected by the potentiometer (S4), the raising operation is temporarily stopped at an intermediate position before the completed position of the raising operation, and the suction operation of the vacuum pump 1'' (10) is stopped, and the work is carried out. The entire hand (H) is moved back a predetermined distance downward toward the front of the fruit.In other words, the hand (H) is moved toward the stalk cutting device so that the length of the stalk cut by the cutter (17) is as short as possible. Correct the position of the pattern (Fig. 8 (
(See C).

Thereafter, based on the information detected by the potentiometer (S4), the cutter (17) and the handle support member (18) are continuously operated to raise the fruit in the forward direction until the raising operation is completed. The handle is held between the cutter (17) and the handle support member (18), and the handle is cut by the cutter (17) (see FIG. 8(d)).

However, the canter (17) and the handle support member (18) are
Even if the set time required to reach the rising operation completion position or intermediate position has elapsed, it may not be possible to detect that the rising operation has reached that position, or the cutting completion detection sensor (S5) is
If N does not operate, it is determined that harvesting is not possible, and the cutter (17) and handle support member (18) are operated to retire rearward to their retirement completion positions based on the information detected by the potentiometer (s4). After that, the handle cutting device is lowered to the initial position, and the catching part case (15) is retired to the rear side of the hand, and then the telescoping arm (8) is shortened and returned to the approach starting position.

Next, based on the detection information of the cutting completion detection sensor (S,) provided in the shutter (29), determine the completion of cutting,
When the cutting completion detection sensor (S,) is ON, the conveying boce (42) is maintained while the fruit with the stalk cut off is stored in the catching case (15). After the fruit is returned to the position where the input port (42a) is located, the discharge shelf (29) is opened downward to discharge the harvested fruit (see FIG. 8(E)).

As described above, the fruit discharged from the discharge port (B) is arranged such that the conveyance hose (42) starts the suction operation when the suction operation of the vacuum pad (10) stops. Therefore, the above-mentioned 1 general hose (42
) is automatically suctioned and conveyed and discharged into the storage box (K) (see FIG. 5).

After discharging the harvested fruit, the potentiometer (
Based on the detection information by S,), the cutter (17)
and the handle support member (1st) is operated to retire rearward to its retirement completion position, and the catching part case (15)
Retire the hand to the rear side and remove the vacuum band (1
0) is connected to the opening (2) of the trapping part case (15).
6) After returning to the initial position in which it protrudes forward, the shutter (29) is closed to complete the harvesting operation for one fruit.

After finishing the harvesting operation for one fruit, return the harvesting hand F(H) to its approach starting position,
For example, it is determined whether or not the harvesting work has been completed by determining whether or not there are any fruits left to be harvested based on image information captured at the approach start position.

If there are fruits to be harvested, the above-described series of processes is repeated to restart the harvesting operation for the next fruit.

[Another example]

In carrying out the present invention, the configuration of each part may vary, such as the specific configuration of the harvesting hand (II) and the specific configuration of the telescoping arm (8) provided for guiding the harvesting hand (H) toward the harvesting target. Can be changed.

Further, in the above embodiment, the case of harvesting fruits was illustrated, but the present invention can also be applied to harvesting of vegetables such as tomatoes. Further, the present invention can be applied to works other than harvesting work, and the present invention is not limited to the above embodiments.

Incidentally, although reference numerals are written in the claims section for convenience of reference to the drawings, the present invention is not limited to the structure of the attached drawings.

[Brief explanation of the drawing]

The drawings show an embodiment of the hand for harvesting fruits and vegetables according to the present invention, in which Fig. 1 is a cutaway side view of the working hand, Fig. 2 is a cutaway plan view of the working hand, Fig. 3 is the same front view, and Fig. 4 is a cutaway side view of the working hand. An overall side view of the harvesting work machine, No. 5M is a cutaway side view without showing the suction direction switching configuration, FIG. 6 is a fusidoctorial view without showing the control configuration, and FIG. 7 (A). (17) is a flow chart 1 showing the operation of the control device, and FIG. 8 (A) is an explanatory diagram of the harvesting operation. ... Space for capture, (B) ... Emission I'', (26) ... Fruit and vegetables person L], (29
)...Lid body.

Claims (1)

[Claims] The space (A) is guided along a horizontal or nearly horizontal direction toward the fruits and vegetables to be harvested, and is provided with a space (A) for capturing the fruits and vegetables with an entrance (26) for the fruits and vegetables opened on the front side. A hand for harvesting fruits and vegetables, wherein the catching space (
A) A lid body (29) that opens the fruit and vegetables outlet (B) located in the interior of the interior of the interior of the interior of
) Hand for harvesting fruits and vegetables.