JPS63296619A - Hand for harvesting fruit vegetables - Google Patents

Abstract

PURPOSE:To facilitate the operation of harvesting hand in sucking fruit vegetables to be harvested, by using an oscillation mechanism to enable free oscillation of a vacuum pad to suck the objective fruit vegetables and attaching the mechanism to a base end of the vacuum pad. CONSTITUTION:A vacuum pad 10 is guided toward fruit vegetables to be harvested. The pad turns its suction opening in the direction of the harvesting object by the action of suction force exerted between the pad 10 and the object and the action of an oscillation mechanism 10a attached to the base end of the pad.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a hand for harvesting fruits and vegetables, which is provided with a vacuum pad for adsorbing fruits and vegetables to be harvested.

[Conventional technology]

In such a hand for harvesting fruits and vegetables, a vacuum pad is fixedly provided at the tip of a ventilation pipe whose suction port is directed toward the front of the hand.

[Problem that the invention seeks to solve]

In such a harvesting hand, the suction port of the vacuum pad is always oriented in the same direction with respect to the hand. Therefore, when harvesting fruits and vegetables, when guiding the vacuum pad to the fruits and vegetables to be harvested, even if the distance between the vacuum pad and the fruits and vegetables is small, unless the vacuum pad is attracted by the fruits and vegetables, the vacuum pad cannot be used. It was necessary to guide the harvesting hand toward the fruits and vegetables together with the harvesting hand. When the distance between the vacuum pad and the fruits and vegetables becomes small, a suction force acts between them, but since the vacuum pad operates integrally with the harvesting hand, it is hardly affected by the suction force.

Therefore, when guiding the vacuum pad, the harvesting hand must be operated accurately to such an extent that the suction port is accurately directed toward the fruits and vegetables to be harvested and sucked. In particular, guiding a vacuum pad toward fruits and vegetables to be harvested based on information detected by a visual device;
In other words, for harvesting hands equipped with line-of-sight tracking automatic guidance devices, this has complicated the structure and made control difficult.

The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to facilitate the operation of a harvesting hand when adhering a vacuum pad to fruits and vegetables to be harvested.

[Means for solving problems]

The characteristic configuration of the present invention is that a swinging mechanism is provided at the base end of the vacuum band to enable free swinging of the vacuum pad that adsorbs fruits and vegetables to be harvested, and its functions and effects are as follows. That's right.

[For production]

That is, by operating the harvesting hand when harvesting fruits and vegetables, the vacuum pad is guided to the fruits and vegetables to be harvested, and when the distance between the two becomes small, a mutual suction force acts between them. With this suction power, even if the suction power of the vacuum pad is not directed towards the fruits and vegetables to be harvested,
In other words, even if the direction in which the vacuum pad is facing deviates from the position of the fruits and vegetables to be harvested, the swinging mechanism provided at the base end acts, and the vacuum pad will move its suction port to the position of the fruits and vegetables to be harvested. Voluntarily shake your head in the direction you are facing.

When the suction port is directed towards the fruits and vegetables to be harvested, the suction port becomes even stronger, and when the suction port is strong enough to attract the fruits and vegetables,
Fruits and vegetables are absorbed by the vacuum pad.

Therefore, even if the suction port of the vacuum pad is not directed toward the fruits and vegetables to be harvested, as long as the distance between them falls below a certain level, the deviation between the two will be corrected by the voluntary swinging of the vacuum pad.

〔Effect of the invention〕

As a result, the traditional harvesting hand no longer requires precise operation, making it possible to perform 4M harvesting work more efficiently. In particular, the present invention expands the permissible range of guidance errors for the above-mentioned line-of-sight tracking type automatic guidance device, and can be expected to be of great help in simplifying the structure and control.

〔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. A working manipulator (4) equipped with a working hand (II) 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 raising and lowering the boom, (6) is an electric motor for rotating the boom, (7) is an electric motor for swinging the auxiliary boom, and (X) is a box for storing the harvested fruit.

The working manipulator (4) consists of a multi-joint telescopic arm (8) and a working hand (H) 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 (9
c) It is configured to be expanded and contracted.

To explain the work hand (H), as shown in FIGS. 1 and 2, it is equipped with a vacuum pad made of soft rubber (
10) is fitted over the tip of the ventilation pipe (11) with its suction port facing the front side of the hand, and the ventilation pipe (11)
A branch pipe (12) for ventilation is provided at the base of the branch pipe (12), and a telescopic bellows type hose (13) is connected to the branch pipe (12). is bolted to the tip of the telescoping arm (8). still,
The vacuum pad (10) has a bellows (10a), which is an example of a swinging mechanism, at its base end, and is configured to be able to freely swing vertically and horizontally. Further, the bellows type hose (13) is connected to an intake pump (14) by piping, as shown in FIG.

Further, there are provided a sliding cutting device for cutting the stem, or so-called stalk, of the fruit captured while being attracted to the vacuum band (10), and a capturing part 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 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 part (15b) and the lower cover part (15b)
15c) is formed into a hemispherical shape so as to cover the outer periphery of the hand, and is large enough to allow one fruit to pass through the part facing the suction port of the vacuum pad (10). An opening (26) for the fruit to pass through is opened. Further, a slit-shaped i (27) through which a fruit stalk is inserted is provided in a portion of the upper cover portion (15b) close to the opening (26).
, 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) when fruits are harvested as described later. This allows the handle to be moved smoothly during loading (see Figure 8 (c)).

Further, an opening is formed on the lower rear side of the lower cover part (15b) for discharging the fruit with the handle cut off and held in the trapping part case (15), and the fruit is moved 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 delivery deadline device, as shown in Fig. 1, 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 hook (17) and the handle support member (18);
17) is provided with a slide driving air cylinder (20),
As a result, along with the rocking toward the protruding side, that is, the standing operation,
A handle is supported between the cutter (17) and the handle support member (18), and the supported handle is cut by sliding operation of the force cover (17) (see FIG. 8).

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 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 (F) 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 work hand (H).

As shown in FIGS. 1 and 2, a negative pressure sensor (St) is attached to the upper part of the branch pipe (12) to detect when fruit is adsorbed to the vacuum pad (11).

As shown in FIGS. 1 to 3, a light reflective proximity sensor (S2) detects when the work hand (H), that is, the vacuum pad (10) approaches the fruit to be harvested within a set distance. ), and an image sensor (S3) as a visual device for detecting the direction in which the fruit to be harvested is located, with the detection direction facing the front side of the suction port of the vacuum pad (10). 1
0), and a portion of the upper cover (15
b) is provided with a strobe device (28
) so that image processing can be performed with an appropriate amount of light regardless of the surrounding brightness.

Moreover, as shown in FIGS. 1 and 2, 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. Furthermore, the proximal end (15) of the trapping part case (15)
a) includes the trapping part case (15) and the air cylinder (16).
A limit switch (S,) is provided to detect contact with the trapping part case (S,) after taking in the fruit to be harvested.
15) The completion of retirement can be detected.

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 harvesting work hand (I) to approach a fruit to be harvested, and for harvesting the fruit by cutting the stalk of the fruit.

As shown in FIG. 5, an image processing means for determining the direction in which the fruit to be harvested is located based on the imaging information from the image sensor (S,), and a means for directing the work hand (H) toward the fruit to be harvested. A control device (32) constituting a guiding means for guiding the fruit, and a harvesting operation control means for controlling the operation of each part in order to cut and harvest the stalk of the fruit caught in the trapping part case (15). It is provided. That is, the control device (32) receives imaging information from the image sensor (S3), the negative pressure sensor (Sl) and the proximity sensor (
Detection information of the potentiometer (St) and the detection information of the potentiometer (S
4) Input each detection information.

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 motor (6) for rotating the boom and the boom ), a drive controller (35) for the auxiliary boom swing motor (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 operating 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 (
a control valve (40) for controlling the suction operation of lO), a control valve (41) for the air cylinder (30) for opening and closing the shutter (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, causing the work hand (II) to approach the fruit to be harvested, harvesting the fruit, and discharging the harvested fruit at a predetermined position. The configuration is such that each of these steps is performed automatically.

However, the imaging field of view range of the image sensor (S,) is
The work is carried out by moving the vehicle body (2), turning and raising and lowering the boom (1), horizontally swinging the auxiliary boom (3), and rotating and swinging the telescopic arm 8) relative to the auxiliary boom (3). Hand (11) or vacuum pad (
The setting is made by changing the direction of 10).

Next, the operation of the control device (32) will be explained based on the flowcharts shown in FIGS. 6(a) and 6(1+).

First, the vacuum pad (10) is set at a preset initial position and facing a predetermined range where the fruits to be harvested are located, and then the strobe device 1iff (28) is set. The light is emitted and the image sensor (S,) performs imaging processing. 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 target fruit, thereby determining the direction in which the target fruit is located.

To explain the image processing that removes the background such as fruit and leaves and extracts image information corresponding only to the target fruit, the image information captured by the image sensor (S3) (Fig. 7 (
(see b)) is binarized based on the color of the fruit, an area (Fo) corresponding only to the fruit (F) is extracted, and the position of the center of gravity (Po) of that area (Fo) is determined. , the direction in which the fruit to be harvested is located is the center of gravity (Po)
This is determined based on the coordinate values on the image where is located (see FIG. 7 (b)).

Next, since the position of the vacuum pad (10) in the determined direction, that is, the approach start position, and the center of the image field of view of the image sensor (S3) match, the coordinate value of the center of gravity (Po) is determined. Based on this, the work hand (11) is moved in the direction in which the fruit to be harvested is located while maintaining the state in which the suction port of the vacuum pad (10) faces in the direction where the center of gravity (Po) is located, that is, toward the fruit to be harvested. 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 The closer the fruit is, the brighter it is (the more visible it is, so the brighter one is approached first based on the difference in average brightness of each area (Fo) 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 operation of the telescoping arm (8) is stopped to temporarily stop the approach of the work hand (H), and then the work hand (H) is stopped. The hand (H) is moved back a predetermined distance (in this example, it is set to about 200 mm) so that the amount of light received by the image sensor (S) does not become saturated, and , the retraction distance and the proximity sensor (S2) so that the change in light amount with respect to the imaging distance becomes large.
The light intensity of the strobe device (28) is reduced to a preset light intensity based on the working distance of the strobe device (28), and re-imaging processing is performed while re-emitting light (see FIG. 8(a)).

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.

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 (
Fo) is re-extracted, and the re-extracted region (F
o), the highlight part (P
I) (see FIG. 7(c)), correct the approach direction so that the vacuum band (1o) approaches the highlighted part, and then move the proximity sensor (S2) again. Restart the approach while moving at low speed until it is turned on.

However, if there are multiple highlighted portions (Pl) within the re-extracted area (Fo) (indicated by broken lines in FIG. 7(C)), multiple fruits may be adjacent to each other in a plane. Select only one highlighted part (P,) to approach something located in a preset direction, for example, to the left or below. Become.

In addition, when a plurality of fruits grow adjacent to each other in the front-back direction, the light reflected by the strobe device (28) is larger from the fruit located on the front side than from the fruit located on the rear side. In order to Only the position corresponding to one fruit located on the near side with respect to the work hand (11) will be automatically extracted.

When the proximity sensor (S2) is turned ON again, the suction operation of the vacuum pad (10) is started.

Here, even if the suction port of the vacuum pad (lO) is not precisely aimed at the fruit to be harvested, when the distance between the two becomes small due to the approach, the suction force will work on each other, and this force will cause the vacuum to The pad (10) shakes its head and directs the suction port toward the fruit to be harvested to attract the fruit (see FIG. 8(f)). That is, the vacuum pad (
Even if there is an error in the approach of lO), if it is small, it will be appropriately compensated for by free swinging of the vacuum pad (10).

After starting the suction operation of the vacuum pad (10), move the work hand (H) to a set distance (for example, the proximity sensor (
S2) is moved forward toward the fruit to be harvested by a distance iii corresponding to the working distance (see Fig. 8 (o)) 1, and based on the detection information of the negative pressure sensor (Sl), the fruit is adsorbed or not. If the vacuum pad (10) is suctioned as desired, the vacuum pad (10) is stopped, and at the same time, the trapping part case (15) is made to protrude forward.
The fruit to be harvested is taken into the trapping case 15) so that the fruit is located within the operating range of the delivery cutoff device (see FIG. 8(c)).

However, if the negative pressure sensor (Sl) does not operate, it is determined that it is impossible to harvest, and the trapping part case (15) is evacuated to the rear side, and the vacuum bar, door (
10), and the telescopic arm (8) is stopped.
is shortened and the work hand (11) is returned 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 (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 pad (10) is stopped, and the work hand ( H) By retracting the entire body a set distance downward toward the front side with respect to the fruit, the cutter (17) is brought into contact with the captured fruit, that is, the cutter (17 ) The position of the handle relative to the cutter (17) is corrected so that the length of the handle cut by the cutter (17) is as short as possible (see FIG. 8(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 handle forward until the raising operation is completed. is held between the cutter (17) and the handle support member (18),
The handle is cut with the cutter (17) (see FIG. 8(N)).

However, the cutter (17) and handle support member (18) are
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 cutter (17) and the handle support member (18) are retracted rearward to their retiring completion positions, the catching part case (15) is retired to the rear side of the hand (H), and the vacuum pad The suction port of (10) is connected to the trapping part case (1).
After returning to the initial position in which it protrudes forward from the opening (26) of 5), the telescopic arm (8) is shortened and returned to the approach starting position. Incidentally, the completion of retirement of the trapping part case (15) is detected by the limit switch (S,).

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 (+1) to a predetermined position, the shutter (29) is opened downward to place the harvested fruit in the storage area beside the vehicle body (2). Discharge into the designated 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)
Retire the hand (H) to the rear side and return it to the initial position where the suction port of the vacuum pad (10) protrudes to the front side of the opening (26) of the trapping part case (15). , ends the harvesting operation for one fruit.

[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.

Note that 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 shown in the accompanying drawings.

[Brief explanation of drawings]

The drawings show an embodiment of the hand for harvesting fruits and vegetables according to the present invention, and FIG. 1 is a cutaway side view of the work hand, FIG. 2 is a cutaway plan view of the work hand, FIG. 3 is a front view of the work hand, and FIG. An overall side view of the fruit harvesting work machine, Figure 5 is a block diagram showing the control configuration, Figure 6 ((), (0) is a flowchart showing the operation of the control device, Figure 7 (wa, (o), Figure 8 (A) is an explanatory diagram of image processing. (II), (C), (D), (N), (F) are explanatory diagrams of harvesting operation. (10)... ...Vacuum pad, (10a)・
...Swing mechanism.

Claims (1)

[Claims] This hand for harvesting fruits and vegetables is provided with a swinging mechanism (10a) at the base end portion of the vacuum pad (10) that allows the vacuum pad (10) for sucking fruits and vegetables to be harvested to swing freely.