JP3493801B2 - Manipulator end effector for strawberry harvesting robot - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improvement of a strawberry-harvesting robot for automatically harvesting strawberries by manipulating a manipulator based on visual information of a visual sensor. [0002] Conventionally, strawberries are easily damaged by handling with a machine, and thus have been harvested manually. However, with the progress of hydroponic cultivation, the possibility of mechanical harvesting has opened, and interest in strawberry harvesting robots has increased. In the strawberry harvesting robot, the end effector at the tip of the manipulator, which hits the harvesting hand, because the strawberry is easily damaged,
It is the most important development issue. A strawberry harvesting robot using an industrial device having 16 fingers, called an air gripper, has recently been announced as the end effector. However, in this case, you grab the strawberry directly with 16 fingers,
Strawberries are easily damaged, and the pressure adjustment for holding the grabbed strawberries is delicate and very difficult. Strawberries with oblique postures are particularly difficult to grasp. The present invention has been made in view of such a conventional problem,
It is an object of the present invention to realize an end effector that simplifies the structure by using the suction force of air and that can surely harvest strawberries without damaging the strawberries. [0005] In order to achieve the above object, the present invention is configured as follows. The suction port of the strawberry suction pipe is viewed from the tip of the manipulator of the strawberry harvesting robot, and the end of the pipe is connected to the strawberry container. The suction port is provided with a strawberry detection sensor for detecting that a strawberry has been taken into the suction port, and a stalk locking section and a stalk cutting section are provided at an edge of the suction port to constitute an end effector. I do. And based on the strawberry detection sensor output,
When the strawberry is taken into the suction port, the end effector is rotated about the axis of the strawberry suction pipe by operating the manipulator, and the fruit handle is guided to the fruit handle locking portion and cut by the fruit handle cutting portion, It is a configuration that harvests strawberries. The manipulator is steered by the visual information of the visual sensor provided in the strawberry harvesting robot, and the tip of the manipulator, that is, the end effector of the present invention, approaches the strawberry to be harvested. Then, the strawberry is sucked by the suction force of the strawberry suction pipe and taken into the suction port. This is detected by the strawberry detection sensor, and after confirming that the strawberry has been taken into the correct position of the suction port, the end effector is rotated about the axis of the strawberry suction pipe while the strawberry is being sucked. With this rotation, the strawberry handle moves relatively along the rim of the suction port and is guided to the handle lock portion, where it is cut by the handle cutting portion.
Thereafter, the strawberries are passed through the strawberry suction pipe by air transfer, transported to the terminal container, and stored therein. An embodiment of the present invention will be described below with reference to the drawings. 1 and 2 show a front view and a side view of a strawberry harvesting robot according to an embodiment of the present invention. The strawberry harvesting robot 1 lays a linear guide 3 on a moving mechanism 2, and installs a manipulator 6 on a base 5 that slides back and forth along the linear guide 3 by rotation of a motor 4. 1 and a battery 8 for controlling the controller 7. The manipulator 6 rotates the manipulator 6 in the horizontal and vertical directions, and comprises a joint 10 having a visual sensor 9 therein, a hand 12 having a hose 11 therein, and a tip end effector 13 for harvesting strawberries. Is done. FIG. 3 is a sectional view of the hose 11. The hose 11 is formed of a resilient and soft material so that the harvested strawberry is not damaged. The inlet of the hose 11 is connected to a strawberry suction pipe 14 provided in the end effector 13. The middle of the hose 11 is branched and connected to the suction device 15, and the branch port is covered with the net 16. An openable / closable lid 17 is attached to the outlet of the hose 11 so that the outlet of the hose 11 can be viewed from a container 19 discharged outside the machine by a motor 18.
A photo sensor 20 for detecting passage of the harvested strawberry is provided near the outlet of the hose 11. FIG. 4 is a front view of an end effector according to an embodiment of the present invention, FIG. 5 is a plan view thereof, and FIG. 6 is a side view thereof. The end effector 13 of the manipulator 6 includes a strawberry suction pipe 14 and a hose 11 connected to the suction pipe 14. The suction pipe 14 is formed of a material that allows light to pass through, and the edge of the suction port opposes the light emitting part 21a of the photo sensor 21 on one side and the light receiving part 21b of the photo sensor 21 on the other side. And place it. This photo sensor 21 constitutes a strawberry detection sensor. FIG. 7 is a perspective view of the tip of the strawberry suction pipe 14. At the edge of the suction port of the suction pipe 14, a cut 22 is formed as a fruit handle engaging portion for taking in a strawberry handle, and a hook-shaped cutter 23 is provided as a fruit handle cutting portion. A solenoid 24 is fixed to an upper portion of the end effector 13, and a plunger of the solenoid 24 is connected to the cutter 23. A return spring 25 urges the plunger of the solenoid 24 and the cutter 23 toward the distal end of the end effector 13. A strawberry approaching sensor 2 for detecting that a strawberry has approached the lower outside of the edge of the suction port of the suction pipe 14
6 light-emitting unit 26a and light-receiving unit 26b. The strawberry harvesting robot according to the embodiment of the present invention performs strawberry harvesting processing under the control of the controller 7 with the above configuration. Referring to the flowchart shown in FIG.
The strawberry harvesting process will be described. First, as shown in FIG. 9, the motor 4 is rotated so that the manipulator 6 is slid once backward along the linear guide 3 so that the manipulator 6 does not come into contact with the cultivation bed when the image input posture is taken. The manipulator 6 is set to the obstacle avoiding posture (S1). Next, FIG.
As shown in (2), the optical axis of the visual sensor 9 is made to coincide with the drive axis of the manipulator 6 by rotating the joint 10 to bring the manipulator 6 into the image input attitude (S2). In this state, image input by the visual sensor 9 is performed (S3). Next, the input image is analyzed to perform fruit recognition, the harvest time is determined based on the color, and the strawberry to be harvested is determined (S4). After the manipulator 6 is once returned to the obstacle avoiding posture of step 1 for obstacle avoidance, as shown in FIG. 11, the optical axis of the visual sensor 9 at the time of image input and the approach direction of the manipulator 6 are matched, and the manipulator 6 is moved. 6 is set to the harvest approach initial posture (S5). Next, as shown in FIG. 12, the manipulator 6 is set to the harvest approach posture, and a high-speed approach is made to the strawberry to be harvested (S6). When the strawberry approach sensor 26 is turned on here (S7), Manipulator 6
Is stopped, and the suction device 15 is turned on (S
8). Thereafter, the manipulator 6 is approached at a low speed toward the strawberry to be harvested (S9). As shown in FIG. 13, the position of the sucked strawberry is detected based on the ON position of the photo sensor 21.
When the manipulator 6 is slid back and forth, the end effector 13 is moved in a proper direction until the strawberry comes to a proper position in the end effector 13 (S10). By rotating the part 10, the suction pipe 1
The stem of the strawberry taken into the cut 22 of No. 4 is guided and taken into the cut portion of the cutter 23 (S12). Here, the solenoid 24 is turned on, the cutter 23 is slid, and the cutter 2 is moved.
Cut the strawberry handle taken into the cutting section of No. 3 (S1
3). Thereafter, the harvested strawberry is conveyed by suction through the hose 11, and the photo sensor 20 detects whether the harvested strawberry has been conveyed to near the outlet of the hose 11 (S1).
4) When the conveyance is detected, the suction device 15 is turned off (S15). When the suction device 15 is turned off, the lid 17 at the outlet of the hose 11 that has been closed by suction is opened, and the harvested strawberries are stored in the container 19. Next, the manipulator 6 is slid rearward to retract the end effector 13 (S16), the solenoid 24 is turned off, and the cutter 23 is returned to its original position by contraction of the spring 25, thereby opening the cutting portion (S17). Then, the rotation of the joint portion 10 of the manipulator 6 is returned to the original state, and the suction pipe 14 is returned to the initial state (S18). Finally, it is determined whether or not all the harvestable strawberries in the image have been harvested (S19). When all the strawberries have been harvested, the traveling unit of the moving mechanism 2 is driven to move to the next area (S20). ). If not, return to step 6. According to the embodiment of the present invention, as shown in FIG. 7, a notch 22 for taking in the stalk of a strawberry to be harvested is recessed above the tip of the suction pipe 14, and the strawberry is sucked by suction. The suction pipe 14 is rotated while the suction force is applied, and the strawberry handle taken into the cut 22 of the suction pipe 14 is guided and taken into the cut portion of the cutter 23. Therefore, according to the embodiment of the present invention, the fruits of the strawberry to be harvested are locked while being pressed against the cut 22 by the suction force, and the cutting mechanism of the cutter 23 is surely rotated by rotating the suction pipe 14. Can be taken in. Even after the strawberry is taken into the cutting mechanism, the rotation of the suction pipe 14 is overrun so that the strawberry does not come out of the suction pipe 14 so that the upper end of the strawberry is brought into the suction pipe 1.
4 can be kept in close contact with the inner wall, so that the cutting position of the fruit handle can always be kept constant. In addition, the stalk can be taken into the cutting portion of the cutter 23 and cut without directly touching the flesh portion of the strawberry without providing a complicated cutting mechanism. In the embodiment of the present invention, a suction pipe 14 having an inner diameter larger than that of the strawberry to be harvested is provided inside the end effector 13, and the suction pipe 14 is connected to the hose 11,
1 is further connected to a suction device 15. Then, the manipulator 6 approaches the strawberry detected by the visual sensor 9, and when the strawberry approach sensor 26 is turned on, the suction device 15 is turned on, and the strawberry is taken into the suction pipe 14 by suction. Therefore, according to the embodiment of the present invention, even if the approach position of the manipulator 6 is slightly shifted, the strawberry can be taken into the suction pipe 14 without fail. In addition, even if there is an obstacle such as a pillar near the strawberry to be harvested, it does not interfere with the harvesting. The embodiment of the present invention, as shown in FIG.
A plurality of photosensors 21 are arranged on both sides of the suction pipe 14 inscribed in the end effector 13, and the size and position of the taken strawberry are detected by the number and position where the photosensors 21 are turned on. Thereby, if the photo sensor 21 at the proper position is turned on, it is determined that the strawberry has been taken into the proper position in the end effector 13. Therefore, according to the embodiment of the present invention, the manipulator 6 is slid back and forth, and the end effector 13 is moved in a proper direction until the strawberry comes to a proper position in the end effector 13. Can be captured. Further, if the strawberries taken into the end effector 13 are at the proper positions, it is possible to recognize that the fruit handle has been taken into the cuts 22 of the suction pipe 14. It is possible to appropriately know the timing of guiding the strawberry stem that has been cut into the cut portion of the cutter 23 for guidance. In the embodiment of the present invention, FIGS.
1. As shown in FIG. 12, a cultivation bed is installed at a height where humans can easily work by hydroponic cultivation, and there is no obstacle below the cultivation bed B to provide a free space. The strawberry harvesting robot 1 is of a low floor type, and at the time of harvesting, the manipulator 6 is slid to approach the strawberry on the opposite side from below the cultivation bed B to approach. Since the strawberry has a long stem, it hangs down along the edge of the cultivation bed B as the strawberry ripens and grows larger. On the other hand, the flowers and small strawberries have their stems warped upward, and therefore, are located at a position above the cultivation bed B more distant than the strawberries at the appropriate harvest time. For this reason, when approaching from the front of the cultivation bed B, these flowers and small strawberries are often in the way. Therefore, according to the embodiment of the present invention, since the target is to approach the strawberry on the opposite side from the bottom of the cultivation bed B, most of the strawberry in the optimal harvest time is in the field of view of the visual sensor 9 without obstacles, Easy to approach, greatly improving harvesting efficiency. In the embodiment of the present invention, as shown in FIG. 3, a branch point is provided in the middle of the hose 11, and a branch port connected to the suction device 15 is covered with an elastic net 16. The outlet of the hose 11 is viewed through a lid 17 which can be freely opened and closed to a container 19. The harvested strawberries are conveyed by suction through the hose 11 to the branch port, hit the net 16 and change direction, are conveyed to the outlet of the hose 11 and discharged to the container 19. Therefore, according to the embodiment of the present invention, the harvested strawberry is conveyed to the container 19 through the hose 11, so that the manipulator 6 is not operated for conveyance. For this reason, the manipulator 6 operates only by the approach, and the time required for harvesting is greatly reduced because there is no strawberry transport operation. In the embodiment of the present invention, an openable and closable lid 17 is attached to the outlet of the hose 11 as shown in FIG. A photo sensor 20 for detecting passage of the harvested strawberry is provided near the outlet of the hose 11. The lid 17 generates a suction force in the hose 11 when the suction device 15 is turned on,
The lid closes. When the suction device 15 is turned off, the suction force in the hose 11 disappears, and the lid is opened. When the photo sensor 20 detects the passage of the strawberry, the lid 17 is opened because the suction device 15 is turned off.
Is discharged. Therefore, according to the embodiment of the present invention, since the suction force does not increase while the outlet of the hose 11 is open, the harvested strawberry cannot be taken into the end effector 13, but when the suction device 15 is turned on. Since the lid 17 is closed, the inside of the hose 11 is sealed, so that the suction force is increased, and the strawberry to be harvested can be taken into the end effector 13. Further, since the lid 17 opens and closes when the suction device 15 is turned on and off, there is no need to provide a special mechanism for opening and closing. Further, the suction device 1
Until the lid 17 is opened by turning off 5, the suction force is still applied to the strawberries conveyed up to the front of the lid 17, and the strawberries are not discharged to the container 19 vigorously, so that the strawberries are not damaged. The end effector of the strawberry-harvesting robot of the present invention has the above-mentioned structure. The strawberry handle to be harvested is pressed against the tip of the suction pipe provided in the end effector by the suction force. Since it is stopped, the fruit pipe can be taken into the cutting mechanism by rotating the suction pipe and the fruit handle can be reliably cut. Therefore, according to the end effector of the present invention, even without providing a complicated cutting mechanism, the strawberry can be harvested without damaging the strawberry, because it does not directly touch the pulp portion of the strawberry, simply and reliably. .

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a front view of a strawberry harvesting robot according to an embodiment of the present invention. FIG. 2 is a side view of the strawberry harvesting robot according to the embodiment of the present invention. FIG. 3 is a sectional view of a hose according to the embodiment of the present invention. FIG. 4 is a front view of the end effector according to the embodiment of the present invention. FIG. 5 is a plan view of the end effector according to the embodiment of the present invention. FIG. 6 is a side view of the end effector according to the embodiment of the present invention. FIG. 7 is a perspective view of a tip portion of a strawberry suction pipe according to the embodiment of the present invention. FIG. 8 is a flowchart of a strawberry harvesting process according to the embodiment of the present invention. FIG. 9 is a diagram illustrating an obstacle avoiding posture of the strawberry harvesting robot according to the embodiment of the present invention. FIG. 10 is a diagram illustrating an image input attitude of the strawberry harvesting robot according to the embodiment of the present invention. FIG. 11 is a diagram illustrating a harvesting approach initial posture of the strawberry harvesting robot according to the embodiment of the present invention. FIG. 12 is a diagram illustrating a harvest approach posture of the strawberry harvest robot according to the embodiment of the present invention. FIG. 13 is a diagram showing ON and OFF of the photo sensor according to the embodiment of the present invention. [Description of Signs] 1 Strawberry harvesting robot 2 Moving mechanism unit 3 Linear guide 4 Motor 5 Base 6 Manipulator 7 Controller 8 Battery 9 Visual sensor 10 Joint unit 11 Hose 12 Hand unit 13 End effector 14 Suction pipe 15 Suction device 16 Net 17 Lid 18 Motor 19 Container 20, 21 Photosensor 22 Cut 23 Cutter 24 Solenoid 25 Spring 26 Proximity sensor B Cultivation bed

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) A01D 46/00 B25J 13/08 B25J 15/00

Claims (1)

(1) A strawberry-harvesting robot for automatically harvesting strawberries by manipulating a manipulator based on visual information of a visual sensor, wherein a suction port of a strawberry suction pipe is provided at a tip of the manipulator. At the same time, connect the end side of this pipe to a strawberry container, install a strawberry detection sensor at the suction port to detect that strawberry has been taken into the suction port, and furthermore, at the rim of the suction port An end effector is configured by providing a fruit handle locking portion and a fruit handle cutting portion.Based on the output of the strawberry detection sensor, when the strawberry is taken into the suction port, the manipulator is operated to move the end effector to the strawberry suction pipe shaft. The manipulator is characterized by rotating around the stalk, guiding the stalk to the stalk locking part, cutting the stalk by the stalk cutting part, and harvesting strawberries. N effector.