JP2004305109A

JP2004305109A - Mobile crop-harvesting apparatus

Info

Publication number: JP2004305109A
Application number: JP2003103864A
Authority: JP
Inventors: Sakae Shibusawa; 栄澁澤; Sunao Kondo; 直近藤
Original assignee: SI Seiko Co Ltd
Current assignee: SI Seiko Co Ltd
Priority date: 2003-04-08
Filing date: 2003-04-08
Publication date: 2004-11-04

Abstract

<P>PROBLEM TO BE SOLVED: To provide a mobile crop-harvesting apparatus harvesting the crops on a traveling vehicle and simultaneously carrying out classification treatment and conveyance of the crops according to the items. <P>SOLUTION: The pictures of the upper and lower faces and side circumferential faces of the crops to be harvested by the crop-harvesting apparatus 30 are taken by a picture-taking camera 41 of a crop-classification device 40 on a traveling vehicle 50 constituting the mobile crop-harvesting apparatus 10 and at the harvesting site, and prescribed items of the crops D are evaluated and judged individually based on the image informations by an item-judging device 43. The crops D themselves and a carrier E carrying the crops D are held by a crop-storing device 44 and stored in a container (including a bag) based on the judge by the item-judging device 43, and the container F storing the prescribed number of crops is transported to an unloading site while being carried by the traveling vehicle 50. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

【０００１】
【発明の属する技術分野】
この発明は、例えば穀類や野菜、果物、お茶、畜産物等の農産物（農作物を含む）を収穫する作業に用いられる移動式農産物収穫装置に関する。
【０００２】
【従来の技術】
従来、上述の農産物を収穫する装置としては、例えば走行装置に備えられた判別装置から情報を入力したＣＰＵが収穫適期であると判別した場合には収穫装置により作物を収穫し、収穫適期でないと判別した場合には放置する特許文献１の自走式作物収穫機がある。
【０００３】
【特許文献１】
特開平１１−４６５５０号公報。
【０００４】
【発明が解決しようとする課題】
しかし、上述の自走式作物収穫機は、収穫適期であると判別された作物のみを収穫して、例えば選別施設や出荷施設等に設置された選別装置により項目別に仕分け処理するので、作物の所定項目を判定する装置及び工程を搬送路上に設けなければならず、装置及び工程を設置するスペース分だけ搬送距離及び搬送時間が長くなるため、作物を項目別に仕分け処理する作業に手間及び時間が掛かるという問題点を有している。
【０００５】
この発明は上記問題に鑑み、走行車両上及び収穫場所において、農産物を収穫すると同時に該農産物を項目別に仕分け処理して運搬することにより、荷下ろし後の仕分け処理に要する工程及び時間が削減され、作業の省力化及び能率アップを図ることができる移動式農産物収穫装置の提供を目的とする。
【０００６】
【課題を解決するための手段】
この発明は、圃場において栽培される農産物を収穫する農産物収穫手段と、上記農産物収穫手段が収穫する農産物の所定項目を評価及び判定する項目判定手段と、上記項目判定手段による判定に基づいて、上記農産物を項目別に仕分け処理する仕分け手段と、上記判定手段の判定情報及び仕分け手段の仕分け情報を、上記農産物毎に設定される識別情報と対応させて記憶する情報管理手段とを、走行機能を有する走行車両に備えた移動式農産物収穫装置であることを特徴とする。
【０００７】
上述の農産物は、例えば穀類や野菜、果物、お茶、畜産物等で構成される。また、農産物収穫手段は、例えば一つ又は複数の農産物を収穫する吸着子やアーム、チャック等の保持手段を備えた収穫ロボット、その他の収穫装置で構成される。
【０００８】
また、項目計測手段は、例えば農産物の上下面及び側部周面が反射する反射光、農産物内部を透過した透過光を検出又は撮像する光学的計測手段（例えばモノクロ又はカラーの撮像カメラやビデオカメラ、ディジタルカメラ、画像素子等）と、農産物の所定項目を検出するのに適した検出光を照射する照射手段（例えばハロゲンランプやキセノンランプ、紫外線ランプ、蛍光灯、白熱灯等の照明装置）等で構成される。また、項目判定手段及び情報管理手段は、例えばパーソナルコンピューターやホストコンピューター、ＣＰＵ及びＲＯＭ、ＲＡＭを備えた制御装置等で構成される。
【０００９】
また、農産物仕分け手段は、例えば吸着子やアーム、チャック等の保持手段で保持した農産物自体或いは農産物が載置された載置体（例えばフリーのトレイや受け皿、パン、カップ等）を容器（袋体も含む）に対して収容する農産物収容手段等の機械的作業で構成されるが、作業者の手で収容する人為的作業も含まれる。且つ、容器は、例えばプラスチックや紙、金属、木等の材質で形成したケースやコンテナ、箱、或いは、プラスチックや紙等の材質で形成した袋体で構成される。
【００１０】
また、走行車両は、例えば車輪やタイヤ、キャスター、クローラ（キャタピラー）等を車両本体に取付けた自走可能な車両で構成され、車両本体に搭載した駆動手段（例えば蓄電池（バッテリー）や発電機（ジェネレータ）、外部電源から供給される電力で駆動する電動機（モータ）、ガソリンや軽油を燃料とする原動機（エンジン）等）の駆動力で走行し、車両本体に乗車する運転者のハンドル操作により操舵され、所望する速度及び方向に走行移動する。或いは、有線式又は無線式のコントローラやパーソナルコンピューター等の制御手段により走行制御される車両、作業者の手押し力及び牽引力で走行移動される車両も含まれる。
【００１１】
つまり、移動式農産物収穫装置を構成する走行車両上及び収穫場所において、圃場（施設内の圃場も含む）において栽培される農産物（例えば圃場の土壌に植えられた農産物、樹木に実っている農産物、容器に植えられた農産物等）を農産物収穫手段で収穫すると共に、農産物収穫手段が収穫する農産物の所定項目を項目計測手段で計測し、その項目計測手段から出力される計測情報に基づいて、農産物の所定項目を項目判定手段で個々に評価及び判定する。且つ、項目判定手段による判定に基づいて、農産物収穫手段が収穫する農産物を農産物仕分け手段により項目別に仕分け処理して、例えば出荷施設や配送施設、保管場所等の荷下ろし場所に運搬する。
【００１２】
実施の形態として、上記農産物仕分け手段を、上記農産物収穫手段が収穫する農産物を容器に対して収容する農産物収容手段で構成することができる。また、上記項目判定手段の判定情報を、上記農産物と略対応して移動する記録媒体（例えば農産物自体や農産物が載置される載置体、農産物が収容される容器等に付設した記録媒体）に記録する情報記録手段（例えば非接触型の情報通信装置＝ＩＤアンテナ、磁気ヘッド、書込み装置等）を備えることができる。且つ、記録媒体は、例えば非接触型の情報記録装置＝ＩＤタグ、磁気ストライプ、磁気テープ、フレキシブルディスク、ＭＯ、ＣＤ−ＲＯＭ、メモリーカード等で構成される。また、上記項目判定手段の判定情報と、上記農産物毎に設定される識別情報とを対応させて記憶する情報管理手段を備えることができる。
【００１３】
【作用及び効果】
この発明によれば、移動式農産物収穫装置を構成する走行車両上及び収穫場所において、農産物収穫手段が収穫する農産物の所定項目を走行車両に備えられた項目計測手段で計測し、その計測情報に基づいて、農産物の所定項目を項目判定手段で個々に評価及び判定する。且つ、項目判定手段による判定に基づいて、農産物収穫手段が収穫する農産物を農産物仕分け手段で項目別に仕分け処理して運搬するので、農産物を、例えば選別施設や出荷施設等に設置された選別装置で項目別に仕分け処理するような手間及び作業が省け、荷下ろしされる農産物の仕分け処理に要する工程及び時間を削減して、作業の省力化及び能率アップを図ることができる。且つ、荷下ろし後において、農産物の所定項目を計測及び判定したり、項目別に仕分け処理する装置及び工程が不要となるため、荷下ろしされる農産物を項目別に出荷する作業が短時間で行えると共に、施設全体の設置スペースが小さくて済み、設置場所の確保が容易に行える。
【００１４】
【実施例】
この発明の一実施例を以下図面に基づいて詳述する。
図面は圃場内で栽培される農産物を収穫すると同時に、その収穫場所で項目別に仕分け処理することができる移動式農産物収穫装置を示し、図１、図２に於いて、この移動式農産物収穫装置１０は、圃場Ａ（施設Ｂ内の圃場Ａも含む）において栽培される農産物Ｄ（樹木Ａａも含む）の生育箇所や周囲の土壌に関する所定項目を測定する土壌測定装置２０と、圃場Ａに植えられた農産物Ｄ（樹木Ａａに実っている農産物Ｄ、容器に植えられた農産物Ｄも含む）を収穫する農産物収穫装置３０と、農産物収穫装置３０が収穫した農産物Ｄの所定項目を評価及び判定し、項目別に仕分け処理する農産物仕分け装置４０とを、例えばトラクターや自動車等の走行機能を有する走行車両５０に搭載している。
【００１５】
上述の土壌測定装置２０は、例えば国際公開ＷＯ０１／００４６２７号公報に開示される自走式の土壌測定装置、既に公知の土壌測定装置等で構成され、後述する走行車両５０が圃場Ａ内で栽培される樹木Ａａ及び農産物Ｄに沿って図５に示す矢印方向に走行移動するとき、後述する農産物収穫装置３０の収穫動作及びＧＰＳ５３が検出する位置情報と対応して、例えば土壌の性質や形状、温度、面積、土壌肥沃量、土壌水分量、含有成分量、農薬散布量、雑草の分布等の土壌情報を土壌センサー２０ａで検出及び測定する。
【００１６】
且つ、圃場Ａで栽培される農産物Ｄ、樹木Ａａから摘み取られる農産物Ｄ、鉢やケース等の容器で栽培される農産物Ｄ等の収穫量を計測する収量測定装置２１と、農産物Ｄの生育状態を測定する作物生育測定装置２２と、病害虫の分布及び有無を測定する病害虫測定装置２３と、土壌測定装置２０及び収量測定装置２１、作物生育測定装置２２、病害虫測定装置２３が検出した測定情報をＧＰＳ５３の位置情報と対応させて記憶及び蓄積する情報管理装置２４と、情報管理装置２４に記憶及び蓄積された情報を、ネットワーク及び通信回線を介して、例えば共同選別施設や情報管理施設、管理会社等に備えられた主情報管理装置７０に送信する情報通信装置２５とを、走行車両５０に搭載している。また、上述の測定情報を、走行車両５０に搭載した情報端末装置２６で入力及び変更することもできる。
【００１７】
前述の農産物収穫装置３０は、後述する収穫ロボット３０ａの収穫動作と対応して、例えば圃場Ａで栽培される農産物Ｄ及び農産物Ｄが実った樹木Ａａ、農産物Ｄが栽培される容器（鉢やケース等）、圃場Ａ（施設Ｂも含む）の位置、立体的な三次元位置等の位置情報をＧＰＳ５３で検出すると共に、そのＧＰＳ５３で検出した位置情報を、例えば基準位置から収穫する方向、収穫日、収穫時刻等の収穫情報と対応させて情報管理装置２４に出力する。また、樹木Ａａ及び農産物Ｄの収穫位置、圃場Ａ（施設Ｂも含む）の場所等を特定するのに必要な情報を情報端末装置２６で入力及び変更することもできる。
【００１８】
上述の収穫ロボット３０ａは、例えば一つ又は複数の農産物Ｄを収穫する吸着子やチャック、アーム等を備えたロボットアーム及びマニピュレータで構成され、圃場Ａ（施設Ｂ内の圃場Ａも含む）の土壌に植えられた農産物Ｄ、圃場Ａ内の樹木Ａａに実っている農産物Ｄ、鉢やケース等の容器に植えられた農産物Ｄ等を１個ずつ収穫及び複数を一括して収穫する。且つ、収穫ロボット３０ａが収穫した農産物Ｄを、走行車両５０の評価部ａにおいて、記録媒体Ｇが付設された載置体Ｅに対して個々に載置する。
【００１９】
且つ、図３、図４に示すように、農産物Ｄが載置された載置体Ｆを、後述する農産物収容装置４４で保持して容器Ｆ内部に収容するか、農産物Ｄ自体を容器Ｆ内部に直接収容してもよい。また、容器Ｆの代わりに、例えば一つ又は複数の農産物Ｄを袋体に収容することもできる。また、記録媒体Ｇを、農産物Ｄ自体に直接付設してもよい。
【００２０】
前述の農産物仕分け装置４０は、図２にも示すように、前述の収穫ロボット３０ａにより収穫した農産物Ｄ…を、走行車両５０の評価部ａに搭載された載置体Ｅに載置（及び容器Ｆに収容）する動作途中又は動作前後において、農産物Ｄの外部項目及び内部項目を撮像カメラ４１で撮像すると共に、その画像情報に基づいて、農産物Ｄの所定項目を項目判定装置４３評価及び判定する。且つ、情報通信装置４２を、農産物Ｄ及び載置体Ｅ、容器Ｆに付設した記録媒体Ｇに対峙して、上述の撮像カメラ４１による撮像動作と対応して記録媒体Ｇ固有の識別情報を読取る。
【００２１】
且つ、走行車両５０に搭載した項目判定装置４３は、撮像カメラ４１及び情報通信装置４２に接続され、撮像カメラ４１から出力される画像情報（例えば農産物Ｄの上下面及び側面全周を撮像するか、農産物Ｄ内部を透過した透過光を撮像する等して取得した画像情報）と、予め記憶された基準情報とを比較及び演算して、農産物Ｄの所定項目（例えば図８に示す色相や損傷、病気、成熟度、大きさ、形状、高さ、幅、体積、偏平度、腐り具合、浮き皮具合、空洞、糖酸度、等階級、規格外、残留農薬、成分分析等）を個々に評価及び判定し、その判定情報（及び判定結果）を、情報通信装置４２が読取った記録媒体Ｇ固有の識別情報（或いは農産物Ｄ毎及び載置体Ｅ毎、容器Ｆ毎、栽培場所毎、生産者毎等に設定される識別情報も含む）と対応させて前述の情報管理装置２４に記憶及び蓄積する。
【００２２】
且つ、項目判定装置４３による判定に基づいて、農産物Ｄ自体及び農産物Ｄが載置された載置体Ｅと、農産物Ｄが収容された容器Ｆとを、項目別に仕分け処理して後述する農産物収容装置４４に供給する。また、情報通信装置４２を、農産物Ｄ自体及び農産物Ｄが載置された載置体Ｅ、容器Ｆに付設された記録媒体Ｇに対峙して、上述の土壌情報及び位置情報、収穫情報、判定情報等を読取り可能及び書込み可能（更新も含む）に記録する。
【００２３】
前述の農産物収容装置４４は、図３にも示すように、上述の農産物仕分け装置４０により項目別に仕分け処理される農産物Ｄが載置された一つ又は複数の載置体Ｅを一対の保持アーム４５で保持して、上面全体が開口されたケース型又はコンテナ型の容器Ｆ内部に対して項目別に収容すると共に、農産物Ｄを載置体Ｆに載置したまま容器Ｆ内部に対して複数整列して収容する。
【００２４】
且つ、所定数の農産物Ｄが収容された複数の容器Ｆを上下に積載して運搬するか、最上段の容器Ｆ或いは容器Ｆ…の上面側を蓋体で閉塞して運搬するもよい。或いは、農産物Ｄが載置された一つの載置体Ｅを、箱型の蓋付き容器Ｆ内部に収容して運搬するもよい。また、保持アーム４５の代わりに、例えば負圧発生源に接続された吸着子やアーム等で保持して収容することもできる。
【００２５】
また、図４に示すように、例えば真空ポンプや吸気ブロワ等の負圧発生源に接続された一つ又は複数の吸着子４６を、載置体Ｅに載置された農産物Ｄの滑らかな上面に密着させ、その吸着子４６の吸着面に発生する負圧により、一つ又は複数の農産物Ｄを吸着保持して、上面全体が開口された容器Ｆに対して複数整列して直接収容するか、一つの農産物Ｄを箱型の蓋付き容器Ｆ内部に対して直接収容するもよい。また、容器Ｆの代わりに、例えば農産物Ｄ自体及び農産物Ｄが載置された載置体Ｅ袋体に収容してもよい。
【００２６】
また、上述の情報管理装置２４に記憶及び蓄積された情報（図８参照）を、ネットワーク及び通信回線を介して、例えば共同選別施設や情報管理施設、管理会社等に備えられた主情報管理装置７０に記憶及び蓄積してもよく、主情報管理装置７０に記憶及び蓄積された農産物Ｄに関する収穫情報を何処からでも閲覧及び取得すことができ、圃場Ａや施設Ｂ等の場所、農産物Ｄが栽培される土壌の成分及び農産物Ｄの収穫位置、農産物Ｄが収穫された樹木Ａａの位置、収穫する方向等を知ることができる。
【００２７】
且つ、主情報管理装置７０は、情報管理装置２４から出力される情報に基づいて、例えば圃場内及び圃場間、生産者間等における品質収量マップを作成することもできる。また、情報管理装置２４に記憶された情報を、例えばフレキシブルディスクやＭＯ、ＣＤ−ＲＯＭ等の記録媒体Ｇに一旦記録し、その記録媒体Ｇから主情報管理装置７０に移し替えることもできる。
【００２８】
前述の走行車両５０は、例えば車輪やタイヤ、キャスター、クローラ（キャタピラー）等の走行輪５２…を車両本体５１の前後両側部に取付け、例えば蓄電池（バッテリー）や発電機（ジェネレータ）、外部電源から供給される電力で駆動する電動機（モータ）、ガソリンや軽油を燃料とする原動機（エンジン）等の駆動手段を車両本体５１に搭載して、車両本体５１に乗車する運転者のハンドル操作により所望する速度及び方向に走行移動される。また、例えば有線式又は無線式のコントローラやパーソナルコンピューター等の制御手段により走行制御するか、作業者の手押し力及び牽引力で走行移動することもできる。
【００２９】
且つ、車両本体５１の位置を検出する機能に加えて、土壌測定装置２０の計測動作及び農産物収穫装置３０の収穫動作と対応して、圃場Ａ内で栽培される樹木Ａａ及び農産物Ｄが植えられた位置情報を検出するＧＰＳ５３を搭載している。
【００３０】
図示実施例は上記の如く構成するものにして、以下、移動式農産物収穫装置１０による農産物Ｄの収穫作業及び仕分け作業を説明する。
【００３１】
先ず、図１、図５に示すように、移動式農産物収穫装置１０を、圃場Ａにおいて栽培される農産物Ｄ及び農産物Ｄが実っている樹木Ａａ…に沿って図５中実線で示す矢印方向に走行移動させ、例えば日当り量が少ない樹木Ａａの北側（図５上側）に実っている農産物Ｄ及び土壌に植えられた農産物Ｄを、農産物収穫装置３０の収穫ロボット３０ａで１個ずつ収穫及び複数を一括して収穫する。また、樹木Ａａ，Ａａの間を一方に移動及び往復移動するとき、樹木Ａａの南側（図５下側）及び次列の樹木Ａａの北側（図５上側）に実っている農産物Ｄ及び土壌に植えられた農産物Ｄを収穫してもよい。或いは、西側及び東側から順に収穫することもできる。
【００３２】
続いて、移動式農産物収穫装置１０を、図５中点線で示す矢印方向に走行移動させ、日当り量が多い樹木Ａａの南側（図５下側）に実っている農産物Ｄ及び土壌に植えられた農産物Ｄを収穫ロボット３０ａで１個ずつ収穫及び複数を一括して収穫する。且つ、農産物Ｄ及び樹木Ａａの位置、立体的な三次元位置等の位置情報をＧＰＳ５３で検出すると共に、そのＧＰＳ５３で検出した位置情報を、例えば基準位置から収穫する方向（例えば南北、東西等の方向）、収穫日、収穫時刻等の収穫情報と対応させて情報管理装置２４に記憶及び蓄積する。また、例えば農産物Ｄを収穫する区間に走行移動させながら収穫するか、農産物Ｄを収穫する区間に一旦移動停止する等して収穫する。
【００３３】
且つ、農産物収穫装置３０の収穫動作と対応して、圃場Ａにおいて栽培される農産物Ｄ及び農産物Ｄが実っている樹木Ａａが植えられた土壌に関する所定項目を土壌測定装置２０で測定すると共に、その土壌測定装置２０の土壌情報及び農産物収穫装置３０の収穫情報を、上述の位置情報及び後述する判定情報と対応させて、農産物Ｄの収穫場所が日当りの良い場所であるか否か等の品質収量マップを作成するのに必要な情報として情報管理装置２４に記憶及び蓄積する。
【００３４】
且つ、図２にも示すように、農産物収穫装置３０が収穫する農産物Ｄ（樹木Ａａに実っている農産物Ｄも含む）を、走行車両５０の評価部ａに積載された載置体Ｅに移載する動作途中及び動作前後において、また、農産物Ｄ自体又は農産物Ｄが載置された載置体Ｅを容器Ｆに収容する動作途中及び動作前後において、農産物仕分け装置４０の撮像カメラ４１で農産物Ｄの上下面及び側面全周を撮像するか、農産物Ｄ内部を透過した透過光を撮像する等して取得した画像情報を、項目判定装置４３に記憶した基準情報と比較及び演算して、農産物Ｄの所定項目（外部項目及び内部項目）を個々に評価及び判定する。
【００３５】
且つ、撮像カメラ４１の撮像動作と対応して、農産物Ｄ及び載置体Ｅに付設した記録媒体Ｇの識別情報を情報通信装置４２で読取ると共に、項目判定装置４３が判定した判定情報（及び判定結果）を、情報通信装置４２が読取った記録媒体Ｇ固有の識別情報と対応させて情報管理装置２４に記憶及び蓄積する。或いは、農産物Ｄ及び載置体Ｅに付設した記録媒体Ｇに記録する。また、上述の土壌情報及び収穫情報、判定情報、位置情報等に基づいて、農産物Ｄの品質収量マップを情報管理装置２４で作成することができる。
【００３６】
且つ、項目判定装置４３による判定に基づいて、農産物Ｄ自体及び農産物Ｄが載置された載置体Ｅを項目別に仕分け処理して農産物収容装置４４に供給し、図３にも示すように、農産物Ｄが載置された一つ又は複数の載置体Ｅを一対の保持アーム４５で保持して、農産物Ｄを載置体Ｆに載置したまま容器Ｆ内部に対して項目別に複数整列して収容するか、農産物Ｄが載置された一つの載置体Ｅを容器Ｆ内部に収容すると共に、その所定数の農産物Ｄが収容された複数の容器Ｆを上下に積載して、走行車両５０に積載したまま所定の荷下ろし場所に運搬する。或いは、最上段の容器Ｆ或いは容器Ｆ…の上面側を蓋体で閉塞して運搬する。
【００３７】
また、図４に示すように、一つ又は複数の載置体Ｅに載置された農産物Ｄを、負圧発生源に接続された吸着子４６で吸着保持して、容器Ｆに対して複数整列して直接収容するか、一つの農産物Ｄを容器Ｆ内部に対して直接収容するか、農産物Ｄ及び農産物Ｄが載置された載置体Ｅを袋体に収容してもよい。以下、上述と同様にして、農産物Ｄの収穫作業及び仕分け作業、収容作業を継続して行う。なお、農産物収穫装置３０が収穫する農産物Ｄを、項目判定装置４３による判定に基づいて、容器Ｆ（袋体も含む）に対して直接収容することもできる。
【００３８】
一方、所定数の農産物Ｄを収穫する作業が完了した後、移動式農産物収穫装置１０を、例えば出荷施設や配送施設、保管場所等の荷下ろし場所に走行移動して、走行車両５０に積載された農産物Ｄ自体又は農産物Ｄが収容された容器Ｆを、作業者の手で荷下ろしするか、例えばロボットアーム、フォークリフト等の荷下ろし装置（図示省略）で荷下ろしする。
【００３９】
且つ、荷下ろし場所に設置した情報通信装置（図示省略）を、生産者別及び圃場別に荷下ろしされる農産物Ｄ及び載置体Ｅ、容器Ｆに付設した記録媒体Ｇに対峙して、記録媒体Ｇに記録された判定情報を読取るか、記録媒体Ｇに記録された識別情報と対応する判定情報を情報管理装置２４から読出しする等して、その識別情報及び判定情報に基づいて、農産物Ｄ及び農産物Ｄが載置された載置体Ｅ、農産物Ｄが収容された容器Ｆを項目別に仕分け処理する。
【００４０】
仕分け処理される農産物Ｄを、例えばトラックや列車等の運搬車両に積載して運搬するか、パレットに積重ねてフォークリフトで運搬する等して、例えば取次店や取扱店、販売店、小売店、スーパー等に出荷する。或いは、例えば倉庫や貯蔵庫、保管庫等に出荷時期が到来するまで保管するもよい。
【００４１】
以上のように、移動式農産物収穫装置１０を構成する走行車両５０上及び収穫場所において、農産物収穫装置３０が収穫する農産物Ｄの上下面及び側部周面を走行車両５０に備えられた農産物仕分け装置４０の撮像カメラ４１で撮像し、その画像情報に基づいて、農産物Ｄの所定項目を項目判定装置４３で個々に評価及び判定する。且つ、項目判定装置４３による判定に基づいて、項目別に仕分け処理される農産物Ｄ自体及び農産物Ｄが載置された載置体Ｅを農産物収容装置４４により容器Ｆ（袋体も含む）に収容して運搬するので、農産物Ｄを、例えば選別施設や出荷施設等に設置された選別装置で項目別に仕分け処理したり、箱詰め及び袋詰めするような手間及び作業が省け、荷下ろしされる農産物Ｄの仕分け処理及び出荷処理に要する工程及び時間を削減して、作業の省力化及び能率アップを図ることができる。且つ、荷下ろし後において、農産物Ｄの所定項目を計測及び判定したり、項目別に仕分け処理及び箱詰め処理する装置及び工程が不要となるため、荷下ろしされる農産物を項目別に出荷する作業が短時間で行えると共に、施設全体の設置スペースが小さくて済み、設置場所の確保が容易に行える。
【００４２】
且つ、規格外と判定された農産物Ｄを、収穫場所において即廃棄することができるので、規格内の農産物Ｄを積載するスペースが小さくて済み、規格外の農産物Ｄが流通せず、生産者に与える経済的な負担及び損失を最小限に抑えることができる。
【００４３】
且つ、土壌測定装置２０の土壌情報と、農産物収穫装置３０の収穫情報と、農産物仕分け装置４０の判定情報と、ＧＰＳ５３の位置情報とを対応させて情報管理装置２４に記憶及び蓄積するので、農産物Ｄを収穫した土壌成分及び収穫場所、場所別収穫量、品質等の情報を簡単且つ容易に取得することができると共に、情報付き農産物Ｄが生産可能であるだけでなく、情報管理装置２４に記憶及び蓄積された情報に基づいて、農産物Ｄが何処で収穫され、如何なる品質であるか等の品質収量マップを作成することができるので、市場ニーズに対応した高レベルの営農戦略及び圃場管理が可能となる。且つ、栽培に適した場所の選択及び土壌成分の改質、栽培方法の変更、圃場内の何処で栽培された農産物Ｄの品質が最良であるか否かを判定するようなときに有効活用することができる。
【００４４】
図６は、移動式農産物収穫装置１０による他の収穫方法を示し、農産物収穫装置３０が収穫する農産物Ｄの上面側及び下面側を農産物仕分け装置４０の撮像カメラ４１で撮像し、載置体Ｅに移載及び容器Ｆ（袋体も含む）に収容する動作途中及び動作前後において、撮像カメラ４１の向きを変更（例えば略９０度）するか、農産物Ｄを回転（例えば略２７０度）する等して、農産物Ｄの側面全周及び残り面（下面側を含む）を撮像すると共に、その画像情報に基づいて、項目判定装置４３により項目別に仕分け処理される農産物Ｄ自体又は農産物Ｄが載置された載置体Ｅを、図３及び図４に示す農産物収容装置４４で保持して容器Ｆに収容し、所定数の農産物Ｄが収容された容器Ｆを走行車両５０に積載したまま荷下ろし場所に運搬するので、上述の実施例と略同等の作用及び効果を奏することができる。
【００４５】
図７は、移動式農産物収穫装置１０によるその他の収穫方法を示し、施設Ｂ内の圃場Ａで栽培されるか、載置体Ｅに載置及び育苗箱Ｈに収容したままで栽培される農産物Ｄを、農産物収穫装置３０で収穫して載置体Ｅ及び容器Ｆ（袋体も含む）に収容する動作途中及び動作前後において、撮像カメラ４１の向きを変更（例えば略９０度）するか、農産物Ｄを回転（例えば略２７０度）する等して、農産物Ｄの下面側及び側面全周を撮像し、乗換え前又は乗換え後において、載置体Ｅに移載及び容器Ｆに収容された農産物Ｄの上面側を撮像（農産物Ｄ内部を透過した検出光の画像情報も含む）すると共に、その画像情報に基づいて、項目判定装置４３により項目別に仕分け処理される農産物Ｄ自体又は農産物Ｄが載置された載置体Ｅを、図３及び図４に示す農産物収容装置４４で保持して容器Ｆに収容し、所定数の農産物Ｄが収容された容器Ｆを走行車両５０に積載したまま荷下ろし場所に運搬するので、前述の実施例と略同等の作用及び効果を奏することができる。
【００４６】
且つ、農産物Ｄの栽培に関する情報を取得する栽培管理装置６０（例えば移植機や散布機、その他の管理機等）を圃場Ａ（施設Ｂも含む）に設け、圃場Ａで栽培される農産物Ｄ自体と、農産物Ｄが載置された載置体Ｅと、農産物Ｄが収容された容器Ｆとに設定された識別情報を識別センサー６１で検出すると共に、その識別情報と対応して、例えば図８に示す温度や湿度、日射量、降水量等の気象情報、土質やＮＰＫ、ｐＨ、ＥＣ、有機物、温度、水分量等の土壌情報、品種や施肥、潅水、農薬、土作り、移植、定植、剪定、摘果、摘芯、農作業記録、収穫日、収穫時刻等の栽培情報を栽培センサー６２で検出及び測定する。また、例えば育苗や挿し木、鉢上げ、移植、接木、施肥、田植、農薬散布、潅水、調整・加工等を機械的に行う管理装置及びロボットを備えることもできる。
【００４７】
且つ、農産物収穫装置３０の収穫時において、栽培センサー６２で検出及び測定した栽培情報を、識別センサー６１で検出した農産物Ｄ及び載置体Ｅ、容器Ｆの識別情報と対応して情報管理装置２４に記憶するので、情報付き農産物Ｄが生産可能であり、前述の実施例と略同等の作用及び効果を奏することができる。また、上述の各情報を記録媒体Ｇに対して読取り可能に記録するか、情報端末装置２６で入力及び変更することもできる。
【図面の簡単な説明】
【図１】移動式農産物収穫装置による収穫方法を示す説明図。
【図２】農産物収穫装置及び農産物仕分け装置の仕分け方法を示す斜視図。
【図３】農産物収容装置による農産物の収容方法を示す斜視図。
【図４】農産物収容装置による農産物の他の収容方法を示す斜視図。
【図５】移動式農産物収穫装置の移動経路を示す平面図。
【図６】移動式農産物収穫装置による他の収穫方法を示す斜視図。
【図７】移動式農産物収穫装置によるその他の収穫方法を示す斜視図。
【図８】農産物に関する情報の受渡し経路を示す説明図。
【符号の説明】
Ａ…圃場
Ｄ…農産物
Ｅ…載置体
Ｆ…容器
Ｇ…記録媒体
１０…移動式農産物収穫装置
２０…土壌測定装置
２４…情報管理装置
３０…農産物収穫装置
３０ａ…収穫ロボット
４０…農産物仕分け装置
４１…撮像カメラ
４３…項目判定装置
４４…農産物収容装置
４５…保持アーム
４６…吸着子
５０…走行車両
５３…ＧＰＳ[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a mobile agricultural product harvesting device used for harvesting agricultural products (including agricultural products) such as cereals, vegetables, fruits, tea, and livestock products.
[0002]
[Prior art]
Conventionally, as a device for harvesting the above-mentioned agricultural products, for example, if the CPU that inputs information from the determination device provided in the traveling device determines that it is the optimal time to harvest, the harvesting device harvests the crop, and it is not the optimal time to harvest. There is a self-propelled crop harvester disclosed in Patent Literature 1 which is left if it is determined.
[0003]
[Patent Document 1]
JP-A-11-46550.
[0004]
[Problems to be solved by the invention]
However, the above-described self-propelled crop harvester harvests only crops that are determined to be in a suitable time for harvesting, and sorts them by item using a sorting device installed in, for example, a sorting facility or a shipping facility. A device and process for determining predetermined items must be provided on the transport path, and the transport distance and transport time are lengthened by the space for installing the device and process. There is a problem of hanging.
[0005]
In view of the above problems, the present invention, on a traveling vehicle and in a harvesting place, at the same time as harvesting agricultural products, by sorting and transporting the agricultural products by item, the steps and time required for sorting after unloading are reduced, It is an object of the present invention to provide a mobile agricultural product harvesting device capable of saving labor and improving efficiency.
[0006]
[Means for Solving the Problems]
The present invention is based on the agricultural product harvesting means for harvesting agricultural products cultivated in a field, the item determining means for evaluating and determining a predetermined item of the agricultural product to be harvested by the agricultural product harvesting means, based on the determination by the item determining means, The traveling function includes a sorting unit that sorts agricultural products by item, and an information management unit that stores the determination information of the determining unit and the sorting information of the sorting unit in association with the identification information set for each agricultural product. It is a mobile agricultural product harvesting device provided in a traveling vehicle.
[0007]
The above-mentioned agricultural products include, for example, cereals, vegetables, fruits, tea, livestock products, and the like. Further, the agricultural product harvesting means is constituted by a harvesting robot provided with holding means such as an adsorbent, an arm, and a chuck for harvesting one or more agricultural products, and other harvesting devices.
[0008]
The item measuring means is, for example, an optical measuring means (for example, a monochrome or color imaging camera or video camera) for detecting or imaging reflected light reflected on the upper and lower surfaces and side peripheral surfaces of the agricultural product and transmitted light transmitted through the inside of the agricultural product. , Digital cameras, image elements, etc.) and irradiating means (eg, lighting devices such as halogen lamps, xenon lamps, ultraviolet lamps, fluorescent lamps, incandescent lamps) for irradiating detection light suitable for detecting predetermined items of agricultural products, etc. It consists of. The item determining means and the information managing means are constituted by, for example, a personal computer or a host computer, a control device including a CPU, a ROM, and a RAM.
[0009]
Further, the agricultural product sorting means includes, for example, an agricultural product itself held by holding means such as an adsorbent, an arm, a chuck, or the like, or a mounting body (eg, a free tray, a saucer, a pan, a cup, etc.) on which the agricultural product is mounted, is stored in a container (bag). This includes mechanical work such as means for housing agricultural products to be housed in the container (including the body), but also includes manual work for housing by the operator's hand. Further, the container is constituted by a case, a container, a box, or a bag made of a material such as plastic or paper, metal, wood, or the like, or a bag made of a material such as plastic or paper.
[0010]
The traveling vehicle is composed of a self-propelled vehicle in which wheels, tires, casters, crawlers (caterpillars), and the like are attached to the vehicle body, and driving means (for example, a storage battery (battery) and a generator ( (Generator), an electric motor (motor) driven by electric power supplied from an external power supply, and a motor driven by gasoline or light oil as a fuel (engine). And travels at a desired speed and direction. Alternatively, the vehicle includes a vehicle whose traveling is controlled by a control means such as a wired or wireless controller or a personal computer, and a vehicle which travels and moves with an operator's pushing force and traction force.
[0011]
That is, on a traveling vehicle and a harvesting place constituting a mobile agricultural product harvesting device, agricultural products cultivated in a field (including a field in the facility) (for example, agricultural products planted in soil of the field, agricultural products growing on trees, The agricultural products harvested by the agricultural products harvesting means are harvested by the agricultural products harvesting means, and the predetermined items of the agricultural products harvested by the agricultural products harvesting means are measured by the item measuring means, and the agricultural products are harvested based on the measurement information output from the item measuring means. Are individually evaluated and determined by the item determining means. In addition, based on the determination by the item determining means, the agricultural products harvested by the agricultural product harvesting means are sorted and processed by the agricultural product sorting means for each item, and are transported to, for example, an unloading place such as a shipping facility, a delivery facility, or a storage place.
[0012]
As an embodiment, the agricultural product sorting means can be constituted by an agricultural product storage means for storing the agricultural products harvested by the agricultural product harvesting means in a container. In addition, the determination information of the item determination means is stored in a recording medium that moves substantially in correspondence with the agricultural product (for example, the agricultural product itself, a mounting body on which the agricultural product is mounted, a recording medium attached to a container that stores the agricultural product, and the like). (For example, a non-contact type information communication device = ID antenna, magnetic head, writing device, etc.). The recording medium is composed of, for example, a non-contact information recording device = ID tag, magnetic stripe, magnetic tape, flexible disk, MO, CD-ROM, memory card, and the like. Further, an information management means for storing the judgment information of the item judgment means and the identification information set for each agricultural product in association with each other can be provided.
[0013]
[Action and effect]
According to the present invention, on the traveling vehicle and the harvesting place constituting the mobile agricultural product harvesting device, the agricultural product harvesting unit measures a predetermined item of the agricultural product to be harvested by the item measuring unit provided in the traveling vehicle, and the measurement information is used. Based on this, predetermined items of agricultural products are individually evaluated and determined by the item determining means. Also, based on the determination by the item determination means, the agricultural products to be harvested by the agricultural product harvesting means are sorted and transported by the agricultural product sorting means according to items, and the agricultural products are sorted by a sorting device installed in a sorting facility or a shipping facility, for example. The labor and work for sorting items by item can be omitted, the steps and time required for sorting the unloaded agricultural products can be reduced, and labor can be saved and the efficiency can be improved. And, after unloading, measuring and judging predetermined items of agricultural products, and the device and process for sorting and processing by items are not required, so that the work of shipping the agricultural products to be unloaded by items can be performed in a short time, The installation space of the whole facility is small, and the installation place can be easily secured.
[0014]
【Example】
An embodiment of the present invention will be described below in detail with reference to the drawings.
The drawing shows a mobile agricultural product harvesting device which can simultaneously harvest agricultural products cultivated in a field and simultaneously sort and process the items at the harvesting location. In FIG. 1 and FIG. Is a soil measuring device 20 that measures predetermined items related to the growth site and surrounding soil of agricultural products D (including trees Aa) cultivated in the field A (including the field A in the facility B). Agricultural product harvesting device 30 that harvests agricultural products D (agricultural products D growing on trees Aa, including agricultural products D planted in containers), and predetermined items of agricultural products D harvested by the agricultural product harvesting device 30 are evaluated and determined. The agricultural product sorting apparatus 40 that sorts and sorts the items is mounted on a traveling vehicle 50 having a traveling function, such as a tractor or an automobile.
[0015]
The above-described soil measurement device 20 is configured by a self-propelled soil measurement device disclosed in International Publication WO01 / 004627, a known soil measurement device, or the like. When the vehicle travels along the tree Aa and the agricultural product D in the direction of the arrow shown in FIG. 5 in correspondence with the harvesting operation of the agricultural product harvesting device 30 described below and the position information detected by the GPS 53, for example, the properties and shape of soil, Soil information such as temperature, area, soil fertility, soil water content, content of component, amount of applied pesticide, distribution of weeds, etc. is detected and measured by the soil sensor 20a.
[0016]
In addition, the yield measuring device 21 for measuring the yield of the agricultural product D cultivated in the field A, the agricultural product D picked from the tree Aa, the agricultural product D cultivated in a container such as a pot or a case, and the growing state of the agricultural product D A crop growth measuring device 22 for measuring, a pest measuring device 23 for measuring the distribution and presence or absence of pests, a soil measuring device 20, a yield measuring device 21, a crop growth measuring device 22, and a measuring information detected by the pest measuring device 23 are GPS53. An information management device 24 that stores and stores the information in association with the position information of the information management device 24. The information communication device 25 for transmitting to the main information management device 70 provided in the vehicle 50 is mounted on the traveling vehicle 50. In addition, the above-described measurement information can be input and changed by the information terminal device 26 mounted on the traveling vehicle 50.
[0017]
The agricultural product harvesting device 30 described above corresponds to, for example, a harvest operation of a harvest robot 30a to be described later, for example, an agricultural product D cultivated in the field A, a tree Aa in which the agricultural product D has grown, and a container (a bowl or a case) in which the agricultural product D is cultivated. Etc.), the position information such as the position of the field A (including the facility B), the three-dimensional three-dimensional position, etc., is detected by the GPS 53, and the position information detected by the GPS 53 is, for example, the direction of harvesting from the reference position, the harvest date. Output to the information management device 24 in association with harvest information such as the harvest time. Further, information necessary for specifying the harvest position of the tree Aa and the agricultural product D, the location of the field A (including the facility B), and the like can be input and changed by the information terminal device 26.
[0018]
The above-mentioned harvesting robot 30a is composed of, for example, a robot arm and a manipulator provided with an adsorbent, a chuck, an arm, and the like for harvesting one or a plurality of agricultural products D, and a soil in a field A (including a field A in the facility B). , The agricultural products D growing on the tree Aa in the field A, the agricultural products D planted in containers such as pots and cases, etc., are harvested one by one and a plurality of harvests at a time. In addition, the agricultural products D harvested by the harvest robot 30a are individually mounted on the mounting body E provided with the recording medium G in the evaluation unit a of the traveling vehicle 50.
[0019]
Further, as shown in FIGS. 3 and 4, the mounting body F on which the agricultural product D is mounted is held in the agricultural product storage device 44 described later and accommodated in the container F, or the agricultural product D itself is placed in the container F. May be accommodated directly. Further, instead of the container F, for example, one or more agricultural products D can be stored in a bag. Further, the recording medium G may be directly attached to the agricultural product D itself.
[0020]
As shown in FIG. 2, the agricultural product sorting apparatus 40 places agricultural products D... Harvested by the harvest robot 30a on a mounting body E mounted on an evaluation unit a of the traveling vehicle 50 (and a container). In the middle of or before and after the operation of (accommodation in F), the external item and the internal item of the agricultural product D are imaged by the imaging camera 41, and the predetermined item of the agricultural product D is evaluated and determined based on the image information. . In addition, the information communication device 42 reads the identification information unique to the recording medium G in correspondence with the imaging operation by the imaging camera 41, facing the agricultural product D, the mounting body E, and the recording medium G attached to the container F. .
[0021]
In addition, the item determination device 43 mounted on the traveling vehicle 50 is connected to the imaging camera 41 and the information communication device 42, and outputs image information (for example, whether to image the entire upper and lower surfaces and side surfaces of the agricultural product D) output from the imaging camera 41. , Image information acquired by imaging transmitted light transmitted through the inside of the agricultural product D) and reference information stored in advance, and calculating and calculating predetermined items of the agricultural product D (for example, hue and damage shown in FIG. 8). , Disease, maturity, size, shape, height, width, volume, flatness, rotting condition, floating skin condition, cavities, sugar acidity, grade, non-standard, pesticide residue, component analysis, etc.) The determination information (and the determination result) is read by the information communication device 42 and is read by the identification information unique to the recording medium G (or each of the agricultural products D and each of the mounting bodies E, each of the containers F, each of the cultivation places, and the producers). Including identification information that is set every time) By response storing and accumulating the aforementioned information managing device 24.
[0022]
In addition, based on the determination by the item determination device 43, the agricultural product D itself, the mounting body E on which the agricultural product D is mounted, and the container F in which the agricultural product D is stored are sorted according to items and the agricultural product storage described below is performed. Supply to device 44. In addition, the information communication device 42 faces the agricultural product D itself, the mounting body E on which the agricultural product D is mounted, the recording medium G attached to the container F, and the soil information and the position information, the harvest information, and the determination. Information is recorded in a readable and writable manner (including an update).
[0023]
As shown in FIG. 3, the agricultural product storage device 44 includes one or a plurality of mounting bodies E on which agricultural products D to be sorted and processed by the above-described agricultural product sorting device 40 are mounted. While holding the agricultural product D in the case F or the container type container F whose whole upper surface is open, the plurality of agricultural products D are aligned with the inside of the container F while being mounted on the mounting body F. And accommodate.
[0024]
In addition, a plurality of containers F containing a predetermined number of agricultural products D may be vertically stacked and transported, or the uppermost container F or the upper surface of the containers F... May be closed and transported. Alternatively, one mounting body E on which the agricultural product D is mounted may be carried in a box-shaped container F with a lid. Further, instead of the holding arm 45, for example, it can be held and accommodated by an adsorber or an arm connected to a negative pressure generating source.
[0025]
In addition, as shown in FIG. 4, one or a plurality of adsorbers 46 connected to a negative pressure generating source such as a vacuum pump or an intake blower are connected to a smooth upper surface of the agricultural product D mounted on the mounting body E. And one or more agricultural products D are adsorbed and held by the negative pressure generated on the adsorption surface of the adsorber 46, and a plurality of the agricultural products D are aligned and directly stored in the container F having an open upper surface. Alternatively, one agricultural product D may be directly accommodated in the box-shaped container F with a lid. Further, instead of the container F, for example, the agricultural product D itself and the mounting body E on which the agricultural product D is mounted may be stored.
[0026]
Further, the information (see FIG. 8) stored and accumulated in the above-mentioned information management device 24 is transmitted via a network and a communication line to, for example, a main information management device provided in a joint sorting facility, an information management facility, a management company, or the like. The harvest information on the agricultural product D stored and accumulated in the main information management device 70 can be browsed and obtained from anywhere, and the location of the farm A or the facility B, the agricultural product D It is possible to know the components of the cultivated soil, the harvest position of the agricultural product D, the position of the tree Aa from which the agricultural product D was harvested, the harvesting direction, and the like.
[0027]
In addition, the main information management device 70 can also create a quality yield map, for example, in a field and between fields, between producers, and the like based on information output from the information management device 24. Further, the information stored in the information management device 24 can be temporarily recorded on a recording medium G such as a flexible disk, an MO, or a CD-ROM, and transferred from the recording medium G to the main information management device 70.
[0028]
The traveling vehicle 50 described above has traveling wheels 52, such as wheels, tires, casters, crawlers (caterpillars), etc., attached to the front and rear sides of the vehicle body 51, for example, from a storage battery (battery), a generator (generator), and an external power supply. Driving means such as an electric motor (motor) driven by the supplied electric power and a prime mover (engine) using gasoline or light oil as fuel are mounted on the vehicle main body 51 and desired by operating a steering wheel of a driver riding on the vehicle main body 51. Traveled in speed and direction. Further, for example, the traveling can be controlled by a control means such as a wired or wireless controller or a personal computer, or the traveling can be performed by the pushing force and the traction force of the operator.
[0029]
In addition to the function of detecting the position of the vehicle body 51, the tree Aa and the agricultural product D grown in the field A are planted in accordance with the measuring operation of the soil measuring device 20 and the harvesting operation of the agricultural product harvesting device 30. A GPS 53 for detecting the position information is provided.
[0030]
The illustrated embodiment is configured as described above, and the harvesting operation and the sorting operation of the agricultural products D by the mobile agricultural product harvesting apparatus 10 will be described below.
[0031]
First, as shown in FIG. 1 and FIG. 5, the mobile agricultural product harvesting device 10 is moved along the agricultural products D cultivated in the field A and the trees Aa. For example, the agricultural product D growing on the north side (the upper side in FIG. 5) of the tree Aa having a small amount of sunlight per day and the agricultural product D planted in the soil are harvested and harvested one by one by the harvesting robot 30a of the agricultural harvesting device 30. Harvest in bulk. Also, when moving and reciprocating between the trees Aa, Aa, the agricultural products D and the soil growing on the south side of the tree Aa (lower side of FIG. 5) and the north side of the next row of trees Aa (upper side of FIG. 5). The planted agricultural product D may be harvested. Alternatively, it can be harvested sequentially from the west and the east.
[0032]
Subsequently, the mobile agricultural product harvesting device 10 was moved and moved in the direction of the arrow shown by the dotted line in FIG. 5, and was planted on the agricultural products D and the soil growing on the south side (the lower side in FIG. 5) of the tree Aa having a large daily amount. Agricultural products D are harvested one by one by the harvesting robot 30a, and a plurality of them are harvested collectively. In addition, the position information such as the position of the agricultural product D and the tree Aa, the three-dimensional three-dimensional position, and the like are detected by the GPS 53, and the position information detected by the GPS 53 is harvested from a reference position, for example, in a direction of harvesting from a reference position ( Direction), harvest date, harvest time, etc., and store and accumulate them in the information management device 24. Further, for example, harvesting is performed while traveling and moving to the section where the agricultural product D is harvested, or harvesting is performed by temporarily stopping movement to the section where the agricultural product D is harvested.
[0033]
In addition, in response to the harvesting operation of the agricultural product harvesting device 30, the soil measurement device 20 measures predetermined items relating to the soil where the agricultural products D cultivated in the field A and the trees Aa in which the agricultural products D have grown are planted. By associating the soil information of the soil measuring device 20 and the harvest information of the agricultural product harvesting device 30 with the above-mentioned position information and determination information described later, the quality yield such as whether the harvest location of the agricultural product D is a sunny place or not is determined. The information is stored and stored in the information management device 24 as information necessary for creating a map.
[0034]
Further, as shown in FIG. 2, the agricultural product D (including the agricultural product D growing on the tree Aa) harvested by the agricultural product harvesting device 30 is transferred to the mounting body E loaded on the evaluation unit a of the traveling vehicle 50. During and before and after the loading operation, and during and before and after the operation of storing the agricultural product D itself or the mounting body E on which the agricultural product D is placed in the container F, the agricultural product D is captured by the imaging camera 41 of the agricultural product sorting device 40. The image information obtained by taking an image of the entire upper and lower surfaces and side surfaces of the product or by taking an image of the transmitted light transmitted through the inside of the agricultural product D is compared with the reference information stored in the item determination device 43 and calculated. Are individually evaluated and determined (external items and internal items).
[0035]
In addition, in correspondence with the imaging operation of the imaging camera 41, the identification information of the agricultural product D and the recording medium G attached to the mounting body E is read by the information communication device 42, and the determination information determined by the item determination device 43 (and the determination information) The result is stored and stored in the information management device 24 in association with the identification information unique to the recording medium G read by the information communication device 42. Alternatively, it is recorded on the recording medium G attached to the agricultural product D and the mounting body E. In addition, the information management device 24 can create a quality / yield map of the agricultural product D based on the above-described soil information, harvest information, determination information, position information, and the like.
[0036]
In addition, based on the determination by the item determination device 43, the agricultural product D itself and the mounting body E on which the agricultural product D is placed are sorted by item and supplied to the agricultural product storage device 44, as shown in FIG. One or a plurality of mounting bodies E on which the agricultural products D are mounted are held by a pair of holding arms 45, and a plurality of the agricultural products D are lined up in the container F while being mounted on the mounting bodies F by item. Or a single mounting body E on which the agricultural product D is mounted is accommodated in the container F, and the plurality of containers F in which the predetermined number of agricultural products D are accommodated are vertically stacked, and the traveling vehicle It is transported to a predetermined unloading place while being loaded on 50. Alternatively, the uppermost container F or the container F is transported with the upper surface side closed with a lid.
[0037]
In addition, as shown in FIG. 4, the agricultural products D placed on one or a plurality of placement bodies E are suction-held by an adsorber 46 connected to a negative pressure source, and The agricultural products D may be directly accommodated in the container F, may be directly accommodated in the container F, or the agricultural products D and the mounting body E on which the agricultural products D are placed may be accommodated in a bag. Hereinafter, in the same manner as described above, the harvesting operation, the sorting operation, and the storing operation of the agricultural product D are continuously performed. The agricultural product D harvested by the agricultural product harvesting device 30 can be directly stored in the container F (including the bag) based on the determination by the item determining device 43.
[0038]
On the other hand, after the operation of harvesting the predetermined number of agricultural products D is completed, the mobile agricultural product harvesting device 10 is moved to an unloading place such as a shipping facility, a delivery facility, or a storage place, and is loaded on the traveling vehicle 50. The agricultural product D itself or the container F containing the agricultural product D is unloaded by an operator's hand, or unloaded by a unloading device (not shown) such as a robot arm or a forklift.
[0039]
In addition, the information communication device (not shown) installed at the unloading place faces the recording medium G attached to the agricultural product D, the mounting body E, and the container F to be unloaded according to the producer and the field. G, or reads the determination information corresponding to the identification information recorded on the recording medium G from the information management device 24, and based on the identification information and the determination information, the agricultural products D and The placing body E on which the agricultural product D is placed and the container F containing the agricultural product D are sorted and processed according to items.
[0040]
For example, the agricultural products D to be sorted are loaded on a transport vehicle such as a truck or a train and transported, or stacked on a pallet and transported by a forklift, for example, an agent, a dealer, a dealer, a retail store, a supermarket, or the like. Ship to etc. Alternatively, for example, the information may be stored in a warehouse, a storage, a storage, or the like until the shipping time comes.
[0041]
As described above, the upper and lower surfaces and side peripheral surfaces of the agricultural products D harvested by the agricultural product harvesting device 30 are collected on the traveling vehicle 50 and the harvest location on the traveling vehicle 50 that constitutes the mobile agricultural product harvesting device 10. An image is taken by the imaging camera 41 of the device 40, and a predetermined item of the agricultural product D is individually evaluated and determined by the item determination device 43 based on the image information. Further, based on the determination by the item determination device 43, the agricultural product D itself sorted and processed by the item and the mounting body E on which the agricultural product D is mounted are stored in the container F (including the bag) by the agricultural product storage device 44. Since the agricultural products D are unloaded, the labor and work of sorting and sorting the agricultural products D by items using a sorting device installed in a sorting facility or a shipping facility, for example, and packing and bagging can be omitted, and the agricultural products D can be unloaded. The number of steps and time required for the sorting process and the shipping process can be reduced, and labor can be saved and efficiency can be improved. In addition, after the unloading, it is not necessary to measure and judge predetermined items of the agricultural products D, and to sort and box the devices and processes for each item. In addition, the installation space of the entire facility is small, and the installation place can be easily secured.
[0042]
In addition, since the agricultural products D determined to be out of specification can be immediately discarded at the harvesting place, the space for loading the in-specific agricultural products D is small, and the out-of-specification agricultural products D are not circulated. The economic burden and loss to be provided can be minimized.
[0043]
In addition, the soil information of the soil measuring device 20, the harvest information of the agricultural product harvesting device 30, the determination information of the agricultural product sorting device 40, and the positional information of the GPS 53 are stored and accumulated in the information management device 24 in association with each other. In addition to being able to easily and easily obtain information on the soil component from which D was harvested, the harvest location, the amount of harvest by location, quality, etc., not only can the agricultural product D with information be produced, but also be stored in the information management device 24. Based on the accumulated information, it is possible to create a quality / yield map of where the agricultural product D is harvested and of what quality, so that a high-level farming strategy and field management corresponding to market needs are possible. It becomes. In addition, it is effectively used when selecting a suitable place for cultivation, modifying soil components, changing the cultivation method, and determining where the quality of the agricultural product D grown in the field is the best. be able to.
[0044]
FIG. 6 shows another harvesting method using the mobile agricultural product harvesting device 10. The upper surface and the lower surface of the agricultural product D harvested by the agricultural product harvesting device 30 are imaged by the imaging camera 41 of the agricultural product sorting device 40, and the mounting body E is mounted. The direction of the imaging camera 41 is changed (for example, about 90 degrees) or the agricultural product D is rotated (for example, about 270 degrees) during and before and after the transfer to and the accommodation in the container F (including the bag body). Then, the entire circumference of the side surface and the remaining surface (including the lower surface side) of the agricultural product D are imaged, and the agricultural product D itself or the agricultural product D sorted and processed by the item determination device 43 based on the image information is placed. The placed mounting body E is held by the agricultural product storage device 44 shown in FIGS. 3 and 4 and accommodated in the container F, and the container F containing the predetermined number of agricultural products D is unloaded while being loaded on the traveling vehicle 50. Because I will transport it to the place It is possible to achieve the embodiment substantially same operation and effect described above.
[0045]
FIG. 7 shows another harvesting method using the mobile agricultural product harvesting apparatus 10, which is cultivated in the field A in the facility B or cultivated while being mounted on the mounting body E and housed in the nursery box H. The direction of the imaging camera 41 is changed (for example, approximately 90 degrees) during and before and after the operation of harvesting D by the agricultural product harvesting device 30 and storing it in the mounting body E and the container F (including the bag). The agricultural product D is rotated (for example, approximately 270 degrees) to image the lower surface side and the entire circumference of the side surface of the agricultural product D, and before or after transfer, the agricultural product transferred to the mounting body E and stored in the container F. The upper surface of D is imaged (including image information of the detection light transmitted through the inside of the agricultural product D), and based on the image information, the agricultural product D itself or the agricultural product D sorted and processed by the item determination device 43 for each item is loaded. FIG. 3 and FIG. The container F held by the agricultural product storage device 44 shown in FIG. 4 is stored in the container F, and the container F containing the predetermined number of agricultural products D is transported to the unloading place while being loaded on the traveling vehicle 50. Substantially equivalent functions and effects can be obtained.
[0046]
In addition, a cultivation management device 60 (for example, a transplanter, a sprayer, another management device, etc.) for acquiring information on cultivation of the agricultural product D is provided in the field A (including the facility B), and the agricultural product D itself cultivated in the field A is provided. The identification sensor 61 detects the identification information set in the mounting body E on which the agricultural product D is mounted and the container F in which the agricultural product D is stored, and corresponds to the identification information, for example, as shown in FIG. Weather information such as temperature, humidity, solar radiation, precipitation, etc., soil information such as soil quality, NPK, pH, EC, organic matter, temperature, water content, varieties and fertilization, irrigation, pesticides, soil making, transplanting, planting, pruning The cultivation sensor 62 detects and measures cultivation information such as fruit picking, core removal, agricultural work record, harvest date, and harvest time. Further, for example, a management device and a robot for mechanically performing seedling raising, cutting, potting, transplanting, grafting, fertilizing, rice planting, pesticide spraying, irrigation, adjustment / processing, and the like can be provided.
[0047]
At the time of harvesting by the agricultural product harvesting device 30, the cultivation information detected and measured by the cultivation sensor 62 is associated with the identification information of the agricultural product D, the mounting body E, and the container F detected by the identification sensor 61 and the information management device 24. , The agricultural product D with information can be produced, and substantially the same operation and effect as the above-described embodiment can be obtained. Further, the above-described information can be recorded on the recording medium G in a readable manner, or can be input and changed by the information terminal device 26.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram showing a harvesting method using a mobile agricultural product harvesting device.
FIG. 2 is a perspective view showing a sorting method of the agricultural product harvesting device and the agricultural product sorting device.
FIG. 3 is a perspective view showing a method of storing agricultural products by the agricultural product storage device.
FIG. 4 is a perspective view showing another method of storing agricultural products by the agricultural product storage device.
FIG. 5 is a plan view showing a moving route of the mobile agricultural product harvesting apparatus.
FIG. 6 is a perspective view showing another harvesting method by the mobile agricultural product harvesting device.
FIG. 7 is a perspective view showing another harvesting method using the mobile agricultural product harvesting apparatus.
FIG. 8 is an explanatory diagram showing a delivery route of information on agricultural products.
[Explanation of symbols]
A ... Field D ... Agricultural products E ... Placement body F ... Container G ... Recording medium 10 ... Mobile agricultural product harvesting device 20 ... Soil measuring device 24 ... Information management device 30 ... Agricultural product harvesting device 30a ... Harvest robot 40 ... Agricultural product sorting device 41 ... Imaging camera 43 ... Item judging device 44 ... Agricultural product accommodation device 45 ... Holding arm 46 ... Adsorber 50 ... Vehicle 53 ... GPS

Claims

Agricultural product harvesting means for harvesting agricultural products grown in the field,
Item measuring means for measuring a predetermined item of agricultural products to be harvested by the agricultural product harvesting means,
Item determination means for evaluating and determining a predetermined item of the agricultural product based on the measurement information output from the item measurement means,
A portable agricultural product harvesting apparatus comprising: a traveling vehicle having a traveling function; and an agricultural product sorting unit that sorts the agricultural product by item based on the determination by the item determining unit.

2. The mobile agricultural product harvesting device according to claim 1, wherein said agricultural product sorting means comprises agricultural product storage means for storing agricultural products harvested by said agricultural product harvesting means in a container.

2. The mobile agricultural product harvesting apparatus according to claim 1, further comprising information recording means for recording the judgment information of the item judging means on a recording medium which moves substantially corresponding to the agricultural product.

2. The mobile agricultural product harvesting device according to claim 1, further comprising information management means for storing the determination information of the item determination means and identification information set for each of the agricultural products in association with each other.