JP2021036822A - Harvesting robot - Google Patents

Abstract

To provide a harvesting robot capable of efficiently performing harvesting work.SOLUTION: A harvesting robot comprises: n (n is an integer equal to or greater than 3) storage baskets arranged along a vertical direction; a first grip member 108 for gripping a storage basket on a bottom layer out of the n storage baskets; a second grip member 109 for gripping the storage basket on a k-th (k is an integer equal to or greater than 2 and equal to or smaller than n) layer from the bottom layer out of the n storage baskets; lift mechanisms 110, 111 for moving the first or second grip members 108, 109 in a vertical direction; and a harvesting mechanism 101 including an arm for harvesting an object. The second grip member 109 can change a grip object storage basket out of the n storage baskets, the first grip member 108 supports the stacked storage baskets in a range from the bottom layer to (k-1)th layer from the bottom layer, out of the n storage baskets, the second grip member 109 supports the storage baskets in a range from a k-th layer to n-th layer.SELECTED DRAWING: Figure 1

Description

The present invention relates to a harvesting robot that automatically harvests fruits such as tomatoes and apples.

As a conventional harvesting robot, there is one provided with a storage basket supply device that stores a large number of storage baskets and supplies them in a timely manner (for example, Patent Document 1). FIG. 6 is a diagram showing a conventional harvesting robot described in Patent Document 1. In FIG. 6, the imaging device 601 has a role of detecting the distance from the fruit to be harvested, the fruit is grasped and picked by the arm 602, and the fruit is stored in the storage basket 603 after turning. The storage basket 603 is independently supplied by the storage basket supply device 604. These are arranged on the upper side of the chassis 605, and the wheels 606 are arranged on the lower side to form the vehicle body. When manually operating the harvesting robot, an operation panel 607 and a steering lever 608 arranged on the front surface of the storage basket supply device 604 are used.

Japanese Unexamined Patent Publication No. 7-87829

However, in the conventional configuration, the harvested fruits are placed in a storage basket and released to the ground when the storage basket is full. Therefore, if the fruits are not released, the next harvesting operation cannot be performed and the fruits are released quickly. In addition to the fact that the storage basket interferes with other workers and work robots, the released storage basket must be collected by each person, which causes a problem that the collection work takes time. In addition, since the empty harvest basket must be manually set on the harvesting robot in a timely manner, there is a problem that it takes time and effort.

The present invention solves the above-mentioned conventional problems, and an object of the present invention is to provide a harvesting robot capable of efficiently performing a harvesting operation.

The main disclosure that solves the above-mentioned problems is
N (n is an integer of 3 or more) storage baskets arranged along the vertical direction,
Of the n storage baskets, the first gripping member that grips the lowest layer storage basket and
Of the n storage baskets, a second gripping member that grips the k (k is an integer of 2 or more and n or less) layer from the bottom layer, and
A lift mechanism for moving the first grip member or the second grip member up and down,
A harvesting mechanism that includes an arm to harvest the object,
With
The second gripping member is configured to variably configure the storage basket to be gripped from the n storage baskets.
Among the n storage baskets, the first gripping member supports the loaded bottom layer storage basket to the k-1th layer storage basket.
The second gripping member supports from the k-th layer storage basket to the n-th layer storage basket loaded among the n storage baskets.
It is a harvesting robot.

Also, in other aspects,
Two storage baskets arranged along the vertical direction,
Of the two storage baskets, the first gripping member that grips the lower layer storage basket and
Of the two storage baskets, a second gripping member that grips the upper storage basket and
A lift mechanism for moving the first grip member or the second grip member up and down,
A harvesting mechanism that includes an arm to harvest the object,
With
The lift mechanism moves the first gripping member or the second gripping member up and down so that a space is formed between the lower layer storage basket and the upper layer storage basket.
The harvesting mechanism stores the harvested object in the lower storage basket.
It is a harvesting robot.

As described above, according to the harvesting robot of the present invention, the harvesting operation can be performed efficiently.

Side view of the harvesting robot in the present disclosure Cross-sectional view of the process showing the harvesting operation in the first embodiment. Cross-sectional view of the process showing the harvesting operation in the second embodiment. Cross-sectional view of the process showing the harvesting operation in the third embodiment. Schematic top view showing the operation flow of the first gripping member in the present embodiment. The figure which shows the conventional harvesting robot described in Patent Document 1.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(Overall composition of harvesting robot)
FIG. 1 is a side view of the harvesting robot in the present disclosure. In FIG. 1, the harvesting mechanism 101 includes an arm 103, harvests fruits to be harvested, and puts them in a storage basket 102.

Since various harvesting methods have been conventionally proposed according to the type of fruit as the harvesting method by the harvesting mechanism 101, detailed description thereof will be omitted. An appropriate harvesting method is selected according to the type of fruit to be targeted.

The storage basket 102 is gripped by the second gripping member 109 and the first gripping member 108, respectively.

The arm 103 has a function of holding the harvested object at the tip. Specifically, the arm 103 has, for example, a vacuum suction mechanism for sucking and holding the fruit harvested by the harvesting mechanism 101, a case where the harvested fruit is put in and temporarily held, and the like. The mechanism may be arranged near the tip of the arm 103, and may be arranged at a position where the harvested object can be stored in the storage basket as described later.

The imaging device 104 images the harvested object for harvesting and also images the storage basket 102 placed on the ground.

The control device 105 identifies the position of the storage basket from the image data captured by the image pickup device 104, and controls to guide the self-propelled bogie 106 to the specified storage cage position.

The self-propelled bogie 106 is controlled by the control device 105 and travels by the wheels 107 arranged in the front and rear portions. The self-propelled vehicle 106 is generally called an AGV (Automated guided vehicle), and detailed description thereof will be omitted.

The first gripping member 108 grips the lowermost storage basket 102 of the stacked storage baskets 102.

The second gripping member 109 grips any storage basket 102 other than the storage basket 102 gripped by the first gripping member 108.

The storage basket 102 gripped by the second gripping member 109 and the first gripping member 108 is arranged coaxially in the vertical direction with respect to the ground.

The first lift mechanism 110 is controlled by the control device 105 to drive the first gripping member 108 up and down.

The second lift mechanism 111 is controlled by the control device 105 to drive the second grip member 109 up and down.

The second gripping member 109 and the first gripping member 108 are gripped by sandwiching the storage basket 102, and released by loosening the sandwiching. The second gripping member 109 and the first gripping member 108 may be controlled by the control device 105 in the gripping and releasing movements, or may be controlled by using other methods. For example, when an object to be gripped is detected by using a sensor or the like, the information may be directly fed back to drive the object.

The first gripping member 108 is located above the lowermost surface of the storage basket 102, and grips the storage basket 102 at a position where the distance between the lowermost surface of the first gripping member 108 and the lowermost surface of the storage basket 102 is a distance L. .. The first lift mechanism 110 is configured to be able to move the first grip member 108 until the distance between the lowermost surface of the first grip member 108 and the ground is equal to or less than the distance L.

Although not shown in FIG. 1, the first gripping member 108 is provided with a stopper 501. Details of the stopper 501 will be described later.

The operation of the harvesting robot configured as described above will be described with reference to FIGS. 2 to 5.

(Embodiment 1)
FIG. 2 is a process sectional view showing a harvesting operation in the first embodiment. The first embodiment assumes a harvesting operation by the main operation of the second lift mechanism 111. Although FIG. 2 illustrates the case where there are four storage baskets, any number of storage baskets may be used.

The movement of the second lift mechanism 111 described below is controlled by the control device 105.

First, as shown in FIG. 2A, the first gripping member 108 grips the lowermost storage basket 102 of the stacked storage baskets 102.

Next, the second gripping member 109 is lowered by the second lift mechanism 111, grips the second-stage storage basket 102 from the bottom, and rises (FIG. 2B). In this state, the harvesting operation is performed by the harvesting mechanism 101 shown in FIG.

Further, the arm 103 shown in FIG. 1 is inserted into the space formed at the space between the storage basket 102 gripped by the second gripping member 109 and the storage basket 102 one layer below the storage basket 102, and the harvested object is placed. It is stored in the storage basket 102 on the lowest layer. Specifically, the arm 103 releases the adsorption of the vacuum adsorption mechanism that adsorbs and holds the fruits harvested by the harvesting mechanism 101, or moves the fruits harvested from the case to the storage basket 102 by rotating or vibrating. To do.

Here, the arm 103 needs to be inserted at a distance between the storage basket 102 gripped by the second gripping member 109 and the storage basket 102 one layer below the storage basket 102. Therefore, the control device 105 determines the insertion height of the arm 103. For example, the control device 105 determines the insertion height of the arm 103 based on the position of the above-mentioned interval measured by using a camera or the like having an image sensor. Further, for example, the control device 105 determines the insertion height of the arm 103 based on the position of the second gripping member 109 measured by using a sensor or the like. More specifically, the control device 105 inserts the arm 103 at a position where it is estimated that the storage basket 102 gripped by the second gripping member 109 and the arm 103 do not interfere with each other.

When the bottom layer storage basket 102 is full, the second gripping member 109 is lowered, and all the storage baskets 102 are once stacked. Then, the second gripping member 109 releases the second-stage storage basket 102 from the bottom, raises the height of one storage basket 102, grips the third-stage storage basket 102 from the bottom, and rises (FIG. 2). (C)).

Here, the control device 105 determines that the storage basket 102 is full. The control device 105 determines, for example, that the storage basket 102 is full when the number of reciprocations of the arm 103 exceeds a preset number of times. Further, for example, the number of objects stored in the storage basket 102 is measured by using a camera or the like having an image sensor, and when the number of objects stored in the storage basket 102 exceeds a preset number, the storage basket 102 becomes full. Judge that. Further, for example, the weight of the storage basket 102 is measured using a weight scale or the like, and the control device 105 determines that the storage basket 102 is full when the weight exceeds a preset weight.

The harvesting operation that had been interrupted in this state is resumed, the arm 103 is inserted into the space formed above the storage basket 102 in the second stage from the bottom, and the harvested object is placed in the storage basket in the second stage from the bottom. Store in 102.

Hereinafter, the same procedure is repeated, and the transitions are as shown in FIG. 2 (d) and FIG. 2 (e). Finally, as shown in FIG. 2 (e), the second gripping member 109 is in a state of not gripping the storage basket 102. When the uppermost storage basket 102 of the loaded storage baskets 102 is full, the harvesting work is completed.

After that, the first gripping member 108 is lowered to lower the storage basket 102 to the ground. When lowering the storage basket 102 on the ground, it may be moved to an appropriate place.

In this way, the second gripping member 109, the first gripping member 108, and the second lift mechanism 111 for vertically driving the second gripping member 109 hold the plurality of storage baskets 102 in the respective storage baskets 102. Objects can be stored in sequence. Therefore, harvesting can be performed continuously, and harvesting efficiency is improved. Furthermore, the yield in one harvesting operation can be increased. Further, since the full storage basket 102 is not discharged to the ridges in a dotted manner, it is possible to reduce that the released storage basket 102 interferes with the work by other workers or work robots. .. Further, by releasing a plurality of full storage baskets 102 at one time, the collection efficiency of the stored harvest baskets 102 is improved. In addition, at the start of harvesting work, it is only necessary to load an empty storage basket, which is expected to save space and improve efficiency.

[effect]
As described above, the harvesting robot according to this embodiment is
N (n is an integer of 3 or more) storage baskets 102 arranged along the vertical direction, and
Of the n storage baskets 102, the first gripping member 108 that grips the lowest layer storage basket 102 and
Of the n storage baskets 102, the second gripping member 109 that grips the storage basket 102 in the k (k is an integer of 2 or more and n or less) layer from the bottom layer, and
A lift mechanism (110 or 111) that moves the first grip member 108 or the second grip member 109 up and down, and
A harvesting mechanism 101 including an arm 103 for harvesting an object, and
With
The second gripping member 109 is configured to variably configure the storage basket 102 to be gripped from the n storage baskets 102.
The first gripping member 108 supports the loaded bottommost storage basket 102 to the k-1th layer storage basket 102 among the n storage baskets 102.
The second gripping member 109 supports the loaded k-th layer storage basket 102 to the n-th layer storage basket 102 among the n storage baskets 102.

Therefore, according to the harvesting robot according to the present embodiment, since the object can be stored in the storage basket 102 while holding the plurality of storage baskets 102, the full storage baskets 102 are sequentially released to the ground. It is possible to continue the harvesting work without any problems. As a result, the harvesting operation can be performed efficiently.

In particular, in the harvesting robot according to the present embodiment, the lift mechanism (110 or 111) is such that a space is formed between the k-th layer storage basket 102 and the k-1st layer storage basket 102. 1 The gripping member 108 or the second gripping member 109 is moved up and down, and the harvesting mechanism 101 stores the harvested object in the storage basket 102 of the k-1 layer.

As a result, the harvesting operation can be performed efficiently.

(Embodiment 2)
FIG. 3 is a process sectional view showing a harvesting operation in the second embodiment. The second embodiment assumes a harvesting operation by the main operation of the first lift mechanism 110. Although FIG. 3 illustrates the case where the number of storage baskets 102 is three, any number of storage baskets 102 may be used. Further, the description of the parts common to the first embodiment may be omitted.

The movement of the first lift mechanism 110 described below is controlled by the control device 105.

First, as shown in FIG. 3, the first gripping member 108 grips the lowermost storage basket 102 of the stacked storage baskets.

Next, the first gripping member 108 is raised by the first lift mechanism 110, and stops at a position where the second gripping member 109 can grip the second-stage storage basket from the bottom. Then, the second gripping member 109 grips the second-stage storage basket from the bottom (FIG. 3 (b)).

Next, the first gripping member 108 is lowered by the first lift mechanism 110 to form a space above the lowermost storage basket (FIG. 3 (c)). In this state, the harvesting operation is performed by the harvesting mechanism 101 shown in FIG. Further, the arm 103 shown in FIG. 1 is inserted into the space formed at the space between the storage basket 102 gripped by the second gripping member 109 and the storage basket 102 one layer below the storage basket 102, and the harvested object is placed. It is stored in the storage basket 102 on the lowest layer.

When the storage basket 102 in the lowermost layer is full, the first gripping member 108 is raised so as to be in the state shown in FIG. 3B again. That is, the first gripping member 108 is raised so that there is no space between the storage basket 102 gripped by the second gripping member 109 and the storage basket 102 one layer below the storage basket 102. In this state, the storage basket 102 held by the second gripping member 109 is released, the storage basket 102 is raised by one storage basket, and the storage basket 102 in the third stage from the bottom is gripped. Then, the second gripping mechanism 109 is lowered to form a space above the storage basket 102 in the second stage from the bottom (FIG. 3 (d)).

The harvesting operation that had been interrupted in this state is resumed, the arm 103 is inserted into the space formed above the storage basket 102 in the second stage from the bottom, and the harvested object is placed in the storage basket in the second stage from the bottom. Store in 102.

The harvesting operation is completed when the uppermost storage basket 102 is full in the same manner (FIG. 3 (e)).

After that, the first gripping member 108 is lowered, and the storage basket 102 is lowered to the ground (FIG. 3 (f)).

In this way, the second gripping member 109, the first gripping member 108, and the first lift mechanism 110 for vertically driving the first gripping member 108 hold the plurality of storage baskets 102 in the respective storage baskets 102. Objects can be stored in sequence. Therefore, harvesting can be performed continuously, and harvesting efficiency is improved. Furthermore, the yield in one harvesting operation can be increased. Further, since the full storage basket is not discharged to the ridges in spots, it is possible to reduce that the released storage basket interferes with the work by other workers or the work robot. In addition, by releasing a plurality of full storage baskets at once, the collection efficiency of the stored harvest baskets is improved. In addition, at the start of harvesting work, it is only necessary to load an empty storage basket, which is expected to save space and improve efficiency.

(Embodiment 3)
FIG. 4 is a process sectional view showing a harvesting operation in the third embodiment. The third embodiment assumes a harvesting operation by a combined operation of the second lift mechanism 111 and the first lift mechanism 110. Although FIG. 4 illustrates the case where the number of storage baskets 102 is 5, any number of storage baskets 102 may be used. Further, the description of the parts common to the first embodiment or the second embodiment may be omitted.

The movements of the second lift mechanism 111 and the first lift mechanism 110 described below are controlled by the control device 105.

First, as shown in FIG. 4A, the first gripping member 108 grips the lowermost storage basket 102 of the stacked storage baskets 102.

Next, the first gripping member 108 is raised by the first lift mechanism 110 to lift the lowermost storage basket 102 to a predetermined height. Then, the second gripping member 109 is lowered by the second lift mechanism 111 to grip the harvest basket 102 in the second stage from the bottom (FIG. 4B). Here, the predetermined height means the position where the object can be stored in the lowermost harvesting basket 102 at the lowest position within the stroke range of the arm 103. As a result, the drive of the first lift mechanism 110 can be minimized. Further, it is not necessary to lift the stacked storage baskets 102 more than necessary, and the position of the center of gravity can be kept low. The predetermined height can be driven if it is higher than the above position. For example, in FIG. 4, the first lift mechanism 110 is raised above the above position.

Next, the second gripping member 109 is raised by the second lift mechanism 111 to form a space above the lowermost storage basket 102 (FIG. 4 (c)). In this state, the harvesting operation is performed by the harvesting mechanism 101 shown in FIG. Further, the arm 103 shown in FIG. 1 is inserted into the space formed at the space between the storage basket 102 gripped by the second gripping member 109 and the storage basket 102 one layer below the storage basket 102, and the harvested object is placed. It is stored in the storage basket 102 on the lowest layer.

When the lowermost storage basket 102 is full, the second gripping member 109 is lowered so that there is no space between the storage basket 102 gripped by the second gripping member 109 and the storage basket 102 one lower layer thereof. In this state, the storage basket 102 held by the second gripping member 109 is released, the second gripping member 109 rises by one storage basket, or the first gripping member 108 lowers by one storage basket, and the second grip member 109 lowers. The gripping member 109 grips the storage basket 102 at the third stage from the bottom. Then, the second gripping member 109 rises to form a space above the storage basket 102 in the second stage from the bottom (FIG. 4 (d)).

The harvesting operation that had been interrupted in this state is resumed, the arm 103 is inserted into the space formed above the storage basket 102 in the second stage from the bottom, and the harvested object is placed in the storage basket in the second stage from the bottom. Store in 102.

When the second-stage storage basket 102 from the bottom is full, the second gripping member is lowered again so that there is no space between the storage basket 102 gripped by the second gripping member 109 and the storage basket 102 one layer below the storage basket 102. To do. In this state, the storage basket 102 held by the second gripping member 109 is released, the second gripping member 109 rises by one storage basket, or the first gripping member 108 lowers by one storage basket, and the second grip member 109 lowers. The gripping member 109 grips the storage basket 102 at the fourth stage from the bottom. Then, the second gripping member 109 rises to form a space above the storage basket 102 in the third stage from the bottom (FIG. 4 (e)).

The harvesting operation that had been interrupted in this state is resumed. Hereinafter, the same procedure is repeated (FIG. 4 (f)), and the harvesting operation is completed when the uppermost storage basket 102 is full (FIG. 4 (g)).

After that, the first gripping member 108 is lowered, and the storage basket 102 is lowered to the ground (FIG. 4 (h)).

In this way, the second grip member 109, the first grip member 108, the second lift mechanism 111 that drives the second grip member 109 up and down, and the first lift mechanism 110 that drives the first grip member 108 up and down , While holding the plurality of storage baskets 102, the objects can be sequentially stored in the respective storage baskets 102. Therefore, harvesting can be performed continuously, and harvesting efficiency is improved. Further, the same effect as that of the first embodiment or the second embodiment can be obtained. Further, in the third embodiment, the stroke range of the arm 103 can be small, or the arm 103 can be moved in the same stroke range, so that the efficiency of the mechanism can be improved. Further, when a large number of storage baskets are stacked, the position of the center of gravity can be kept low, the safety can be improved, and the number of storage baskets that can be stacked can be increased.

FIG. 5 is a schematic top view showing an operation flow of the first gripping member 108 in the present embodiment. In addition, each configuration is simply illustrated in FIG.

The first gripping member 108 sandwiches the storage basket 102 placed on the ground in the first stage or the previous stage of the harvesting operation.

First, the image pickup device 104 takes an image of the storage basket 102 placed on the ground (FIG. 5 (a)). The control device 105 identifies the position of the storage basket 102 based on the image data captured by the image pickup device 104.

Next, the control device 105 drives the self-propelled bogie 106 so as to align the central axes of the storage basket 102 and the first gripping member 108 based on the position of the specified storage basket 102 (FIG. 5B).

Next, the control device 105 advances the self-propelled bogie 106 and stops it when the harvest basket 102 comes into contact with the stopper 501 (FIG. 5 (c)). The trigger to stop may be based on the image data from the image pickup apparatus 104, or the stopper 501 may be equipped with a contact sensor.

After that, the first gripping member 108 performs an operation of sandwiching the harvested harvest 102 (FIG. 5 (d)).

In this way, the first gripping member 108, the imaging device 104, the control device 105, and the self-propelled bogie 106 can automatically detect and grip the storage basket placed at an arbitrary position on the ground. it can. As a result, work efficiency can be further improved.

Although the number of arms 103 is one in the present embodiment, the harvesting mechanism 101 may have two arms. The larger the number of arms 103, the more efficiently the harvesting work can be performed.

Further, although the image pickup device 104 is supposed to specify the position of the harvested object and the position of the storage basket, each of them may have a dedicated image pickup device separately.

Further, the control device 105 may perform its function not only by a single computer but also by a plurality of computers.

Further, the second gripping member 109 and the first gripping member 108 are supposed to grip the storage basket 102, respectively, but in the case of the storage basket 102 with a brim, the structure may be such that the brim is hooked and lifted without chucking. Should be able to hold the storage basket 102.

The harvesting robot of the present disclosure can store an object in a plurality of storage baskets in sequence while holding a plurality of storage baskets, and also has a function of lowering and scooping up the stacked storage baskets on the ground, and harvesting in the field of agriculture. In addition to work, it can also be applied to automation of picking and parts serving work in the assembly process of industrial products.

101 Harvesting mechanism 102 Storage basket 103 Arm 104 Imaging device 105 Control device 108 First gripping member 109 Second gripping member 110 First lift mechanism 111 Second lift mechanism

Claims (8)

N (n is an integer of 3 or more) storage baskets arranged along the vertical direction,
Of the n storage baskets, the first gripping member that grips the lowest layer storage basket and
Of the n storage baskets, a second gripping member that grips the k (k is an integer of 2 or more and n or less) layer from the bottom layer, and
A lift mechanism for moving the first grip member or the second grip member up and down,
A harvesting mechanism that includes an arm to harvest the object,
With
The second gripping member is configured to variably configure the storage basket to be gripped from the n storage baskets.
Among the n storage baskets, the first gripping member supports the loaded bottom layer storage basket to the k-1th layer storage basket.
The second gripping member supports from the k-th layer storage basket to the n-th layer storage basket loaded among the n storage baskets.
Harvesting robot. The lift mechanism moves the first gripping member or the second gripping member up and down so that a space is formed between the k-th layer storage cage and the k-1st layer storage cage.
The harvesting mechanism stores the harvested object in the k-1 layer storage basket.
The harvesting robot according to claim 1. The harvesting mechanism arranges the arm in the space.
The harvesting robot according to claim 2. The second gripping member is allowed to release the gripping state of the k-th layer storage basket, and the k-th layer storage basket to the n-th layer storage basket of the k-1th layer storage basket After being supported by the first gripping member so as to be loaded on the top, t (t is an integer of 2 or more and n or less) from the bottom layer of the n storage baskets on the second gripping member. Further equipped with a control device for gripping the layered storage basket,
The harvesting robot according to any one of claims 1 to 3. Further equipped with a self-propelled trolley for running the harvesting robot,
The harvesting robot according to any one of claims 1 to 4. An imaging device that captures the surrounding area of the harvesting robot,
Based on the image taken by the image pickup device, the position of the storage basket placed on the ground is specified, the self-propelled trolley is guided to the specified position, and the storage basket is gripped by the first gripping member. A control device to make it, and further equipped,
The harvesting robot according to claim 5. The first gripping member grips the lowermost storage basket at a position where the distance between the lower surface of the storage basket and the lower surface of the first gripping member is L.
The lift mechanism is configured to be able to move the first gripping member until the distance between the lower surface of the first gripping member and the ground is L or less.
The harvesting robot according to any one of claims 1 to 6. Two storage baskets arranged along the vertical direction,
Of the two storage baskets, the first gripping member that grips the lower layer storage basket and
Of the two storage baskets, a second gripping member that grips the upper storage basket and
A lift mechanism for moving the first grip member or the second grip member up and down,
A harvesting mechanism that includes an arm to harvest the object,
With
The lift mechanism moves the first gripping member or the second gripping member up and down so that a space is formed between the lower layer storage basket and the upper layer storage basket.
The harvesting mechanism stores the harvested object in the lower storage basket.
Harvesting robot.

Images