JP2603767B2 - Fruit and vegetable harvesting hand - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an opening for introducing fruits and vegetables at a tip end thereof, and is supported so as to be displaceable outward so that the introduction opening is widened by the reaction of the pressing force on the fruits and vegetables. A capturing unit case, a displacement detection unit that detects the amount of outward displacement of the capturing unit case, a capturing unit that can be switched between a state in which fruits and vegetables are held and a state in which the fruits and vegetables are released, and the capturing unit that includes the introduction unit. Moving means for relatively moving the capturing section and the capturing section case so as to switch from a capturing action position protruding to the outside through a mouth to a retreat position in which the capturing section retreats a set distance into the capturing section case; and the displacement detecting means. And a setting means for setting the set distance based on the above information.

[0002]

2. Description of the Related Art In a fruit and vegetable harvesting hand as described above, fruits and vegetables are taken into a catching unit case and then the handle of the fruits and vegetables is cut. At this time, it is desirable that the set distance appropriately corresponds to the size of the fruits and vegetables. Therefore, it is conceivable to determine that the larger the displacement amount is, the larger the captured fruits and vegetables are, and to set the larger set distance. Conventionally, the larger the peak value of the displacement amount is, the larger the set distance is set.

[0003]

However, even when the size of fruits and vegetables is the same as a whole, the peak value of the displacement may be different depending on the shape and the like. Conversely, when the sizes of the fruits and vegetables are different, the peak values of the displacement amounts may match. That is, in the above-described conventional technology, the size of the fruits and vegetables and the set distance are not always proportional. As a result, there is a possibility that operations such as cutting of the handle of fruit and vegetables cannot be performed properly. An object of the present invention is to solve the above-mentioned conventional drawbacks and to obtain a fruit and vegetable harvesting hand excellent in harvesting performance capable of appropriately performing operations such as cutting a handle by setting the set distance according to the size of fruit and vegetable. It is in.

[0004]

In order to attain this object, a feature of the fruit and vegetable harvesting hand according to the present invention is that a distance detecting means for detecting the relative movement distance from the capturing action position is provided, The setting means sets the greater the set distance as the value obtained by integrating the displacement amount with respect to the relative movement distance increases.

[0005]

By integrating the displacement amount with respect to the relative movement distance, it can be expected that the size of the fruit and vegetables can be accurately detected regardless of the shape and the like of the fruit and vegetables. as a result,
The set distance can be set to an appropriate value.

[0006]

According to the present invention, since the set distance can be set to an appropriate value, it is possible to obtain a fruit and vegetable harvesting hand excellent in harvesting performance and capable of appropriately performing operations such as cutting of a fruit and vegetable pattern.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a fruit harvester will be described below with reference to the drawings. As shown in FIG. 9, a vehicle body V having a pair of left and right traveling wheels 1
A boom 2 is mounted so as to be able to move up and down and rotate freely, and an auxiliary boom 3 is mounted at the tip of the boom 2 so as to be swingably driven in the horizontal direction, and a work manipulator provided with a hand H for harvesting fruits. 4 is attached to the tip of the auxiliary boom 3. In the figure, reference numeral 5 denotes a hydraulic cylinder for raising and lowering the boom, 6 denotes a hydraulic cylinder for turning the boom, and 7 denotes a hydraulic cylinder for swinging the auxiliary boom.

The working manipulator 4 comprises an articulated telescopic arm 8 and a hand H attached to the distal end of the telescopic arm 8. The telescopic arm 8 is turned around the vertical axis Y by the electric motor 9a, rocked around the horizontal axis X by the electric motor 9b, and further expanded and contracted by the electric motor 9c. It is configured as follows.

The hand H will now be described. As shown in FIGS. 6 to 8, a vacuum pad 10 as a catching unit for adsorbing a fruit F to be harvested is provided at the tip of the hand H.
The catching unit case 12 for covering the fruit F adsorbed to the suction port 10a of the vacuum pad 10 and the handle portion of the fruit F taken in the catching unit case 12 are cut in a state of being vertically sandwiched. A pattern cutting device 13 is provided.

The vacuum pad 10 will be described in more detail. The vacuum pad 10 is formed in a bellows shape, and is attached to the ventilation pipe 11 so as to be capable of changing its direction and being urged forward to return. Also, three air cylinders 21 and three proximity switches S4, which are respectively connected to the suction port 10a at the distal end portion via wires 22, are attached to the ventilation pipe 11. The air cylinders 21 and the proximity switches S4 are alternately arranged on the same circumference every 60 degrees. Also, the proximity switch S of the suction port 10a
Protrusions 10b are provided at positions opposing the suction pipe 4, respectively, so that the retreating movement of the suction port 10a with respect to the ventilation pipe 11 is separately detected. Each wire 22 is provided with a spring 18 for urging the vacuum pad 10 forward. Also, a spring 19 is similarly provided on the rod 21a of each air cylinder 21. By the way, 3
By moving the air cylinders 21 at the same time,
The suction port 10a can be moved back and forth with respect to the ventilation pipe 11 in a state where the suction port 10a faces forward. In addition, one or two air cylinders 21 are retired, and another air cylinder 21 is retired.
The direction of the vacuum pad 10 with respect to the ventilation tube 11 can be changed by extending the length. In the figure, S1 is a color image sensor for picking up an image of a fruit F located in a direction facing the work hand H, and S2 detects that the work hand H has approached the work target fruit F within a predetermined distance. These two sensors S1 and S2 are provided inside the vacuum pad 10 so as not to hinder the approach or the fruit harvest. Reference numeral 15 denotes an illuminating device for illuminating the front side of the working hand H with a set amount of light in synchronization with the imaging process of the image sensor S1, and a so-called strobe light emitting device is generally used. .

The catching case 12 has a base end portion 12a which is slidably movable in the front-rear direction of the hand and which is externally supported on the ventilation pipe 11, and a vertical and horizontal direction in which a fruit and vegetable introduction opening d is open at the distal end. It comprises four divided covers 12b to 12e. The upper and lower covers 12b, 12c are attached to the base end portion 12a so as to be able to swing back and forth about the axis of the horizontal axis, and the covers 12d, 12e are left and right about the axis of the vertical axis. Each of the covers 12b to 12e is urged by springs 17a and 17b to the side that narrows the inlet port d. That is, each of the covers 12b to 12e is supported so as to be displaceable outward so that the introduction port d is widened by the reaction of the pressing force on the fruits and vegetables. Until the vacuum pad 10 adsorbs the fruit F, the vacuum pad 10 is retracted to the capturing position where it protrudes outside through the introduction port d so as not to hinder the approach, and the vacuum pad 19 adsorbs the fruit F. Thereafter, the vacuum pad 10 is made to protrude to the retreat position where the set distance L retreats into the capturing unit case 12 so as to cover the fruit F that is adsorbed. A linear potentiometer P1 for detecting a relative moving distance from the capturing action position is attached to a cylinder 23 that slides the capturing unit case 12 in the front-rear direction of the hand, and left and right covers 12d and 12e are provided at rear ends of the left and right covers 12d and 12e. Cover 12d, 1
A rotary potentiometer P2 for detecting the outward displacement of 2e is additionally provided. That is, the cylinder 23 corresponds to the moving means, the linear potentiometer P1 corresponds to the distance detecting means, and the rotary potentiometer P2 corresponds to the displacement detecting means.

The handle cutting device 13 includes a clipper-shaped blade 13a for cutting the handle of the fruit F, and a handle support member 13b for pressing and supporting the handle of the fruit F from below on the blade 13a.

Although not described in detail, the hand H includes various pneumatic actuators for harvesting operation, such as an actuator for moving the catching unit case 12 out and back and an actuator for driving the handle cutting device 13. And various sensors such as a negative pressure sensor S3 for detecting that the fruit F is adsorbed to the vacuum pad 10, a sensor for detecting the retracting position of the capturing unit case 12, and a sensor for detecting the driving state of the handle cutting device 13. Will be provided.

To explain the procedure of harvesting fruits,
The work hand H is positioned at a preset approach start position in a state in which the capture unit case 12 is retracted to the hand rear side and the suction port 10a of the vacuum pad 10 projects forward from the capture unit case 12, In addition, the image sensor S is directed toward the direction in which the fruit F to be harvested is located.
At 1, an imaging process is performed. Then, the approach order for the fruit F is determined based on the information obtained by performing image processing on the captured image information, and the approach direction of the working hand H is determined. After determining the approach direction, the electric motors 9a, 9b, 9c are operated so that the working hand H moves linearly toward the determined approach direction, and the proximity sensor S2 detects the fruit F. Along with this, the vacuum pad 10 is suction-operated to adsorb the fruit F to be harvested, and the catching unit case 12 is protruded to take in the fruit F inside, and then the handle is cut and harvested. become. However, if the negative pressure sensor S3 does not operate while the hand H is moved forward by the set distance for operating the proximity sensor S2 after the operation of the proximity sensor S2, it is determined that the harvest has failed, and the predetermined distance is determined. The position of the hand H is corrected by a predetermined distance in the direction in which the vacuum pad 10 has changed the direction from the front direction based on the detection information of the proximity switch S4 from the position where the hand H is retracted to the front side, and the approach is performed again. Has become. by the way,
The direction of the vacuum pad 10 is, for example, the proximity switch S
When only one of the four proximity switches S4 is turned ON, the direction is determined to be changed, and when two are turned ON, it is determined that the direction is changed to the middle direction between the two proximity switches S4.

Next, based on the detection information of the linear potentiometer P1 and the rotary potentiometer P2, the set distance L is set, and the cylinder 23 is operated to switch the vacuum pad 10 from the capture operation position to the retreat position. The control configuration will be described.
As shown in FIG. 1, a control device 16 using a microcomputer is provided, and the control device 16 includes the sensors S1, S2, S3, S4 and the potentiometers P1, P
2 are connected. The control device 16 controls the operations of the cylinders 21 and 23, the hydraulic cylinders 5, 6, and 7, and the electric motors 9a, 9b, and 9c based on information set and stored in advance and various types of input information. It is configured as follows. That is, the setting unit 100 is configured using the control device 16.

The method of setting the set distance L will be further described. After the fruit F to be harvested is adsorbed, the cylinder 23 is driven to cause the catching case 12 to protrude. At this time, data of the distance Xi from the capturing action position and the displacement Yi outward of the capturing unit case 12 are sampled until the distance Xi reaches the predetermined distance Xs. Then, a value S obtained by integrating the displacement amount Yi with respect to the distance Xi is obtained. The value obtained by multiplying the integral value S by a positive constant k is the set distance L.

Next, the operation of the control device 16 will be described with reference to the flowcharts shown in FIGS. First, the hand H is set to a preset approach start position, an image pickup process is performed with all the air cylinders 21 retired, and an approach order is determined based on the picked-up image information. Then, the approach direction of the hand H is determined and the extendable arm 8 is extended so as to move the hand H toward the direction in which the center of gravity W2 of the fruit F to be approached is located. At this time, the air cylinder 21 is operated to protrude. After the extension of the telescopic arm 8 is started, it is determined based on the information of the proximity sensor S2 whether the hand H has approached the harvest target fruit F to the near side by the predetermined distance, and within the predetermined distance. With the approach, the extension speed of the telescopic arm 8 is switched to a low speed, the suction operation of the vacuum pad 10 is started, and the hand H is moved to the fruit side until the negative pressure sensor S3 is turned on. When the negative pressure sensor S3 is turned on to detect fruit suction, the telescopic arm 8 is stopped and the harvesting operation is started. In the harvesting operation, as described above, the set distance L
And the operation of the cylinder 23 is stopped at a position where the vacuum pad 10 has retreated from the capturing action position by the set distance L,
The pattern cutting device 13 is operated. However, the negative pressure sensor S3 is moved for a predetermined distance after the proximity sensor S2 is turned ON.
If does not work, it is determined that the harvest has failed. At this time, if at least one of the proximity switches S4 has been turned ON, the hand H is temporarily returned to the position where the proximity sensor S2 has been turned ON, and the position of the hand H is corrected and approached again. If none of the proximity switches S4 is ON, it is determined that harvesting is impossible, and the hand H is returned to the approach start position. If the fruit can be harvested by the first approach or the re-approach,
In a state where the fruit F whose pattern is cut is held in the capturing unit case 12, the work hand H is returned to the approach start position, and the fruit F is discharged. After discharging the harvested fruit F, it is determined whether or not the work has been completed. If the work has not been completed, the work hand H is reset to the approach start position and the image processing is performed. Is determined, and each process of guiding the work hand H toward the determined approach direction is repeated.

[Alternative Embodiment] In the above embodiment, the case where the present invention is applied to a fruit harvesting work machine is exemplified. However, the present invention is directed to various fruit and vegetable work machines such as tomato and other vegetable harvesters. The specific configuration of each part such as the specific configuration of the hand H can be variously changed.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the configuration of the attached drawings by the entry.

[Brief description of the drawings]

FIG. 1 is a block diagram of a control configuration.

FIG. 2 is a flowchart of a control operation;

FIG. 3 is a flowchart of a control operation.

FIG. 4 is a flowchart of a control operation.

FIG. 5 is a flowchart of a control operation.

FIG. 6 is a side view of a main part of the hand.

FIG. 7 is a plan view of a main part of the hand.

FIG. 8 is a bottom view of a main part of the hand.

FIG. 9 is a schematic side view of a harvester.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Capture part 12 Capture part case 23 Moving means 100 Setting means L Setting distance P1 Distance detection means P2 Displacement detection means d Inlet

Continuation of the front page (72) Inventor Hiroshi Suzuki 64 Ishizukita-cho, Sakai-shi, Osaka Kubota Sakai Works Co., Ltd. (56) References JP-A-63-317018 (JP, A)

Claims (1)

(57) [Claims] 1. An opening (d) for fruit and vegetables is opened at the tip, and is supported so as to be displaceable outward so that the introduction port (d) is widened by the reaction of the pressing force on the fruits and vegetables. A capturing section case (12), a displacement detecting means (P2) for detecting the amount of outward displacement of the capturing section case (12), and a capture that can be switched between a state in which fruits and vegetables are held and a state in which the fruits and vegetables are released. Part (10) and the capturing part (10) are the inlet (d).
The capturing section (10) and the capturing section case (12) are switched so that the capturing section (10) can be switched to a retracted position in which the capturing section (10) withdraws within a predetermined distance (L) within the capturing section case (12) from a capturing action position protruding to the outside. And a setting means (100) for setting the set distance (L) based on information from the displacement detecting means (P2). A distance detecting means (P1) for detecting the relative movement distance from the capturing action position, wherein a value obtained by integrating the displacement amount with the relative movement distance by the setting means (100) is large. A fruit and vegetable harvesting hand configured to set the set distance (L) as large as possible.