JPS63119612A - Guide apparatus of working machine for 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 Application Field] The present invention provides a work hand for grasping a work object;
an imaging means for recognizing a work object, an illumination means that operates in synchronization with the imaging by the imaging means, a proximity sensor that detects when the work object approaches within a set distance;
Capturing detection means for detecting that the work target has been captured is provided, and a region corresponding to the work target fruits and vegetables is extracted based on image information captured by the imaging means, and the area appears brightest within the region. an image processing means for extracting a highlighted portion or a geometric feature point of the region; a hand control means that is activated when the capture detection means performs a detection operation to control the work operation of the work hand; The work hand is guided toward the highlighted part or the geometric feature point of the region extracted based on the image information taken while the is located at the initial position, and even after the proximity sensor has activated the detection operation. The present invention relates to a guiding device for a working machine for fruits and vegetables, which is provided with a guiding means for guiding the working hand by a set distance until the capture detecting means detects it.

[Conventional technology]

The above-mentioned guidance device for this type of working machine for fruits and vegetables is designed to guide the working hand in a so-called line-of-sight tracking manner. ′ By the way, if we take fruits such as mandarin oranges and apples as an example of fruits and vegetables to be worked on, when the work target is illuminated, since its shape is spherical, the closest part of its surface will be exposed to the surrounding area. It is known that the state appears to be brighter and more luminous.

Further, since the amount of reflected light is inversely proportional to the square of the distance, the reflected light will be stronger for fruits and vegetables located close to the imaging position.

Therefore, even when multiple fruits and vegetables are grown on top of each other, if the brightest visible part, that is, the highlighted part, is used as the position representing the position of the fruits and vegetables to be worked on, multiple fruits and vegetables can be grown. Even if they overlap with each other, the one located on the front side of multiple fruit vegetables will be automatically recognized, so that the fruit vegetables located on the front side will not interfere with the fruit vegetables located on the rear side. This means that you can approach them efficiently while doing so.

Therefore, conventionally, as shown in Fig. 4, the light intensity of the illumination means is set so that the imaging means can determine changes in the amount of reflected light from the fruits and vegetables to be worked within the distance range (L) within which the work hand can approach. (indicated by (a) in Figure 4)
Then, as shown in FIG. 9 (11), image information captured with the work hand positioned at the initial position, for example, the approach start position (L0), is
An area (F0) corresponding only to the fruits and vegetables to be worked on is extracted based on the color etc. of the fruits and vegetables to be worked on, and then the area (F0) corresponding to the fruits and vegetables to be worked on is extracted.
As shown in the figure, the highlight part (P1) that appears brightest within the extracted area (F0) is extracted based on the brightness of the captured image information, or the geometrical center of gravity of the area (F0) is extracted. Extract the scientific feature point (P0),
The highlighted part (P1) and geometric feature point (P0)
is used as information representative of the direction in which the fruits and vegetables to be worked are located.

[Problem that the invention seeks to solve].

However, in the above-mentioned conventional configuration, since the work hand is approached based on image information taken while it is located at its initial position,
There were the following inconveniences.

In other words, since images are taken while operating the illumination means synchronously, as shown in Fig. 4, the amount of reflected light from the fruits and vegetables to be worked on that the imaging means receives is inversely proportional to the square of the distance. The brighter the area, the lower the amount of light and the smaller the difference in light amount, so for fruits and vegetables located far away, even if the corresponding area is extracted, there is a risk that the difference in highlighted parts will be unclear. Therefore, it was difficult to accurately determine the longitudinal positional relationship of fruits and vegetables located far away. On the other hand, if the light intensity of the illumination means is increased so that the difference in the amount of reflected light from fruits and vegetables located far away increases, for example, as shown in (c) in FIG. There is a possibility that the amount of light reflected from the object becomes too strong, and the amount of light received by the imaging means becomes saturated, making it impossible to discern changes in brightness.

Therefore, based on the detection information from the proximity sensor attached to the work hand, the work hand is moved until the distance between the imaging means and the fruits and vegetables to be worked reaches the set distance so that the brightness changes are large. It is conceivable to configure the system so that after approaching the fruits and vegetables, the image is processed again to extract information on the direction in which the fruit and vegetables are located, and the guiding direction of the work hand is corrected based on the re-extracted information. Since the amount of light from fruits and vegetables located close to each other changes greatly, it may be possible to accurately guide the fruit even if the information is extracted based on the image information taken at the initial position, so the process of constantly re-extracting is performed. However, there is a possibility that work efficiency may decrease.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to enable accurate recognition of the longitudinal positional relationship of a plurality of fruits and vegetables based on the difference in the amount of light received by the imaging means. , to prevent work efficiency from decreasing.

[Means for solving problems]

The characteristic configuration of the guidance device for a working machine for fruits and vegetables according to the present invention is as follows:
As shown in FIG. 1, the work hand (H) is stopped at a set distance in front of the fruits and vegetables to be worked based on the detection information by the proximity sensor (S2), and in the stopped state. , a highlight portion extracted based on image information obtained by setting the amount of illumination of the illumination means (28) so that the amount of light received by the imaging means (S3) at the set distance is an appropriate amount of light, and re-imaging the image; Even if the working hand (H) is guided by the guiding means (101) by the auxiliary guiding means (102) that guides the work hand (H) in the direction where The function and effect are as follows.

[For production]

That is, the proximity sensor (S
2) using the imaging means (S) provided on the work hand (H).
3) and the illumination means (28) are stopped at a set distance in front of the fruits and vegetables to be worked, and the work hand (+1) is re-imaged while being illuminated with a brightness according to the set distance. By making it possible to detect the positional relationship of multiple fruits and vegetables to be worked on, which are located far away from each other, as appropriate changes in brightness, It is possible to prevent the user from mistakenly approaching fruits and vegetables located at the rear side first.

Then, based on the re-extracted information, the work hand (H
) for guiding the auxiliary guiding means (102) to the highlighted portion (P1) of the area (FO) extracted based on the image information taken with the work hand (H) positioned at the initial position or the geometric The work hand (H) is guided by the guiding means (101) that guides the work hand (H) toward the target feature point (P0).
It is activated when the capture detection means (Sυ) cannot detect that it has captured fruits and vegetables even if it is guided.

〔Effect of the invention〕

Therefore, if the capture detection means detects and operates, the hand control means can be operated continuously without activating the auxiliary guidance means, and only when fruits and vegetables cannot be extracted accurately because they are located far away. The auxiliary guidance means will be activated and the guidance direction will be automatically corrected. As a result, it has become possible to prevent malfunctions when the longitudinal positional relationship of a plurality of fruits and vegetables that appear to overlap cannot be identified, while suppressing a decrease in work efficiency when guidance can be achieved using only the guidance means.

〔Example〕

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

As shown in Fig. 5, 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. A working manipulator (4) equipped with a working hand (H) is attached to the tip of the auxiliary boom (3) to constitute a working machine for fruit harvesting. In addition, in the figure, (
5) is a hydraulic cylinder for lifting the boom, (6) is an electric motor for boom rotation, (7) is an electric motor for auxiliary boom swinging,
(K) is a box that stores the harvested fruit.

The working manipulator (4) consists of a multi-joint telescopic arm (8) and a working hand (I1) attached to the tip of the telescopic arm (8). The telescoping arm (8) is rotated around the vertical axis (X) by the electric motor (9a), and swung around the horizontal axis (Y) by the electric motor (9b). At the same time, the electric motor (
It is configured to be expanded and contracted in step 9c).

To explain the working hand (1), as shown in FIGS. 6 and 7, 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 telescopic bellows type hose (13) is connected to the branch pipe (12). is bolted to the tip of the telescopic arm (8).

However, as shown in FIG. 2, the bellows type hose (13) is connected to an intake pump (14).

Further, a stalk cutting device for cutting the stalk, or so-called stalk, of the fruit captured while being attracted to the vacuum pad (10), and a trapping part case (15) are provided.゛To explain the trapping part case (15), as shown in Figs. 6 to 8, 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 vacuum pad (10) is located in the front side of the catcher case (15), and the fruit sucked by the vacuum pad (10) is transferred to the inside of the catcher case (15). It is configured so that it can be freely switched between

The upper cover portion (15b) and the lower cover portion (1
To explain 5c), they are formed into a hemispherical shape so as to cover the outer periphery of the hand, and are large enough to allow one fruit to pass through the area facing the suction port of the vacuum pad (10). An opening (26) for the fruit to pass through is opened. Further, a slit-like groove (27) through which the fruit stalk is inserted is formed in a portion of the upper cover portion (15b) close to the opening (26), so that when harvesting the fruit as described later, To,
It is designed so that only the fruits to be harvested that have been adsorbed by the vacuum pad (10) can be taken into the trapping part case (15), and the handle can be smoothly moved when taking them (No. 10). (See Figure (8))
.

Further, an opening is formed on the lower rear side of the lower cover part (15c) for discharging the fruit with the handle cut off and held in the trapping part case (15), and the fruit is opened downward. A shutter (29) for discharging is fixed to the lower part of the proximal end portion (15a) of the trapping part case (15) so as to be openable and closable by an air cylinder (30) for opening and closing.

To explain the handle cutting device, as shown in FIG. 6, a clipper-type cutter (17
) and the handle support member (18) in the form of a semi-circular strip and a semi-circular arc.
The cutter (15) is pivotally connected to the base end portion (15a) of the cutter (15).
17) and the handle support member (18) are respectively projected toward the front side of the hand so as to support the handle of the fruit captured in the trapping part case (15) between them, and the fruit is introduced between them. It is designed to be able to swing in and out so that it can be switched to a state in which the hand is retracted to the rear side to form a passage for the hand to move in and out.

An electric motor (19) for swinging the force lid (17) and handle support member (18) is provided, and an air cylinder (20) for driving the slide of the cutter (17).
The handle is supported between the cutter (17) and the handle support member (18) when the cutter (17) swings toward the projecting side, that is, when the handle is raised, and the supported handle is moved toward the cutter (17). It is designed to be cut by the sliding operation of the (see Fig. 10).

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 power lid (17) and the handle support member (
18) If either one of the two contacts the handle first,
While stopping the raising operation of the cutter (17) or handle support member (18) that came into contact with it first, move the handle support member (18) on the other side.
8) or the cutter (17) can continue to operate in an upright position. In other words, the protruding positions of the cutter (17) and the handle support member (18) can be automatically changed in accordance with the position of the handle of the captured fruit.

Further, as will be described later, various sensors are provided for controlling the operation of each part of the working hand (11).

As shown in FIGS. 6 and 7, a negative pressure sensor (S1) that senses that fruit is attracted to the vacuum pad (11) is used as a capture detection means that detects that a work target has been captured. It is attached to the branch pipe (12).

As shown in FIGS. 6 to 8, a light-reflecting proximity sensor (S2) detects when the work hand (H) approaches the fruit to be harvested within a set distance, and the fruit to be harvested An image sensor (S3) as an imaging means for detecting the direction in which the vacuum pad (10) is located is provided inside the vacuum pad (10) with the detection direction facing the front side of the suction port of the vacuum pad (10). At the same time, the image sensor (
A strobe device (28) that emits light at a set amount of light in synchronization with the imaging process in step S3) is provided, so that the image sensing process can be performed with an appropriate amount of light regardless of the surrounding brightness.

Moreover, as shown in FIGS. 6 and 7, 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.

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 a 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, a description will be given of the configuration of a control means for automatically causing the work hand (11) to approach a fruit to be harvested, and for harvesting the fruit by cutting the stalk of the captured fruit.

As shown in FIG. 2, an image processing means (100) for determining the positional direction of the fruit to be harvested by performing image processing based on the imaging information from the image sensor (S3), and the work hand (H). A guiding means (101) for guiding toward the fruit to be harvested, an auxiliary guiding means (102), and operation of each part to cut the stalk of the fruit caught in the trapping part case (15) and harvest it. A control device (32) is provided which constitutes each of the hand control means (103) to be controlled.

That is, the control device (32) is provided with imaging information from the image sensor (S3), detection information from the negative pressure sensor (S1) and proximity sensor (S2), and detection information from the potentiometer (S4). It is an 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 pool swing motor (7), each electric motor (9a), (9b) for the telescopic arm (8),
(9c) drive controller (36a).

(36b), (36c), the trapping part case (15
), the control valve (37) for the air cylinder (16) for operating the cutter (17);
20), an electric motor (19) for raising and lowering the cutter (17) and the handle support member (18);
, 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 Outputting an operation command to each of the sensor (S3) and the strobe device (28) to detect the direction in which the fruit to be harvested is located, and causing the work hand (H) to approach the fruit to be harvested; When the negative pressure sensor (S1) does not operate, a highlighted portion (correcting the guiding direction toward Po) is extracted based on image information subjected to re-image processing.
It is configured to automatically harvest fruits and discharge the harvested fruits at a predetermined position.

However, the imaging field of view of the image sensor (S3) at the initial position is limited to the movement of the vehicle body (2) and the boom (1).
swivel and lift, horizontal swing of the auxiliary boom (3), and
The settings are made by changing the direction of the work hand (H), that is, the vacuum pad (10), by turning the telescoping arm (8) with respect to the auxiliary boom (3) or swinging it back and forth.

Next, the operation of the control device (32) will be explained based on the flowchart shown in FIG. 3 ((), (E1)).

First, after placing the vacuum band (10) in a preset initial position and pointing in the direction of a predetermined range where the fruits to be harvested are located, the strobe device (28) is The state where the amount of light is maximum (
The image sensor (shown as (a) in FIG. Image processing is performed to extract image information corresponding only to the fruit, and the direction in which the fruit to be harvested is located is determined.

To explain the image processing means (100) that removes the background such as branches and leaves and extracts image information corresponding only to the target fruit, the image information captured by the image sensor (S3) (FIG. 9 (a) ) is binarized based on the color of the fruit, an area corresponding only to the fruit (F) (F0
) and find the position of the center of gravity (P3), which is a geometric feature point of the area (F0), to determine the direction in which the fruit to be harvested is located, and the coordinates on the image where the center of gravity (P0) is located. It is determined based on the value (see FIG. 9 (0)).

Next, since the position of the vacuum pad (10) in the determined direction, that is, the approach start position, and the center of the imaging field of view of the image sensor (S3) match, the coordinate values of the center of gravity (P0) are determined. Based on this, while maintaining the state in which the suction port of the vacuum pad (lO) faces in the direction where the center of gravity (P0) is located, that is, toward the fruit to be harvested, the work hand (H) is moved in the direction in which the fruit to be harvested is located. Have them approach while moving at high speed.

However, if a plurality of fruits to be harvested are recognized from the image information captured by the image sensor (S3), the strobe device (28) is made to emit light during image capture processing by the image sensor (S3), so the distance is Since the closer the object is, the brighter it appears, the brighter the object is approached first based on the difference in average brightness of each area (F0) corresponding only to the color of the fruit,
Alternatively, the approach order may be set so that the lower position is approached first. In other words, the closer to the vacuum pad (10) or the easier to capture the items, the earlier they will be harvested.

Then, after starting the approach, the proximity sensor (S2)
When it is detected that the target fruit has approached within a set distance, the extension speed of the telescoping arm (8) is switched to a low speed so that the work hand (H) moves at a low speed. After that, the negative pressure sensor (S3) detects the fruit (
The proximity sensor (
St) is advanced by a set distance set corresponding to the working distance of St).

Accordingly, the work hand (11) is guided based on the image information G taken at its initial position, and the vacuum pad (10) sucks the fruit (F) and the negative pressure sensor (St) detects it. In the process up to activation, the guiding means (1
01).

However, even if the work hand (H) is advanced a set distance,
If the negative pressure sensor (St) does not operate, the operation of the telescoping arm (8) is stopped and the work hand (St) is stopped.
After temporarily stopping the approach of H), the work hand (11) is moved at a set distance (L1) (in this embodiment, approximately 2
00 open position) is moved backwards to prevent the amount of light received by the image sensor (S3) from being saturated and to increase the change in light amount with respect to the imaging distance. While reducing the light intensity of the strobe device (28) to a preset light intensity (indicated by (b) in FIG. 4) based on the working distance of the strobe device (28) and re-emitting the light,
Perform re-imaging processing (see FIG. 10(a)).

Then, by performing image processing again on the image information that has been re-imaging processed, one area corresponding only to the color of the fruit (
F0) is re-extracted, and the re-extracted region (F
0), the highlight part (P
3) (see FIG. 9(c)) and correct the approach direction so that the vacuum pad (10) approaches the highlighted part (P1),
The approach is restarted while moving at low speed until the proximity sensor (S2) is turned on again and the negative pressure sensor (S3) detects that the fruit (F) has been adsorbed.

Note that if there are multiple highlighted portions (P1) in the re-extracted area (F0) (in FIG. 9(C),
(shown with a broken line) determines that multiple fruits are growing adjacent to each other in a plane, and approaches those located in a preset direction, such as to the left or below, first. Thus, only one highlighted portion (P1) is selected. In addition, when a plurality of fruits grow adjacent to each other in the front-back direction, the amount of light reflected by the strobe device (28) is greater from the fruit located at the front than from the fruit located at the rear. Therefore, the position information for the fruit located on the rear side is automatically removed, and even if multiple fruits are adjacent, only one highlighted part (P1) is extracted. Only the position corresponding to one fruit located on the near side with respect to the work hand (H) will be automatically extracted.

When the proximity sensor (S2) is turned on again, the suction operation of the vacuum pad (10) is started, and the work hand (H) is moved forward at a low speed.

After the suction operation of the vacuum pad (10) is started, the working hand (I1) is moved forward by a set distance (for example, a distance # corresponding to the working distance of the proximity sensor (S2)) toward the fruit to be harvested (10th (see figure (U)), detection information of the negative pressure sensor (S3)! 14, it is determined whether or not the fruit has been adsorbed.

With this, move the work hand (H) to the work target fruit (F).
The auxiliary F4 means (102 ), and its auxiliary guiding means (102) is configured to be activated when the negative pressure sensor (S3) does not operate even if guided by the guiding means (101). It is.

However, if the proximity sensor (s2) does not operate even if the approach distance exceeds the set value corresponding to the position where the telescoping arm (8) is extended to its maximum extension position,
When it is determined that harvesting is impossible, the telescoping arm (8) is shortened and the working hand (H) is returned to the approach starting position.

The negative pressure sensor (St) is turned on and the fruit (
F), use the vacuum pad (1)
0), and then the catching part case (15)
protrudes forward to capture the fruit to be harvested into the trapping part case (15) so that the fruit is located within the operating range of the delivery cutoff device (see Fig. 10 (H)). )reference).

However, if the negative pressure sensor (S1) does not operate even if guided by the auxiliary guiding means (102), it is determined that harvesting is impossible, and the trapping part case (15) is evacuated to the rear side. At the same time, stopping the suction operation of the vacuum pad (10) and shortening the telescoping arm (8),
Return the work hand (1■) to the approach starting position.

After taking the fruit into the trapping part case (15),
The motor (
19) in normal rotation. Then, based on the information detected by the potentiometer (S#), the standing operation is temporarily stopped at an intermediate position before the completion position of the standing operation, and the suction operation of the vacuum pad (10) is stopped, and the operation is carried out. By retracting the entire hand (1) a set distance toward the lower side of the fruit, the force lid (17) is brought into contact with the captured fruit, that is, The position of the handle relative to the cutter (17) is corrected so that the length of the handle cut by the force lid (17) is as short as possible (see FIG. 10(d)).

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. 10(N)).

However, the cutter (17) and handle support member (1st)
If it cannot be detected that the standing operation has reached that position even after the set time required to reach the completion position or intermediate position has elapsed, it is determined that harvesting is impossible, and the operation is performed based on the detection information by the potentiometer (S4). , the canter (17) and the handle support member (18) are retracted rearward to the fully retracted position, the catching part case (15) is retracted to the rear side of the hand, and the vacuum pad (10) is retracted. After returning to the initial position in which the suction port projects to the front side of the opening (26) of the catching part case (15), the telescoping arm (8) is shortened and returned to the approach starting position. It happens.

After cutting the handle, while maintaining the state in which the fruit is held within the trapping part case (15), the telescopic arm (8)
After returning the working hand (1N) to the predetermined position, the shutter (29) is opened downward to place the harvested fruit on the side of the vehicle body (2). Discharge into box (K).

After discharging the harvested fruit, the potentiometer (
Based on the detection information by S4), the cutter (17)
and the handle support member (18) is retracted rearward to its retracted completion position, and the catching part case (15)
Retract the hand to the rear side and remove the vacuum pad (
10) is connected to the opening (15) of the trapping part case (15).
26) is returned to the initial position in which it protrudes forward, and the harvesting operation for one fruit is completed.

Thus, after the negative pressure sensor (S3) is turned ON, the hand control means (103) is configured by controlling the operation of each part of the working hand (H) to perform a harvesting operation.

After the harvesting operation for one fruit is completed, the work hand (H) is returned to the approach start position, and, for example, the information on the fruit (F) extracted based on the image information taken at the initial position is Based on this, it is determined whether or not there are fruits to be harvested, thereby determining whether or not the work has been completed. If there is a fruit to be harvested, the above-described series of processes is repeated to perform the harvesting operation on the next fruit (F).

[Another example]

In carrying out the present invention, the configuration of each part can be changed in various ways, such as the specific configuration of the working hand (H) and the specific configuration of the telescoping arm (8) provided for guiding the working hand (H) toward the harvesting target. .

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 a working machine for fruits and vegetables according to the present invention in a 7L'A position, FIG. 1 is a functional block section showing the configuration of the present invention, FIG. Figure 3 (<
), (I1) is a flowchart showing the operation of the control device, FIG. 4 is an explanatory diagram of the light amount of the illumination means, FIG. 5 is an overall side view of the fruit harvesting work machine, and FIG. 6 is a cutaway side view of the work hand. , Fig. 7 is a cutaway plan view of the same, Fig. 8 is a front view of the same, and Fig. 9 is a cutaway plan view of the same.
Figures (A), (0), and (C) are explanatory diagrams of image processing, and Figure 10 (A). (I1), (C), (:), and (N) are explanatory diagrams of the harvesting operation. (Iri... work hand, (S1)...
Capture detection means, (S2)... Proximity sensor, (S
3)...Imaging means, (F0)...Region corresponding to the fruits and vegetables to be worked on, (P0)...Geometric feature points, (P1)... ...Highlight part, (
L1)...Setting distance, (28)...Illumination means, (100)...Image processing means, (10
1)...guiding means, (102)...auxiliary guiding means, (103)...hand control means.

Claims (1)

[Claims] A capturing work hand (H) for capturing a work object includes an imaging means (S_3) for recognizing the work object, and the imaging means (S_3).
Illumination means (28) that operates in synchronization with the imaging according to 3)
, a proximity sensor (S_2) for detecting that the work object has approached within a set distance, and a capture detection means (S_1) for detecting that the work object has been captured, and the imaging means. Based on the image information obtained by (S_3), the area (F_0
), and an image processing means (100) for extracting a highlight part (P_1) that appears brightest within the area (F_0) or a geometric feature point (P_0) of the area (F_0); When the means (S_1) detects and operates, it is activated and the work hand (H)
hand control means (103) for controlling the work operation of the work hand (H), the area (F_0
) highlight part (P_1) or geometric feature point (P
guiding the work hand (H) toward _0), and
A working machine for fruits and vegetables, which is provided with a guiding means (101) for guiding the work hand (H) by a set distance even after the proximity sensor (S_2) has activated the detection operation until the capture detection means (S_1) has activated the detection operation. The guiding device is a guiding device that moves the work hand (H) to a set distance (L_1) with respect to fruits and vegetables to be worked on based on detection information by the proximity sensor (S_2).
), and in the stopped state, set the amount of illumination of the illumination means (28) so that the amount of light received by the imaging means (S_3) at the set distance (L_1) is an appropriate amount of light. The auxiliary guiding means (102) guides the work hand (H) in the direction of the highlighted part (P_1) extracted based on the image information re-captured by the guiding means (101). A guiding device for a working machine for fruits and vegetables, which is configured to be activated when the trapping detection means (S_1) fails to detect that the fruits and vegetables have been captured even after guiding.