JP2022059488A - Automatic harvesting device for vegetables, etc. - Google Patents

Abstract

To provide an automatic harvesting device that can stably harvest desired vegetables, etc.SOLUTION: An automatic harvesting device comprises a removing bar 10R for pushing down outer leaves in association with traveling of a crawler, a camera 40R for photographing broccoli, and an air blowing nozzle 20R for removing the outer leaves overlapping with surfaces of the broccoli by injecting air toward the broccoli in preparation for the photographing. The camera is arranged on a rotation center line of a cutter part for cutting the outer leaves of the broccoli.SELECTED DRAWING: Figure 3

Description

The present invention relates to an automatic vegetable harvesting apparatus for automatically selecting and harvesting vegetables or fruits such as broccoli.

This kind of automatic harvesting device for vegetables is attracting attention as it can contribute to solving the labor shortage and management problems of modern agriculture. The applicant has a function of targeting broccoli, expanding the outer leaves of the broccoli to expose the relevant surface of the broccoli, grasping the growing condition of the broccoli from the photographed image, and determining whether or not to harvest the broccoli. We proposed an automatic vegetable harvesting device (Patent Document 1 etc.).

Japanese Patent No. 6218905

However, in the case of the above conventional example, the following problems have been pointed out. First, since broccoli has a large variation in growth, it may not be possible to spread its outer leaves well by a mechanism using a flat brush. Secondly, because the camera for determining whether to harvest broccoli and the mechanism for cutting the outer leaves were located apart from each other, the mechanism was displaced with respect to the broccoli, and the same was accompanied by this. Broccoli could be scratched by the mechanical cutter. Thirdly, since the harvested broccoli was dropped on the field, it was necessary to pick it up and carry it. Fourth, the mechanism for spreading the outer leaves of broccoli was large, making assembly difficult.

Since such a problem is inherent, not only the desired broccoli cannot be stably harvested, but also it is difficult to improve the performance and reduce the cost of the apparatus. It is presumed that such a problem is pointed out in the device for harvesting vegetables and fruits other than broccoli.

The present invention has been conceived under the above-mentioned background, and an object of the present invention is to provide an automatic vegetable harvesting apparatus capable of stably harvesting desired vegetables and the like. ..

The automatic vegetable harvesting apparatus according to the present invention is an apparatus for selecting and automatically harvesting broccoli and other vegetables or fruits, and has a photographing unit for photographing the vegetables and the like and the vegetables in preparation for the photographing. It is provided with a fluid injection unit that injects air or other fluid toward the vegetables or the like to remove leaves or other photographing obstacles that overlap the surface of the vegetables or the like.

In the case of an automatic vegetable harvesting device having such a configuration, since the structure is such that the shooting obstacles such as leaves overlapping on the surface of the vegetables are removed by the fluid injection method, there are variations in the growth of the vegetables and the like. It is possible to effectively remove shooting obstacles even when the size is large. As a result, it is possible to accurately grasp the growing state of vegetables and the like, and in this respect, it becomes possible to stably harvest desired vegetables and the like. In addition, due to the method, the mechanism for removing shooting obstacles has become simple, and it has become possible to facilitate assembly. Therefore, it is possible to improve the performance and reduce the cost of the device.

Preferably, it is desirable to further include a stem cutting portion for cutting the stem of the vegetable or the like to be harvested and a harvesting portion for harvesting the vegetable or the like.

In the case of an automatic harvesting device for vegetables, etc. with such a configuration, since the vegetables, etc. with cut stems are transferred to the harvesting section, the harvesting of vegetables, etc. is fully automatic, and in this respect, the device has high performance. It has become possible to further improve the quality.

When the vegetable is broccoli and the photographing obstacle is the outer leaf of broccoli, the configuration is further provided with a contact portion that pushes down the outer leaf as the traveling vehicle travels, and the fluid injection portion is the contact portion. It is desirable to have a configuration in which the outer leaf of the broccoli that tries to return to the original state away from contact with the broccoli is expanded by injecting the fluid.

In the case of an automatic vegetable harvesting device having such a configuration, the outer leaves of broccoli come into contact with the contact portion and are pushed down, and then separated from the contact portion and returned to the original state. In this process, the fluid hits the surface of the outer leaf, which makes it possible to effectively spread the outer leaf. In this respect, it has become possible to further improve the performance of the equipment.

Preferably, a leaf removing portion for removing the outer leaves of the broccoli and a moving portion for moving the leaf removing portion to set it on the broccoli to be harvested are further provided, and the photographing portion is attached to the leaf removing portion. It is desirable to have an arranged configuration.

In the case of an automatic vegetable harvesting device having such a configuration, the positional relationship between the leaf removing section and the photographing section is the same, so that the accuracy of the position control of the leaf removing section with respect to broccoli is good. As a result, it is possible to remove the outer leaves of the broccoli without damaging it. In this respect, it has become possible to further improve the performance of the equipment.

Preferably, the leaf removing portion has a cylindrical shape as a whole, and has a cutter portion for cutting the outer leaf of the broccoli while surrounding the broccoli, and a rotation driving portion for rotating the cutter portion. It is desirable to have a structure in which the photographing unit is arranged on the rotation center line of the cutter unit.

In the case of an automatic vegetable harvesting apparatus having such a configuration, the configuration of the leaf removing portion including the photographing portion is simplified and its assembly is easy. In this respect, it has become possible to further improve the performance and cost of the device.

Preferably, the stem cutting portion is an opening / closing arm mechanism disposed adjacent to the harvesting portion, and is between a pair of arms capable of sandwiching and holding the broccoli on the tip side and the pair of arms. A support portion that is arranged and supports the arm so that it can be opened and closed, an opening / closing portion that opens and closes the pair of arms, and a tip portion of one of the pair of arms that is provided and cuts the stem of the broccoli. A blade for this purpose, a contact portion provided at the other tip of the pair of arms and in contact with a part of the broccoli, and a transfer portion for transferring the broccoli to the harvesting portion. Is desirable.

In the case of the automatic harvesting device for vegetables and the like having such a configuration, since the configuration is a single-edged method, not only the cut surface of the stem is clean, but also the number of parts is reduced and maintenance is easy. In addition, since the broccoli stem is cut and transferred to the harvesting section immediately after cutting, the harvesting work becomes easier. In this respect, it becomes possible to further improve the performance and cost of the device.

Preferably, the transfer portion is provided with a fly plate that can abut on the side of the broccoli and a swingable fly plate at the other central portion of the pair of arms, and the fly plate is provided on the tip side. The support arm portion has an elastic body interposed between the base end side of the support arm portion and the support portion, and the pair of arms are closed to cut the broccoli stalk. It is desirable that the flying plate is moved by the elastic force of the elastic body and the broccoli is blown toward the harvesting portion.

In the case of an automatic vegetable harvesting device with such a configuration, the broccoli is skipped to the harvesting section and transferred as the pair of arms closes, the number of parts is small, the overall configuration is simple, and maintenance is also possible. It will be easy. In this respect, it becomes possible to further improve the performance and cost of the device.

It is a partially omitted perspective view of the automatic vegetable harvesting apparatus which concerns on embodiment of this invention. It is a bottom view of the traveling bogie. It is a perspective view which showed the blower nozzle, the leaf cut mechanism, etc. of the apparatus. It is a schematic block diagram for explaining the structure of the leaf cut mechanism of the apparatus, (a) is a side view of the mechanism, (b) is a bottom view of the part such as a cutter part included in the mechanism. .. It is a perspective view of the stem cutting mechanism of the apparatus. It is a schematic diagram for explaining the function of the removal bar and the blower nozzle of the apparatus, (a) is the figure which showed the broccoli which grows in a field, (b) shows how the broccoli is pushed down by the removal bar. Figure (c) is a diagram showing how the outer leaves of broccoli are expanded by air. It is a figure for demonstrating the function of the stalk cutting mechanism and the skipping mechanism of this apparatus, (a) is the figure which showed the state before the broccoli stalk was cut, (b) is the state just before cutting. The figure shown and (c) are the figure which showed the state immediately after cutting.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. As shown in FIG. 1, the automatic vegetable harvesting device A according to the present embodiment is an device that selects and automatically harvests broccoli 1 (corresponding to vegetables), and is operated by an operator. The crawler 100 (corresponding to a traveling trolley) capable of traveling on the field at a constant speed is provided. The apparatus A measures the size of the flower bud 11 of the broccoli 1 by image recognition, and when it is determined that the size is equal to or larger than a predetermined size, the outer leaves 12 and the stem 13 of the broccoli 1 are sequentially cut and harvested. The broccoli 1 has a function of accommodating the broccoli 1 in a container 111 mounted on a carrier 110 connected to the rear of the crawler 100. In addition, in order to accurately measure the size of the flower bud 11 of broccoli 1, as a preparation before shooting, the outer leaf 12 (corresponding to a shooting obstacle) partially overlapping the surface of the flower bud 11 of broccoli 1 is spread out. It also has a function of exposing the flower bud 11 (a function of removing the outer leaf 12 which is an obstacle in photographing the flower bud 11).

The device A is a device for two-row harvesting, and as shown in FIG. 2, the following main components are arranged at symmetrical positions in the crawler 100. The number of the component located on the right side is represented by adding R at the end, while the number of the component located on the left side is represented by adding L at the end.

The device A is provided at a position where it can come into contact with the outer leaf 12 of the broccoli 1, and removes bars 10R and 10L (corresponding to the contact portion) that push down the outer leaf 12 as the crawler 100 travels, and the broccoli 1. The cameras 40R and 40L (corresponding to the shooting part) to be photographed and the air α (corresponding to the fluid) are ejected toward the broccoli 1 in preparation for the photography to spread the outer leaves 12 overlapping on the surface of the flower buds 11. Broccoli 1 by moving the blower nozzles 20R, 20L (corresponding to the fluid injection part), the leaf cutting mechanism 30L, 30R (corresponding to the leaf removing part) for removing the outer leaf 12 of the broccoli 1, and the leaf cutting mechanism 30L, 30R. The moving mechanisms 50L and 50R (corresponding to the moving part) to be set in, the stem cutting mechanisms 60L and 60R (corresponding to the stem cutting part) for cutting the broccoli 1 stem 13, and the transport conveyor 80 (harvesting part) for harvesting the broccoli 1. , And skipping transfer mechanisms 70L, 70R (corresponding to the transfer section) for transferring the broccoli 1 from which the stem 13 has been cut to the transfer conveyor 80. Further, the crawler 100 is provided with a controller 90 that controls each component of the device A.

The removal bar 10R is a cylindrical roller as shown in FIGS. 2 and 3, and is laterally attached to a position on the front right side of the crawler 100. The removal bar 10R is arranged at a height position where only the tip portion of the outer leaf 12 can be contacted without contacting the flower bud 11 of the broccoli 1, and the height can be adjusted by a handle mechanism (not shown). The removal bar 10L has the same configuration.

As shown in FIGS. 2 to 4, the camera 40R is provided at the rear position of the removal bar 10R in the crawler 100 and directly downward for shooting the broccoli 1, specifically. It is arranged inside the leaf cutting mechanism 30R. Details will be described later. The camera 40L has the same configuration.

As shown in FIG. 3, the blower nozzle 20R is attached near the upper side of the removal bar 10R in the crawler 100, and is configured to constantly inject the air α sent from the blower blower 21R. In order to effectively spread the outer leaf 12 of the broccoli 1, the air outlet of the nozzle tip is a rectangular shape extending laterally, and the nozzle tip is directed diagonally backward and downward. The blower nozzle 20L has the same configuration.

As shown in FIG. 4, the leaf cutting mechanism 30R is held movably in three dimensions (XYZ) by the moving mechanism 50R. Specifically, a cutter portion 31R that has a cylindrical shape as a whole and cuts the outer leaf 12 of the broccoli 1 while surrounding the flower bud 11 of the broccoli 1, and a rotation drive portion 32R that rotates the cutter portion 31R. The camera 40R is arranged on the rotation center line of the cutter portion 31R. The leaf cutting mechanism 30L has the same configuration.

The cutter portion 31R is pivotally supported by a moving table 551R of the moving mechanism 50R, and has a configuration in which a downward blade 311R and a lateral blade 312R are attached to a shaft-shaped support shaft portion 313R at 120-degree pitch intervals. There is. The downward blade 311R is designed to cut the outer leaf 12 extending mainly laterally in the broccoli 1, while the lateral blade 312R mainly cuts the outer leaf 12 extending upward in the broccoli 1. Is designed to be disconnected. The camera 40R is fixed to the tip end side of the hanging portion 41R and is movably arranged inside the base end side of the support shaft portion 313R. The photographing lens portion of the camera 40R is exposed through the opening 314R formed in the center of the lower surface of the support shaft portion 313R.

The rotation drive unit 32R is a mechanism including a motor, a deceleration mechanism, a timing belt, and the like, and is provided on the movement table 551R of the movement mechanism 50R. That is, the timing belt is hung around the outer peripheral surface of the support shaft portion 313R, and when the motor is driven, the cutter portion 31R is rotated at a predetermined speed.

The moving mechanism 50R is a three-axis moving mechanism provided near the stem cutting mechanism 60R in the crawler 100, and the moving portion 55R to which the moving table 551R is attached and the moving table 551R are vertically oriented (Z-axis). A guide unit 54R that movably supports the moving table 551R, a linear driving unit 53R that can move the moving table 551R along the Z axis, a linear driving unit 52R that can move the moving table 551R along the Y axis, and a moving table 551R. Has a linear drive unit 51R that moves along the X axis. That is, the cutter portion 31R is moved and set in the broccoli 1, and the flower buds 11 can be inserted between the downward blades 311R.

The stem cutting mechanism 60R and the skipping transfer mechanism 70R are opening / closing arm mechanisms arranged at the rear position of the moving mechanism 50R in the crawler 100 and adjacent to the horizontal portion 81 of the transport conveyor 80. The configuration of the stem cutting mechanism 60R will be described with reference to FIG. However, what is shown in FIG. 5 is exactly the stem cutting mechanism 60L. Specifically, a pair of arms 61 that can hold the broccoli 1 on the tip side, and an arm 611 (corresponding to one arm) and an arm 612 (corresponding to the other arm) constituting the pair of arms 611. A support portion 62 that is arranged between the arms and supports the pair of arms 61 so as to be openable and closable in the direction of the arrow in the figure, electric cylinders 63 and 63 (corresponding to the opening and closing portions) that open and close the pair of arms 61, and the tip of the arm 611R. A plate-shaped blade 64 for cutting the broccoli 1 stalk 13 provided in the portion, and an L-shaped cross section provided at the tip of the arm 612 and in contact with the opposite surface of the broccoli 1 stalk 13. It is configured to have a contact portion 65 and a skip transfer mechanism 70 for transferring the broccoli 1 to the horizontal portion 81 of the transfer conveyor 80. The support portion 62 is an angle member that pivotally supports a pair of arms 61 in an inverted V shape, and electric cylinders 63 and 63 are attached to the upper side thereof. The stem cutting mechanism 60L has the same configuration as the above-mentioned one except that the left and right sides are reversed.

The configuration of the skip transfer mechanism 70R will be described with reference to FIG. However, what is shown in FIG. 5 is exactly the skip transfer mechanism 70L. Specifically, a flying plate 71 capable of contacting the side of the broccoli 1 and a support arm portion 72 provided so as to be swingable in the central portion of the arm 612 and provided with the flying plate 71 on the tip side. It has a shock absorber 73 (corresponding to an elastic body) interposed between the base end side of the support arm portion 72 and the support portion 62. The support arm portion 72 and the shock absorber 73 form a link mechanism. The support arm portion 72 is held by the support member 6121 attached to the arm 612 and can swing.

The operation of the stem cutting mechanism 60 and the skipping transfer mechanism 70 will be described with reference to FIG. 7. In the initial state of the electric cylinders 63, 63, as shown in FIG. 7A, the pair of arms 61 is in the open state, the contact portion 65 and the blade 64 are opened, and the broccoli 1 passes through. It is possible.

When the electric cylinders 63 and 63 operate and the rod extends, the pair of arms 61 is closed and the broccoli 1 is between the contact portion 65 and the blade 64, as shown in FIG. 7 (b). Stem 13 is sandwiched. In this state, the flying plate 71 abuts mainly on the side surface of the flower bud 11 of the broccoli 1 and is sandwiched between the broccoli 1 and the tip end portion of the arm 611. When the flying plate 71 is pushed back and slightly moved, the shock absorber 73 contracts accordingly, and elastic energy is stored. After that, when the stem 13 of the broccoli 1 is cut by the blade 64, the elastic energy of the shock absorber 73 is released, and the elastic force at that time causes the flying plate 71 to be as shown in FIG. 7 (c). It moves in the opposite direction, and the momentum causes the broccoli 1 to be blown toward the horizontal portion 81 of the transport conveyor 80. The elastic force of the shock absorber 73 is set to a value suitable for the broccoli 1 to be blown to a position where it can be received by the horizontal portion 81. The same applies to the stem cutting mechanism 60L and the skipping transfer mechanism 70L.

The conveyor 80 is a device that receives the broccoli 1 skipped by the skipping transport mechanisms 70R and 70L and transports the broccoli 1 to the container 111 on the transport vehicle 110, and is provided at the center of the crawler 100 in the front-rear direction. There is. The transport conveyor 80 is composed of a horizontal portion 81 that transports the harvested broccoli 1 in the horizontal direction and an inclined portion 82 that subsequently transports the harvested broccoli 1 in the diagonally upward direction, so that the harvested broccoli 1 can always be transported to the container 111. It has become. The horizontal portion 81 is located between the skipping transfer mechanism 70R and the skipping transfer mechanism 70L in the crawler 100, but the inclined portion 82 extends from the lower position of the crawler 100 to the upper position of the carrier 110.

The controller 90 performs image recognition processing based on the captured image of the camera 40R, and performs the following processing. First, it is determined whether or not the flower bud 11 of broccoli 1 is included in the captured image of the camera 40R. When it is determined that it is contained, the size of the flower bud 11 is measured, and when the measurement result exceeds a predetermined standard, it is determined that the flower bud is a harvest target. When it is determined that it is not a harvest target, the leaf cutting mechanism 30R or the like is not operated and the broccoli 1 is passed through, while when it is determined that it is a harvest target, the leaf cutting mechanism 30R is moved from the initial position. That is, the linear drive units 51R and 52R of the moving mechanism 50R are operated so that the center position of the flower bud 11 coincides with a predetermined reference position in the captured image of the camera 40R. When the center position of the flower bud 11 coincides with a predetermined reference position in the captured image of the camera 40R, the linear drive unit 53R of the moving mechanism 50R is operated by a predetermined amount. Then, the cutter portion 31R of the leaf cutting mechanism 30R is set in the broccoli 1. Since the rotary drive unit 32R is constantly driven, the outer leaf 12 of the broccoli 1 is cut by the cutter unit 31R. After that, the leaf cutting mechanism 30R is returned to the initial position.

The stem cutting mechanism 60R is operated as described above after a predetermined time has elapsed from the time when the outer leaf 12 of the broccoli 1 is cut by the leaf cutting mechanism 30R. Then, the stem 13 of the broccoli 1 is cut, and then the broccoli 1 is conveyed to the conveyor 80 by the skipping transfer mechanism 70R. The control of the leaf cutting mechanism 30L and the like based on the image data of the camera 40L by the controller 90 is the same as described above, and the two processes are performed in parallel.

In the automatic vegetable harvesting apparatus A, in order to accurately determine whether or not to harvest broccoli 1, the outer leaves 12 partially overlapped on the surface of the flower buds 11 of the broccoli 1 are spread to completely spread the flower buds 11. Although it has a function of exposing, the principle thereof will be described with reference to FIG.

When the crawler 100 passes over the broccoli 1 on the field shown in FIG. 6 (a), the tip of the outer leaf 12 of the broccoli 1 is removed as shown in FIG. 6 (b). It comes into contact with the bar 10R and is pushed forward. After that, when the tip of the outer leaf 12 pushed forward is separated from the removal bar 10R, the elasticity of the outer leaf 12 itself pushes it back to the original position as shown in FIG. 6 (c). return.

Due to the positional relationship between the removal bar 10R and the blower nozzle 20R, the air α directly hits the surface of the outer leaf 12 in the process of pushing back the outer leaf 12. Moreover, since the direction in which the air α hits is diagonally downward and the injection range of the air α is widened, there is no particular problem even if the broccoli 1 has variations in growth, and the outer leaves 12 can be effectively expanded. Become.

In the case of the automatic vegetable harvesting apparatus A according to the above embodiment, even when the growth variation of broccoli 1 is large, the outer leaves 12 can be effectively expanded by the injection of air α, and the broccoli 1 can be spread. It becomes possible to accurately grasp the breeding state. Further, since the accuracy of the position control of the leaf cutting mechanism 30R is improved, the flower bud 11 of the broccoli 1 is not damaged unlike the conventional case. In addition, since the stem 13 of broccoli 1 is cut by the single-edged method, the cut surface is clean. As a result, it becomes possible to stably harvest the desired broccoli 1. Further, since the broccoli 1 from which the outer leaves 12 and the stems 13 have been cut is automatically housed in the container 111, the harvesting work becomes easier unlike the conventional case. In particular, since the configuration of the device A is simple, the number of parts is small and it is easy to assemble. Further, since the camera 40R is located inside the base end side of the support shaft portion 313R, the cutting chips generated when cutting the outer leaf 12 of the broccoli 1 hardly adhere to the photographing lens portion of the camera 40R. Easy maintenance. Therefore, it has become possible to significantly improve the performance and cost of the device A.

The automatic vegetable harvesting apparatus according to the present invention is not limited to the above embodiment, and the harvesting target includes vegetables such as cauliflower, cabbage, and watermelon, and fruits such as oranges, apples, and melons other than vegetables. Specific examples of the obstacles to photography in these cases include leaves covered with the surface of vegetables and the like or branches around the leaves. As for the basic configuration of the device suitable for harvesting such fruits, a form of automatically harvesting by a robot arm or the like equipped on a traveling carriage can be considered. Not only the size of vegetables, but also the presence or absence of pest damage, diseases, etc. may be determined, and the vegetables may be divided into ranks and harvested in containers.

As for the fluid injection part, not only a gas such as air but also a liquid such as water may be used as the fluid, and it is sufficient if the structure is such that the fluid can be injected toward vegetables, etc. It may be in a form of removing soil or the like adhering to the surface of the above. The design of the nozzle for injecting the fluid may be appropriately changed according to the shape, size, etc. of vegetables, etc., and a plurality of fluids may be injected from different directions.

The contact portion may be configured to rotate a member that comes into contact with leaves such as vegetables, or may be omitted as long as the imaging obstacle can be removed only by the fluid injection portion.

As for the photographing unit, it is sufficient if it is possible to photograph vegetables and the like, and it may be attached to the outside of the traveling carriage.

The design of the leaf removing portion may be appropriately changed according to the shape of leaves such as vegetables, and the form may be omitted for objects that do not require cutting of leaves.

The design of the stem cut portion may be appropriately changed according to the shape of the stem of vegetables or the like. For example, when the stem of an object such as vegetables is buried in the soil, it is integrated with a member for digging up, and when it is a fruit that bears fruit on a tree branch, it is provided on the tip side of a robot arm or the like. It is preferable to open and close the cutter and to provide it on the tip side of the robot arm or the like.

A Automatic vegetable harvesting device 10L, 10R Removal bar (contact part)
20L, 20R blower nozzle (fluid injection part)
30L, 30R Leaf cutting mechanism (leaf removal part)
40L, 40R camera (shooting section)
50L, 50R movement mechanism (moving part)
60L, 60R Stem cutting mechanism (stem cutting part)
70L, 70R Flying transfer mechanism (transfer section)
80 Conveyor conveyor (harvesting section)
90 Controller 100 Traveling trolley 1 Broccoli (vegetables)
11 Flower buds 12 Outer leaves (photographing obstacles)
13 Stem α air (fluid)

The automatic vegetable harvesting apparatus according to the present invention is an apparatus for selecting and automatically harvesting broccoli and other vegetables or fruits, and has a photographing unit for photographing the vegetables and the like and the vegetables in preparation for the photographing. It is provided with a fluid injection unit that injects air or other fluid diagonally downward toward the vegetables or the like to remove leaves or other imaging obstacles that overlap the surface of the vegetables or the like.

Claims (7)

In an automatic vegetable harvesting device that sorts and automatically harvests broccoli and other vegetables or fruits, an imaging unit that photographs the vegetables, etc., and air or other fluid toward the vegetables, etc. in preparation for the imaging. An automatic vegetable harvesting device characterized by being provided with a fluid injection unit that sprays and removes leaves and other shooting obstacles that overlap the surface of the vegetables. The automatic vegetable harvesting apparatus according to claim 1, further comprising a stem cutting portion for cutting the stem of the vegetable or the like to be harvested and a harvesting portion for harvesting the vegetable or the like. Device. In the automatic vegetable harvesting apparatus according to claim 1 or 2, when the vegetable is broccoli and the photographing obstacle is the outer leaf of broccoli.
It is further provided with a contact portion that is provided at a position where it can come into contact with the outer leaf of the broccoli and pushes down the outer leaf as the traveling carriage travels, and the fluid injection portion is separated from the contact with the contact portion to be the original. An automatic vegetable harvesting device characterized in that the outer leaves of the broccoli that are about to return to the state are expanded by injecting the fluid. The automatic vegetable harvesting apparatus according to claim 3 further includes a leaf removing section for removing the outer leaves of the broccoli and a moving section for moving the leaf removing section to set the broccoli to be harvested. An automatic vegetable harvesting apparatus characterized in that the photographing portion is arranged in the leaf removing portion. In the automatic vegetable harvesting apparatus according to claim 4, the leaf removing portion has a cylindrical shape as a whole, and a cutter portion for cutting the outer leaves of the broccoli while surrounding the broccoli, and the cutter. An automatic vegetable harvesting apparatus having a rotation driving unit for rotating a portion, and having a configuration in which the photographing portion is arranged on the rotation center line of the cutter portion. In the automatic vegetable harvesting apparatus according to claim 2, wherein the vegetable is broccoli and the photographing obstacle is the outer leaf of broccoli, the stem cutting portion is arranged adjacent to the harvesting portion. An arm mechanism, a pair of arms that can hold the broccoli on the tip side, a support portion that is arranged between the pair of arms and supports the arm so that it can be opened and closed, and the pair of arms. An opening / closing portion for opening and closing, a blade provided at one tip of the pair of arms and for cutting the broccoli stem, and a blade provided at the other tip of the pair of arms. An automatic vegetable harvesting apparatus having a structure having a contact portion that abuts on a part of broccoli and a transfer portion that transfers the broccoli to the harvesting portion. In the automatic vegetable harvesting apparatus according to claim 6, the transfer portion is provided so as to be swingable on a flying plate capable of contacting the side of the broccoli and a central portion of the other of the pair of arms. It has a support arm portion provided with the skip plate on the tip end side and an elastic body interposed between the base end side of the support arm portion and the support portion, and the pair of arms is closed to close the broccoli. An automatic vegetable harvesting apparatus characterized in that the flying plate is moved by the elastic force of the elastic body when the stalk is cut and the broccoli is blown toward the harvesting portion.

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