JP3012464B2 - Fruit and vegetable harvesting equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a gripper for gripping a target portion of fruit and vegetables, cutting means for cutting a handle portion at a root side of the target portion, and detecting a position of the target portion. Harvest target part detection means, and operating the cutting means to cut the handle in a state where the grip part is operated to grip the harvest target part based on information of the harvest target part detection means. The present invention relates to a fruit and vegetable harvesting apparatus provided with a harvesting control means.

[0002]

2. Description of the Related Art In such an apparatus for harvesting fruits and vegetables, the position of a harvesting target portion of fruits and vegetables such as vegetables such as cucumber and fruits such as oranges, that is, a fruit portion, for example, a color for imaging a predetermined range including the harvesting target portion. Based on the detected position information of the harvesting target portion, a gripping portion such as a holding arm for holding the harvesting target portion, a cutter, or the like is detected based on the detected position information of the harvesting target portion. The harvesting hand provided with the cutting means is operated close to the harvest target part, and the handle part at the base side of the harvest target part is cut by the cutting means in a state where the harvest target part is gripped by the gripping part, and the harvest target part is cut. I was going to harvest.

[0003] Conventionally, in order to determine the cutting position in the handle portion, as shown in FIG. 8, a portion to be harvested (fruit portion) A1 such as a cucumber is sandwiched by clamping arms Ka from both sides. While the pair of detection pads Kp are in contact with each other, the pattern A3 is moved to the existence side, that is, the upper side, and when the interval between the detection pads Kp becomes a predetermined value or less, the pattern A
3 and, based on that, for example, the handle A
The stem position on the stem A4 side for a predetermined distance from the position determined as 3 was set as the cutting position.

[0004]

However, in the above-mentioned prior art, since the detection pad Kp moves in contact with the surface of the harvesting target part A1, the warp on the surface of, for example, cucumber or the like is damaged, and the harvested fruits and vegetables are damaged. There was a problem that the quality of the class was reduced. Incidentally, in order to reduce the above-mentioned drawbacks, when moving the detection pad Kp, it is conceivable that the detection pad Kp is floated from the fruit surface so as not to be in contact with the fruit surface. The time required for detection for the operation of moving to the non-contact state is lengthened, and another disadvantage that the work efficiency is reduced occurs.

The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to make it possible to determine a cutting position in a handle portion without contacting the surface of a portion to be harvested. It is to eliminate the disadvantages of the technology.

[0006]

A first feature of the fruit and vegetable harvesting apparatus according to the present invention is that a member for detecting a stem portion which is arranged in a non-contact state on the lateral side of the portion to be harvested, and a member for detecting the stem portion. Moving means for moving the stem detecting member to the side where the handle is present; and detecting that the stem detecting member has been moved by the moving means and has come into contact with the stem connected to the handle. Contact detection means is provided, the harvest control means, based on the information of the contact detection means, at a position on the handle side a predetermined distance from the position where the stem detection member has contacted the stem, The point is that the handle is configured to be cut.

A second characteristic configuration is that, in the first characteristic configuration, a pair of the stem detecting members are provided on both lateral sides of the harvest target portion.

[0008] A third characteristic configuration is the first or second embodiment.
Wherein the cutting means is constituted by a cutter attached to a lower position of the stem detecting member and cutting the handle along a direction intersecting the longitudinal direction thereof. .

In a fourth aspect, in the first, second, or third aspect, the contact detecting means is provided when the member for detecting a stem moves and comes into contact with the stem. The harvesting control means, based on information from the contact pressure detecting means, detects the stem portion when the detected value exceeds a set value. In that the contact member is configured to detect contact with the stem.

A fifth characteristic configuration is the first, second,
In the third or fourth characteristic configuration, the gripping unit, the cutting unit, the stem detecting member, and the moving unit are provided on a harvesting hand that is approached toward the harvest target unit, and Part is constituted by a pair of holding arms for holding the harvest target portion from both sides, and the harvest target portion detecting means captures an image of a predetermined range including the harvest target portion. An imaging means provided on the harvesting hand in a state of passing through the center position of the inner space for holding the holding arm, and detecting whether or not the harvest target is present on the inner side in the holding direction of the pair of holding arms. To do
The harvesting control means, based on information of the imaging means, wherein the harvesting target part is captured in the center of an imaging screen of the imaging means, based on information of the imaging means. A state in which the harvesting hand is operated toward the harvesting target portion, and the harvesting target portion is present on the inner side in the clamping direction of the pair of clamping arms based on the information of the clamping portion presence / absence detection means. The present invention is characterized in that the pair of clamping arms are configured to be clamped.

In a sixth aspect of the present invention, in the above-mentioned fifth aspect, another object lighter in weight than the object to be harvested is picked up by the harvesting hand from the object to be harvested within the imaging range of the imaging means. A blower that blows air toward a predetermined range including the harvest target unit so as to be separated is provided, and the harvesting control unit is the imaging information at the time of operation of the blower, or the air at the time of operation of the blower. The present invention is configured to detect the position of the harvest target portion based on the imaging information and the imaging information at the time of non-operation.

[0012]

According to the first characteristic configuration of the present invention, the harvesting control means operates the gripping part based on the information of the harvesting target part detecting means and holds the harvesting target part in a horizontal position. The stem detecting member, which is spaced apart in a non-contact state on the side, is moved by the moving means to the side where the stem on the root side of the harvest target is present. Then, when the contact detecting means detects that the moved stem detecting member has come into contact with the stem connected to the handle, the harvest controlling means contacts the stem detecting member with the stem. The cutting means is operated so as to cut the handle portion at a position closer to the handle portion than the set position by a predetermined distance.

Further, according to the second feature configuration, in the first feature configuration, a pair of stem detecting members which are spaced apart from each other on both lateral sides of the harvest target portion in a non-contact state are provided on the moving means. When moved to the presence side of the handle, and contact with the stem is detected by the contact detection means, the harvest control means,
The cutting means is operated so as to cut the handle at a position on the handle side at a predetermined distance from the position where the pair of stem detecting members contact the stem.

Further, according to the third feature configuration, in the first or second feature configuration, when it is detected that the stem detecting member has moved to the handle existing side and contacted the stem. Then, the cutter attached to the lower position of the stem detecting member operates to cut the handle in a direction intersecting the longitudinal direction. In this case, the attachment position of the cutter is set such that the cutting position of the handle portion is located at a position closer to the handle portion by a predetermined distance than the contact position of the stem detection member with the stem portion.

According to a fourth characteristic configuration, the first,
In the second or third characteristic configuration, the contact pressure when the stem detecting member moves to the handle existing side and contacts the stem is detected, and the detected value of the contact pressure is equal to the set value. When it is detected that the stem detecting member has come into contact with the stem, the stem is cut at a position on the stem side a predetermined distance from the contact position of the stem detecting member with the stem.

According to a fifth characteristic configuration, the first,
In the second, third and fourth characteristic configurations, the imaging means provided on the harvesting hand sets the center position of the inner space for holding the pair of holding arms constituting the gripping portion provided on the harvesting hand in the imaging direction. When a predetermined range including the harvest target portion is imaged while passing through, the harvesting hand is approached toward the harvest target portion with the harvest target portion being captured in the center of the imaging screen. Then, when it is detected that the harvesting target portion is present on the inner side in the holding direction of the pair of holding arms, the pair of holding arms is operated to be held, and the harvesting target portion is gripped while being held from both sides. You. In this gripping state, when it is detected that the stem detecting member provided on the harvesting hand is moved to the side where the handle is present by the moving means provided on the harvesting hand and is in contact with the stem, harvesting is performed. Cutting means provided on the hand for cutting the handle at a position on the handle portion side for a predetermined distance from the contact position of the stem detecting member with the stem.

According to the sixth aspect, in the fifth aspect, when the blowing means provided on the harvesting hand does not operate, other objects such as leaves having a lighter weight than the harvest target portion may be removed. Although it is in a state where it cannot be distinguished due to, for example, overlapping with the harvesting target portion existing in the imaging range of the imaging means, when the blowing means operates, other objects such as the leaves are separated from the harvesting target portion. Then, based on the imaging information at the time of operating the blowing means in a state where the harvest target portion and other objects such as leaves are separated in the imaging screen, the harvest target portion is identified from the shape and color characteristics of the harvest target portion, for example. The position of the harvest target portion is detected, or the amount of movement of the harvest target portion between the two captured images is determined based on both the imaging information when the blower is operating and when it is not operating, such as when the weight of the leaf is small. From the difference in the movement amount that is smaller than the movement amount of the object,
The position of the harvest target is detected by identifying the harvest target in the imaging screen.

[0018]

According to the first characteristic configuration of the present invention, the stem detecting member contacts the stem connected to the handle in a state where the member does not contact the harvest target, and the contact position with the stem. Since the handle is cut at a predetermined position on the handle side, the handle is detected by a detection member that comes into contact with the surface of the harvesting target portion as in the prior art, and the cutting position in the handle is determined. (FIG. 8
See), for example, scratching the surface warts of cucumber etc.
The problem of scratching the surface of the harvest target part and lowering the harvest quality can be solved, and at the same time, the stem part is detected by contact with the stem part, for example, when detecting optically by imaging means etc. Thus, the position of the stem can be more reliably detected as compared with the case where there is a risk of erroneous detection due to the influence of leaves and vines.

Further, according to the second characteristic configuration, the stem is detected by the pair of stem detecting members arranged on both lateral sides of the harvesting target. For example, one lateral side of the harvesting target is detected. When the stalk detection member is disposed only on one side and the stalk does not contact the stalk due to bending of the stalk when the stalk detection member is moved to the handle existing side, the stalk is Compared with the case where the detection cannot be performed and the cutting position of the handle portion cannot be set, the cutting position of the handle portion can be set more reliably by being brought into contact with the stem portion, thereby implementing the first characteristic configuration. This provides a suitable means for carrying out.

Further, according to the third characteristic configuration, the stem detecting member is cut so that the stem is cut along a direction intersecting the longitudinal direction in a state where the stem detecting member is in contact with the stem. By operating the cutter attached to the lower position, the stem can be cut at a predetermined distance from the position where the stem detecting member is in contact with the stem, so that, for example, When the cutting means is provided separately from the stem detecting member, it is necessary to perform positioning adjustment by moving the cutting means so as to match the contact position of the stem detecting member with the stem. As a result, a simpler device configuration can be obtained, and suitable means for implementing the first or second characteristic configuration can be obtained.

Further, according to the fourth characteristic configuration, the stem detecting member contacts the stem only when the contact pressure value when the stem detecting member contacts the stem exceeds a set value. Since the contact is detected, for example, when the stalk lightly touches the stalk detection member due to the influence of wind or the like, the contact pressure does not exceed the set value, so the stalk detection A suitable means for implementing the above-mentioned first, second or third characteristic configuration can be obtained without erroneously detecting that the member has come into contact with the stem.

According to the fifth characteristic configuration, if the harvesting hand is moved toward the harvesting target while the harvesting target is held in the center of the imaging screen of the imaging means provided on the harvesting hand, The harvesting target portion is located on the inner side in the holding direction of the pair of holding arms provided on the harvesting hand, and the presence of the harvesting target portion located on the inner side in the holding direction is detected by the detection means provided on the holding arm. By operating the pair of holding arms, the harvesting target portion can be held and gripped from both sides, so that, for example, the imaging direction of the imaging unit is set independently of the holding position of the pair of holding arms. Or more reliably and quickly detect and grasp the target to be harvested as compared to detecting the presence of the target to be harvested on the inner side in the holding direction of the holding arm using only the imaging information of the imaging means. Can Have been, the first, second, third or fourth preferred means of carrying out the characteristic configuration of the resulting.

According to the sixth characteristic configuration, another object such as a leaf having a lighter weight than the harvest target portion is separated from the harvest target portion on the image screen of the imaging means, and the harvest target portion is separated from the other object. Since the position of the harvest target portion is detected based on the image information in the separated state, conventionally, when a part or the whole of the harvest target portion is hidden by other objects such as leaves, a captured image of the entire harvest target portion is obtained. For example, it is difficult to recognize the target to be harvested based on the feature of the shape and detect its position, or to recognize the target to be harvested based on the difference in color to detect the position. In this case, it is possible to reliably and accurately detect the position of the harvest target portion by solving the problem that the position detection error in the case of performing the process is increased.
Suitable means for implementing the characteristic configuration of (1) is obtained.

[0024]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment in which the fruit and vegetable harvesting apparatus of the present invention is applied to an automatic traveling harvesting vehicle for harvesting cucumber and the like as fruit and vegetables growing in a field will be described with reference to the drawings. explain.

As shown in FIG. 1, the harvesting work vehicle B is installed in a ridge of a field by driving a steering wheel 2 and a traveling wheel 2 each of which is provided at each of front and rear positions of a vehicle body 4. Based on the detection information of the vehicle-side guide sensor 1 that detects the guiding line L of the electromagnetic induction type or the like, the guiding line L
It is guided along. The cucumber and the like A are normally attracted upward along the rods 20 arranged at a predetermined interval, so that the harvesting vehicle B performs the harvesting work in a state where it is stopped with respect to each rod 20. Will be. An arm base 3 for supporting a base end portion of a telescopic arm 6 which is vertically erected within a column 5 in which a column gear 5a is formed along the vertical direction.
A pinion gear 3a meshing with the rack gear 5a is provided in a state of being rotationally driven by a vertically moving motor 3A (see FIG. 4), and the arm base 3 is rotated by rotating the pinion gear 3a in the forward and reverse directions. That is, the telescopic arm 6 is configured to move up and down.

The distal end portion 6A of the telescopic arm 6 functions as a harvesting hand that is operated to approach the fruit portion A1, which is a portion to be harvested, such as cucumber A. 6A, as shown also in FIGS. 2 and 3, a gripping portion 9 composed of a pair of holding arms 9A for holding the fruit portion A1 from both sides to grip the fruit portion A1, and the fruit portion A1. A cutter 14 as cutting means for cutting the stem portion A3 on the base side, a pair of guide arms 13 as a pair of stem detecting members spaced apart from each other on both lateral sides of the fruit portion A1 in a non-contact state, and guides thereof. A guide moving mechanism IK is provided as moving means for moving the arm 13 to the side where the handle A3 exists. Also, the cutter 14
Is attached to the lower position of the guide arm 13 in a state in which the handle A3 is cut along a direction intersecting the longitudinal direction.

The above-mentioned guide moving mechanism IK is, specifically,
A support arm 15 that elastically supports the guide arm 13 in a vertically slidable manner via a spring SP whose lower end is received by a receiving portion 15a provided on the way, and moves the base end side of the support arm 15 up and down. And a mechanical part (not shown) such as a gear for converting the power of the guide moving motor 13A into a vertical movement of the support arm 15.

Further, in order to image a predetermined range including the fruit portion A1, the distal end portion 6A of the telescopic arm 6 has
A color CCD camera S1 as an imaging means whose imaging direction passes through the center position of the inner space for holding the pair of holding arms 9A, and a leaf A2 having a lighter weight than the fruit portion A1. The fruit part A1 is separated from the fruit part A1 in the imaging range of the CCD camera S1 so that another object is separated from the fruit part A1.
And a blowing nozzle 7 as a blowing means for blowing air toward a predetermined range including. The blowing nozzle 7
The pressure of the operating air supplied from the compressor 10 described later, the nozzle diameter of the blowing nozzle 7, and the like are set such that the other air such as the leaf A2 is moved but the fruit portion A1 is not moved. Adjusted.

The holding arm 9A has a fruit portion as a holding portion presence / absence detecting means for detecting whether or not the fruit portion A1 exists on the inner side in the holding direction of the pair of holding arms 9A. An existence sensor S2 is provided. The fruit portion presence / absence sensor S2 is configured by a photoelectric sensor including a light emitting device installed on the inner surface side of one holding arm 9A and a light receiver installed on the inner surface side of the other holding arm 9A. As described above, the imaging means S1 (CCD camera)
And the fruit part presence / absence sensor S2, the fruit part A1
The harvesting target part detecting means for detecting the position of the target is constituted.

The gripping portion 9 is of an air type in which a gripping arm 9A is squeezed by receiving a supply of operating air, and the gripping portion 9 and the blowing nozzle 7 are operated by air. A compressor 10 serving as an air supply unit for supplying air is provided so as to be freely switchable between supply of the operating air to the grip portion 9 and supply of the operating air to the blowing nozzle 7 (see FIG. 4). ).

The guide arm 13 is moved by the guide moving mechanism IK, and the stem A4 is connected to the handle A3.
A contact detecting sensor S3 as contact detecting means for detecting contact with the stalk A4
The contact pressure detecting means detects the contact pressure when the contact is made. Specifically, as shown in FIG. 2 and FIG. 3, the guide arm 13 comes into contact with the stem A4 to receive a contact pressure, and a predetermined distance against the spring force of the spring SP set to a predetermined spring constant. When pushed down, the micro switch SW that is turned on at the bottom of the base end of the guide arm 13 is turned on by the support arm 1.
5 of the receiving portion 15a. Therefore, the contact pressure detecting means SW and SP are constituted by the micro switch SW and the spring SP.
The set value of the contact pressure for detecting the contact with the stem A4 is set by the spring constant of the spring SP, the descending distance of the guide arm 13 until the micro switch SW is turned on, and the like.

Next, the control configuration of the harvesting work vehicle B will be described. As shown in FIG. 4, a controller H using a microcomputer is provided.
Detection information of the guide sensor 1, the fruit part presence / absence sensor S2 and the contact detection sensor S3, and the CCD
Image processing device 12 that has processed imaging information from camera S1
Has been input. On the other hand, from the controller H, the vertical motion motor 3A and the telescopic arm 6
Motor 6A for extending and retracting the motor, a steering motor 2A and a traveling motor 2B for driving the steering and traveling wheels 2, and a guide moving motor 13A
And drive signals for the cutter motor 14A for operating the cutter 14 are output.
In addition, an on / off signal for turning on / off the operation of the compressor 10 is output from the controller H, and the operating air from the compressor 10 is switched between the grip 9 and the blowing nozzle 7. A switching signal is output to the solenoid valve 11 for this purpose.

Using the controller H, the CC
While the grip portion 9 (holding arm 9A) is operated so as to grip the fruit portion A1 based on the information of the D camera S1 and the fruit portion presence / absence sensor S2, that is, the position detection information of the fruit portion A1, the handle portion is operated. Harvesting control means 100 for operating the cutter 14 so as to cut A3 is configured. Then, based on the information of the contact detection sensor S3, that is, the contact pressure detection means SW, SP, the harvest control means 100 is a predetermined distance from the position where the guide arm 13 is in contact with the stem A4. It is configured to cut the handle A3 at the side position. In particular,
When the detection values of the contact pressure detecting means SW and SP exceed the set value, it is detected that the guide arm 13 has come into contact with the stem A4, and in that state, the cutter provided at the lower position of the guide arm 13 is detected. 14 will be activated.

Based on the information of the CCD camera S1, the harvesting control means 100 causes the harvesting hand 6A to approach the fruit part A1 while holding the fruit part A1 at the center of the imaging screen. Further, based on the information of the fruit part presence / absence sensor S2, the pair of clamping arms 9A are configured to be pinched and actuated in a state where the fruit part A1 is present on the inner side in the clamping direction of the pair of clamping arms 9A. Have been. Further, the harvesting control means 100 is based on the imaging information of the CCD camera S1 when the blowing nozzle 7 is activated, or the imaging information when the blowing nozzle 7 is activated and the imaging information when the ventilation nozzle 7 is not activated. It is configured to detect the position of the fruit portion A1.

Next, the CC by the harvest control means 100
The operation of detecting the position of the fruit portion A1 based on the imaging information of the D camera S1 will be described with reference to FIGS. First,
When the blower nozzle 7 is not operated, as shown in FIG. 5A, if a part (substantially the upper half) of the fruit part A1 is hidden by the leaf A2 located on the near side, the captured image becomes As shown in FIG. 6A, an image is obtained in which the fruit portion A1 and the leaf A2 overlap. In this state, for example, in the case of cucumber, since the fruit portion A1 and the leaf A2 are both green, it is impossible to detect the position of the fruit portion A1 separately from the leaf A2. When the blowing nozzle 7 is operated in the above state, as shown in FIG. 5B, the fruit part A1 does not move, and only the leaf A2 on the near side is blown up.
As shown in (b), an image in which the fruit part A1 and the leaf A2 are separated is obtained.

Here, the case where the position of the fruit portion A1 is detected based on the imaging information when the blowing nozzle 7 is operating (FIG. 6B) and the imaging information when it is not operating (FIG. 6A). explain. In both of the captured images, RG
B primary color information is processed by a predetermined arithmetic expression to obtain a fruit portion A1.
And an area (green area) corresponding to the leaf A2. That is, the binarization process is performed so that the pixel value corresponding to the fruit portion A1 and the leaf A2 is 1 and the pixel values of the other portions are 0. Next, when the logical product of the two binarized images is calculated, the fruit portion A1 does not move and remains in the image after the logical product processing. However, since the leaf A2 moves, the logical product is performed. It disappears from the processed image (FIG. 6 (c)). Therefore, the center of gravity G of the area of the fruit part A1 in the image after the logical product processing
And the center of gravity G is detected as the position of the fruit portion A1.

The procedure of the actual harvesting operation by the harvesting work vehicle B having the above configuration will be described. First, the work vehicle B is positioned and stopped with respect to the rod 20, and based on the information of the CCD camera S1. Harvest hand 6A with fruit part A
While the telescopic arm 6 is moved up and down in a state of approaching the fruit and vegetable A containing 1, the blowing from the blowing nozzle 7 is turned on and off, and a captured image is obtained each time the blowing is turned on and off. Then, based on the position detection information of the fruit portion A1 by the harvest control means 100, the harvesting hand 6A is operated to approach the fruit portion A1 while the fruit portion A1 is captured in the center O of the imaging screen. Specifically, the screen at the time of the position detection (FIG. 6)
In (c)), the center of gravity G of the area of the fruit portion A1 is not located at the center O of the screen, that is, the fruit portion A1 is not captured at the center O of the imaging screen. Therefore, the harvesting hand 6 is moved by moving the vehicle body position and moving the telescopic arm 6 up and down.
The position of A is adjusted in the vertical and horizontal directions so that the fruit portion A1 is captured in the center O of the imaging screen.
A is approached toward the fruit part A1 (FIG. 6).
(D)). At this time, the image of the fruit portion A1 is shown in FIG.
As shown by a dotted line, the size of the area of the fruit portion A1 increases in a state where the center of gravity G is located at the center O of the screen.

When the fruit part presence sensor S2 detects the fruit part A1 during the approaching operation of the harvesting hand 6A, operating air is supplied to the gripper 9 so that the fruit part A1 is held by the holding arm 9A. . Then, in this gripping state, the guide arm 13 is moved upward to come into contact with the stem A4, and in this state, the cutter 14 is operated to cut the handle A3, and the fruit A1 is taken into the harvesting hand 6A. Will be.

[Alternative Embodiment] In the above embodiment, a harvesting apparatus for harvesting vegetables such as cucumber as fruits and vegetables has been described as an example. However, various kinds of vegetables other than cucumber and fruits such as oranges and apples are described. Applicable when harvesting fruits and vegetables.

In the above embodiment, the gripper 9 for gripping the harvest target portion A1 is constituted by a pair of holding arms 9A for holding the harvest target portion A1 from both sides. However, the present invention is not limited to this. A gripper may be used that winds and grips a bendable arm around the entire outer peripheral surface of A1.

In the above embodiment, the handle portion A of the harvest target portion A1
The cutting means for cutting the stem 3 is constituted by a cutter 14 attached to a lower position of the stem detecting member (guide arm 13) and cutting the handle A3 along a direction intersecting its longitudinal direction. It is not limited to. For example, instead of the stem detecting member (guide arm 13), the harvesting hand 6A may be directly supported, or a scissor-type cutting means other than the cutter 14 may be used.

In the above embodiment, the harvesting target portion detecting means S
Imaging means (CC) provided on the harvesting hand 6A
D camera S1) and the presence / absence detection means (fruit part presence / absence sensor S2) in the holding portion, but are not limited thereto. For example, it may be constituted only by the imaging means (CCD camera S1). In that case, the harvesting target determined based on the size of the area of the harvesting target portion A1 in the imaging screen, the approach operation amount of the harvesting hand 6A, and the like. The timing at which the gripper 9 is operated is determined based on the position information of the part A1. In this case, it is also possible to mount the zoom optical system on the image pickup means S1 (harvest target detecting means) and provide the zoom means directly to the vehicle body 4 instead of the harvest hand 6A.

In the above embodiment, a pair of stem detecting members (guide arms 13) are provided on both sides of the harvesting target portion A1, but the present invention is not limited to this.
May be provided on one side. Further, in the above embodiment, the stem detecting member 13 is formed in the shape of an arm extending in the same shape up to the tip end, but is not limited to this.
For example, as shown in FIG. 7, the tip portion may be formed in a claw shape that bends upward, so that the contact state with the stem portion A4 can be more reliably maintained.

In the above embodiment, the moving means IK for moving the stalk detecting member (guide arm 13) is constituted by the electric guide moving motor 13A or the like. However, the present invention is not limited to this. A guide moving mechanism that operates pneumatically may be used.

In the above embodiment, the contact detecting means S3 is replaced by the contact pressure detecting means SW, S for detecting the contact pressure when the stalk detecting member (guide arm 13) contacts the stalk A4.
The contact is detected when the detected value exceeds a set value, but the present invention is not limited to this. For example, an electrostatic contact sensor or the like having a pair of electrodes that are electrically conductive only by light contact may be used. or,
The contact pressure detecting means SW and SP do not use the spring characteristics of the spring SP as shown in the above embodiment, but may be, for example, a solid type pressure sensor for directly detecting the contact pressure.

In the above embodiment, the stem detecting member (guide arm 13) cuts the stem A3 at a position closer to the stem A3 by a predetermined distance from the position where the stem A4 contacts the stem A4. The attachment position of the cutting means (cutter 14) attached to the lower position of the member (guide arm 13) was set to be the above set distance, and the attachment position was fixed.
For example, the attachment distance may be changed and set according to the type of fruit and vegetables, or a stem detecting member (guide arm 1).
A mechanism for changing the attachment position of the cutting means (cutter 14) is provided for 3), for example, according to the amount of movement of the stalk detecting member (guide arm 13) until it contacts the stalk A4. The attachment distance may be changed and adjusted. As described above, when the cutting means 14 is directly supported by the harvesting hand 6A instead of the stem detecting member (guide arm 13), the stem detecting member (guide arm 1) is not used.
3) Position the cutting means 14 in accordance with the amount of movement,
It is necessary to be on the handle A3 side by a predetermined distance from the contact position with the stem.

In the above embodiment, the image pickup means is constituted by the color CCD camera S1.
Various imaging means such as a monochrome CCD camera and a color and monochrome electronic tube television camera can be used. or,
In the above embodiment, the imaging direction of the imaging unit S1 is
Is set so as to pass through the center of the holding interval of the holding arm 9A, but it is not always necessary to make this setting. Depending on the configuration of the gripper 9 and the method of approaching the hand 6A to the harvesting target part A1, etc. The setting of the imaging direction can be variously changed.

Fruit part A1 by the harvest control means 100
A description will be given of another embodiment of the position detection, that is, a case where the position of the fruit portion A1 is detected based on the imaging information (FIG. 6B) when the blowing nozzle 7 is operated. As in the above embodiment, the pixel value of the area (green area) corresponding to the fruit portion A1 and the leaf A2 is 1 and the pixel values of the other portions are 0.
Find a binarized image. Then, in this binarized image,
The area of the fruit part A1 is changed to the leaf A based on the feature of the shape of the fruit part A1 stored in advance (such as a rounded elongated shape).
The area of the fruit portion A1 is identified and specified, and the center of gravity G of the area of the specified fruit portion A1 is obtained and detected as the position of the fruit portion A1 (FIG. 6 (c)).

In the above embodiment, the position of the harvesting target portion A1 is detected based on the imaging information when the blowing means 7 is operating and the imaging information when the blowing device 7 is not operating. ) Is subjected to a logical AND operation on the two images after the extraction processing to detect the position of the harvesting target part A1. Further, the position of the harvesting target part A1 is determined based on the imaging information when the blowing means 7 operates. Is detected based on the shape characteristic of the harvesting target part A1, the harvesting target part A1 is identified and its position is detected. However, the present invention is not limited to such processing, and various image processing means may be appropriately used. Can be used.

In the above-described embodiment, the blowing means is constituted by the blowing nozzle 7 for blowing out the supply air from the air supply means (compressor 10). However, the present invention is not limited to this. A fan-type blower may be used.

In the above embodiment, the air blowing means (blowing nozzle 7) is set so that the other objects such as the leaf A2 are moved, but the harvest target portion (the fruit portion A1) is not moved. For example, when other objects such as leaves A2 are relatively heavy fruits and vegetables, the amount of air blow is increased until the harvest target portion (fruit portion A1) moves, and the other objects are reliably removed from the harvest target portion A1. May be separated. In this case, when the position of the harvest target portion (fruit portion A1) fluctuates greatly, the image before and after the operation of the above-described blowing means (blowing nozzle 7) is logically processed to determine the position of the harvest target portion A1. If the detection error is not negligible, for example, the position of the harvesting target part A1 is determined from the image when the blowing means (blowing nozzle 7) is operating based on the shape characteristics of the harvesting target part A1.

In the above embodiment, the gripper 9 and the cutting means 1
4. Stem detection member 13, moving means IK, harvest target detection means (imaging means S1 and presence / absence detection means S2 in clamping section)
Although the blowing means 7 is provided on the harvesting hand 6A, the invention is not limited to this, and the blowing means 7 may be provided separately from the harvesting hand 6A.

In the above embodiment, the apparatus for detecting a target of harvesting fruit and vegetables according to the present invention is applied to an automatic traveling type harvesting work vehicle B that travels between furrows in a field where cucumber and the like as fruit and vegetables are grown. However, the present invention is not limited to the automatic traveling type harvesting vehicle, but may be a manually operated harvesting vehicle, or an automatic harvesting machine provided on a moving body moving in the air above the field. Various embodiments such as application are possible.

Incidentally, reference numerals are written in the claims 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 front view of an automatic traveling harvesting vehicle.

FIG. 2 is a side view showing a harvesting hand.

FIG. 3 is a perspective view showing a harvesting hand.

FIG. 4 is a block diagram of a control configuration.

FIG. 5 is an external view of the vicinity of a harvest target portion before and after the operation of the blowing means.

FIG. 6 is an explanatory diagram showing images at the time of detecting a harvest target portion and at the time of an approaching operation of a harvesting hand.

FIG. 7 is a perspective view showing a stem detecting member according to another embodiment.

FIG. 8 is an explanatory view of a prior art showing a handle detecting means for determining a cutting position of the handle.

[Explanation of symbols]

 A1 Harvest target part 9 Grasping part A3 Handle 14 Cutting means S1, S2 Harvest target detecting means 100 Harvest control means 13 Stem detecting member IK moving means A4 Stem S3 Contact detecting means 14 Cutter SW, SP Contact pressure detection Means 6A Harvesting hand 9A Holding arm S1 Imaging means S2 Means for detecting presence / absence in holding section A2 Others 7 Blowing means

Claims (6)

(57) [Claims] 1. A gripping portion (9) for gripping a harvest target portion (A1) of fruit and vegetables, and a cutting means (14) for cutting a handle (A3) at a root side of the harvest target portion (A1). Harvest target section detecting means (S) for detecting the position of the harvest target section (A1)
1, S2) and the harvest target portion detecting means (S1, S2)
The cutting means (14) is operated to cut the handle (A3) in a state where the gripping part (9) is operated so as to grip the harvest target part (A1) based on the information of (1). A fruit and vegetable harvesting device provided with a harvest control means (100), wherein a stem detecting member (13) is arranged in a non-contact state and is laterally lateral to the harvest target part (A1); A moving means (IK) for moving the stem detecting member (13) to the side where the handle (A3) exists, and a moving means (IK) for moving the stem detecting member (13). A contact detecting means (S3) for detecting contact with a stem (A4) connected to the handle (A3); and the harvest control means (100) includes a contact detecting means (S).
Based on the information of 3), the handle (A3) is located at a position on the handle (A3) side for a predetermined distance from the position where the stem detection member (13) contacts the stem (A4). Fruit and vegetable harvesting device configured to cut. 2. The fruit and vegetable harvesting apparatus according to claim 1, wherein a pair of said stem detecting members (13) are provided on both lateral sides of said harvest target part (A1). 3. The cutting means (14) is provided at a lower position of the stalk detecting member (13), and is provided with the handle (A).
The fruit and vegetable harvesting apparatus according to claim 1 or 2, comprising a cutter (14) for cutting 3) along a direction intersecting the longitudinal direction. 4. A contact pressure detecting means (S3) for detecting a contact pressure when the stem detecting member (13) moves and comes into contact with the stem (A4). (S
W, SP), and the harvest control means (100) detects the stem portion when the detected value exceeds a set value based on the information of the contact pressure detecting means (SW, SP). Member for the stem (A4)
4. The apparatus for harvesting fruit and vegetables according to claim 1, wherein the apparatus is configured to detect contact with a vegetable. 5. A harvesting hand (6A), which is approached toward the harvesting target part (A1), is provided with the gripping part (9),
The cutting means (14), the stalk detecting member (13) and the moving means (IK) are provided, and the gripping part (9) is a pair of holding members for holding the harvest target part (A1) from both sides. An arm (9A), the imaging direction of the pair of clamping arms (9A) is set so that the harvest target section detection means (S1, S2) captures an image of a predetermined range including the harvest target section (A1). )), The harvesting hand (6A) passing through the center position of the inner space for clamping.
And an image pickup means (S1) provided in the pair of holding arms (9A). In order to detect whether or not the harvest target portion (A1) exists inside the holding direction of the pair of holding arms (9A), the holding arm (9) is used.
A) The holding control means (100) is provided with the holding section presence / absence detection means (S2) provided in A).
Based on this information, the harvesting hand (6A) is caused to approach the harvesting target portion (A1) while the harvesting target portion (A1) is captured in the center of the imaging screen of the imaging means (S1). And, based on the information of the presence / absence detection means (S2) in the holding portion, the pair of holding objects (A1) is present on the inner side in the holding direction of the pair of holding arms (9A), and The fruit and vegetable harvesting apparatus according to claim 1, 2, 3, or 4, wherein the holding arm (9A) is configured to be operated to hold. 6. An object (A2) lighter in weight than the harvest target section (A1) is placed on the harvest hand (6A) from the harvest target section (A1) within the imaging range of the imaging means (S1). A blower means (7) for blowing air toward a predetermined range including the harvest target portion (A1) so as to be separated; and the harvesting control means (100) performs the imaging when the blower means (7) operates. The harvest target unit (A1) based on information or the imaging information when the blowing means (7) is operating and the imaging information when not operating.
The fruit and vegetable harvesting apparatus according to claim 5, wherein the apparatus is configured to detect a position of the fruit and vegetable.