JP6015904B2 - Harvesting equipment and harvesting method - Google Patents

Description

  The present invention relates to a harvesting apparatus and a harvesting method, and more particularly to a fruit harvesting apparatus and a harvesting method for determining whether or not to harvest based on the color of the skin, the softness of the fruit, and the ease of peeling off the fruit.

  Conventionally, research and development of plant factories, agricultural robots, etc. have been promoted for the purpose of labor saving and efficiency improvement of agricultural work and productivity improvement of crops.

  As an example of a farming robot, a vibration harvesting machine called “blueberry harvester” used in a vast blueberry farm such as the United States can be cited. This vibration harvester is a machine that harvests ripe blueberries by shaking them off the branches.

  By the way, the berries of blueberries have different ripening levels and do not ripen after harvesting to increase sweetness. Therefore, when blueberries are harvested using the above-mentioned vibration harvesting machine, there are problems such as harvesting blueberries that are not at the optimal harvest time, and fruits that have different maturity and sweetness are mixed in the harvested blueberries. In particular, expensive blueberries for raw consumption are currently harvested by experts with the degree of ripeness determined for each grain.

  However, since raw blueberries cannot be stored for a long period of time, it is necessary for skilled workers to determine ripeness and harvest every day during the harvest period, and the harvesting process of blueberries requires a lot of labor and time. It has been known. Furthermore, it is extremely difficult for an unskilled person to judge the maturity of blueberries, and skillful techniques are required for harvesting blueberries. Is difficult. Therefore, the development of a harvesting robot that automatically discriminates and harvests fruits at the optimal harvesting time is a challenge in this field.

  To solve such a problem, Patent Documents 1 to 3 disclose a technique for discriminating a fruit at an optimum harvest time using an image processing technique and harvesting a fruit discriminated as the optimum harvest time.

  Each of the fruit harvesting devices disclosed in Patent Documents 1 to 3 determines whether or not the strawberry is at the optimum harvest time based on the color (coloring rate) of the strawberry in the image captured by the camera, and the image. The position of the strawberry to be harvested is specified based on the above, and the manipulator and the suction unit are moved to the position of the strawberry determined to be the optimum harvest time to harvest the strawberry to be harvested.

JP 2008-206438 A JP 2009-027977 A JP 2011-206014 A

  By the way, as for the fruit of a blueberry, the color of the skin becomes dark blue generally as it matures, and the color of the base of the fruit handle (the root part of the fruit) also becomes dark blue. Furthermore, since the fruit of a blueberry becomes softer as the fruit ripens and becomes easier to tear, the expert of blueberry harvesting comprehensively evaluates these multiple factors to determine the maturity of the fruit.

  According to the fruit harvesting device disclosed in Patent Literatures 1 to 3, although it is possible to determine whether or not the fruit is in the optimum harvest time based on the color (coloring rate) of the fruit imaged by the camera, Indicators such as softness and ease of fruit removal cannot be determined.

  The present invention has been made in view of the above-described problems, and in a fruit that performs fruit maturity determination based on a plurality of indices such as fruit skin color, fruit softness, and fruit tearing ease, these plurality of determinations It is an object of the present invention to provide a harvesting apparatus and a harvesting method capable of continuously evaluating an index and harvesting the fruit.

The harvesting apparatus according to the present invention that has achieved the above object includes the following.
(1) A harvesting device that collects and harvests fruit growing on a plant from a fruit handle, and determines whether or not the fruit should be harvested from the color of the skin of the fruit growing on the plant. Harvested by a first judging means, a second judging means for judging whether or not the fruit should be harvested from the viscoelasticity of the fruit growing on the plant, and the first judging means and the second judging means. A harvesting device comprising: harvesting means for collecting and harvesting a fruit having an epiphytic strength of a fruit pattern that is equal to or lower than a predetermined accumulating intensity among fruits determined to be fruit.
(2) The second determination means includes a cylinder and a decompression unit that depressurizes the inside of the cylinder, and the posture of the cylinder in a posture in which the fruit growing on the plant is brought into contact with the end of the cylinder. The support means for supporting the fruit by adsorbing the fruit to the end of the cylinder by depressurizing the inside, the pressing means for pressing the fruit supported by the support means, and the viscoelasticity of the fruit is calculated from the pressing force of the pressing means The harvesting device according to (1), further comprising:
(3) The harvesting means comprises the support means and a moving means for separating the support means and the plant, and the inside of the cylinder is in a posture in which the fruit is brought into contact with the end of the cylinder of the support means. The fruit is adsorbed to and supported by the end of the cylinder by reducing the pressure, and the fruit having an epiphysis strength with the fruit pattern of a predetermined epiphysical strength or less is collected from the fruit pattern by separating the support means from the plant. The harvesting device according to (2).
(4) The harvesting device according to (3), wherein the pressure inside the cylindrical body of the support means is adjusted.
(5) The harvesting device according to any one of (2) to (4), wherein a buffer material is provided at an end of the cylindrical body of the support means.
(6) The fruit is a blueberry, and the first determination means determines whether or not the fruit should be harvested by determining the blue color of the fruit peel, and the second determination means has a fruit viscoelasticity of 0.59. N / mm (60 gf / mm) or less is determined to be a fruit to be harvested, and the harvesting means collects a fruit with an epiphytic strength of 0.98 N (100 gf) or less from the fruit pattern. The harvesting device according to any one of (1) to (5).

Moreover, the harvesting method according to the present invention that has achieved the above object includes the following.
(7) A harvesting method for collecting and harvesting a fruit growing on a plant from a fruit handle, and determining whether or not the fruit should be harvested from the color of the fruit skin of the fruit growing on the plant Determining whether the fruit should be harvested from the viscoelasticity of the fruit growing on the plant, and the fruit of the fruit determined to be harvested from the color of the fruit peel and the viscoelasticity of the fruit. A method of harvesting, comprising the step of collecting and harvesting a fruit having an epiphytic strength with a handle having a predetermined epidermal strength or less from the fruit handle.
(8) The fruit was adsorbed to the cylinder end by depressurizing the inside of the cylinder in a posture in which the fruit growing on the plant was in contact with the cylinder end, and was adsorbed to the cylinder end. The harvesting method according to (7), wherein the fruit is pressed and the viscoelasticity of the fruit is calculated from the pressing force to determine whether the fruit should be harvested.
(9) When it is determined that the fruit should be harvested from the color of the fruit peel and the viscoelasticity of the fruit, the cylinder and the plant are separated from each other with the fruit adsorbed on the end of the cylinder. Harvest method.
(10) The harvesting method according to (8) or (9), wherein the pressure inside the cylinder is adjusted when it is determined that the fruit should be harvested from the color of the fruit peel and the viscoelasticity of the fruit.
(11) The harvesting method according to any one of (7) to (10), in which it is determined whether or not the fruit is to be harvested from the color of the fruit skin under a condition where the external light condition is constant.
(12) The fruit is a blueberry, and it is determined whether or not the fruit should be harvested by judging the blue color of the fruit peel, and the fruit whose fruit viscoelasticity is 0.59 N / mm (60 gf / mm) or less should be harvested The harvesting method according to any one of (7) to (11), wherein the fruit is determined to be a fruit, and a fruit having an epiphytic strength of 0.98 N (100 gf) or less is collected from the fruit pattern and harvested.

  According to the harvesting apparatus and the harvesting method of the present invention, in a fruit that performs fruit maturity determination based on a plurality of indices such as the color of the skin, the softness of the fruit, and the ease of peeling off the fruit, the plurality of determination indices are continuously used. The fruit can be harvested at an appropriate time for evaluation, and the labor of the skilled worker can be reduced to improve the efficiency of fruit harvesting.

It is the figure which showed one Embodiment of the harvesting apparatus of this invention. It is the elements on larger scale which expanded and showed the harvesting end effector of the harvesting apparatus shown in FIG. It is the figure which demonstrated typically the connection relation of the pipe for fruit adsorption | suction of the harvesting end effector shown in FIG. It is the figure which showed an example of the image imaged with the imaging camera, Comprising: (a) is a figure which showed an example of the image in case the fruit in an image is relatively small, (b) is the fruit in an image It is the figure which showed an example of the image when is relatively large. It is the figure which showed an example of the image imaged with the imaging camera, Comprising: (a) is a figure which showed an example when the fruit in an image is blue, and an example of the result of blue detection, (b) It is the figure which showed an example in case the fruit of green is green, and an example of the result of blue detection. It is a figure explaining the fruit harvesting method by a harvesting device, (a) is a figure showing a state that supports the fruit, (b) is a figure showing a state of measuring the viscoelasticity of the fruit, (C) is the figure which showed the state which extract | collected and harvested the fruit from the fruit handle. It is a figure explaining the measuring method of the viscoelasticity of the fruit using a rheometer. It is a figure explaining the measuring method of the growth intensity | strength of the fruit using a rheometer. It is the figure which showed the relationship between the viscoelasticity of fruit, epiphytic strength, and sugar content.

  Hereinafter, embodiments of a harvesting apparatus and a harvesting method of the present invention will be described with reference to the drawings.

[Embodiment of harvesting apparatus]
FIG. 1 is a view showing an embodiment of the harvesting apparatus of the present invention, and FIG. 2 is a partially enlarged view showing the end effector of the harvesting apparatus shown in FIG. 1 in an enlarged manner.

  A harvesting apparatus 100 shown in FIG. 1 is composed of a mobile robot (RH1) 50 having an arm 51. At the tip of the arm 51, a fruit B growing on a plant P is collected from a fruit pattern and harvested. A harvesting end effector 10 is attached.

  The mobile robot 50 is a differential drive type mobile device having drive wheels 52 provided on the left and right front sides and two casters 53 provided on the left and right sides, and a motor (not shown) mounted therein. The mobile robot 50 can be moved in any direction by driving the left and right front drive wheels 52 and inclining the left and right rear casters 53 by a predetermined angle in synchronization.

  Here, a control signal (driving signal) for driving the motor of the mobile robot 50 and a control signal for driving the arm 51 of the mobile robot 50 may be transmitted and input from the outside, for example, an operator, etc. May be input directly to the mobile robot 50.

  An operator or the like drives the motor of the mobile robot 50 to move the mobile robot 50 to a desired position, and drives the arm 51 of the mobile robot 50 as desired, so that the harvest attached to the tip of the arm 51 is obtained. The end effector 10 for use can be disposed in the vicinity of the fruit B to be harvested.

  The harvesting end effector 10 shown in FIG. 2 determines fruit maturity based on a plurality of indices such as (1) fruit peel color, (2) fruit softness, and (3) fruit easy tearing. It is for harvesting fruits that are determined to be matured based on their maturity determination.

  Specifically, the harvesting end effector 10 includes an imaging camera (first determination means) 11 for detecting the position of the fruit and the color of the skin, a housing 12 for mounting the imaging camera 11, a housing A fruit adsorbing pipe (cylinder) 13 protruding forward from the body 12 is arranged so as to intersect the pipe 13 from below the pipe 13 and rotates in the vertical plane with the base end portion 14 as the center of rotation. A pressing means 17 that presses the fruit to be harvested with the tip pin 16 provided on the tip portion 15, and a calculation means 20 that calculates the viscoelasticity of the fruit from the pressing force of the pressing means 17.

  As shown in FIG. 3, the fruit adsorption pipe 13 is connected to a compressor (decompression unit) 21 so that the inside of the pipe 13 is depressurized to an arbitrary pressure. More specifically, on / off control of the compressor 21 is performed based on the measurement value of the pressure sensor 23 directly connected to the tank 22, the internal pressure of the tank 22 is reduced to a predetermined pressure, The inside of the pipe 13 is depressurized to an arbitrary pressure by opening the electromagnetic valve 24 in a posture in which the fruit B is arranged in the vicinity of the tip 18 so as to be in contact with the fruit B at the tip 18 of the pipe 13. Adsorb. Here, the pressure inside the pipe 13 is adjusted by opening and closing the electromagnetic valve 24 based on the measurement value of the pressure sensor 25 disposed on the pipe 13 side of the electromagnetic valve 24, and the fruit B against the pipe 13 is adjusted. The adsorption power can be adjusted. By opening the electromagnetic valve 26, the inside of the pipe 13 can be opened to the atmosphere, and the fruit B can be separated from the tip 18 of the pipe 13 by reducing the adsorption force of the fruit B on the pipe 13.

  In this way, by reducing the pressure inside the pipe 13 using the compressor 21 in a posture in which the fruit B growing on the plant P is brought into contact with the tip 18 of the pipe 13, the fruit B to be harvested is piped. It can be adsorbed and supported by the tip portions 18 of 13. Then, when the fruit B is adsorbed and supported by the distal end portion 18 of the pipe 13, the distal end pin 16 of the pressing means 17 is rotated by rotating the pressing means 17 in the vertical plane with the base end portion 14 as the rotation center. Can press the fruit B.

  Further, a strain gauge (not shown) is affixed to the surface of the aluminum plate constituting the root portion 9 of the pressing means 17, and the fruit B is adsorbed and supported on the tip portion 18 of the pipe 13 as described above. When the fruit B is pressed with the tip pin 16 of the pressing means 17 in the state, the aluminum plate constituting the root portion 9 is bent by the viscoelasticity of the fruit B and surface distortion is generated. The viscoelasticity of the fruit B is calculated by calculating the pressing force of the pressing means 17 (reaction force acting from the fruit B) from the surface strain measured by the calculating means 20. It can be done.

  A torus-shaped cushion material (buffer material) 19 is attached to the tip portion 18 of the pipe 13 in order to suppress the damage of the fruit B or to improve the adhesion to the fruit B.

  That is, the supporting means for adsorbing and supporting the fruit B on the tip end portion 18 of the pipe 13 is constituted by the pipe 13 and the compressor 21, and the determining means (second determining means) for determining the softness of the fruit is the supporting means. And pressing means 17 and calculation means 20.

  Further, the harvesting device 100 includes a moving means for separating the harvesting end effector 10 and the plant P, and the harvesting end effector 10 and the plant are supported while the fruit B is adsorbed and supported by the tip 18 of the pipe 13. By separating P, fruit B can be harvested from the fruit handle. That is, the harvesting means for harvesting the fruit B based on the ease of peeling off the fruit is composed of the moving means and the support means.

[Embodiment of harvesting method]
Hereinafter, a fruit harvesting method using the harvesting end factor shown in FIG. 2 will be described in detail with reference to FIGS. Here, examples of fruits to be harvested include blueberries, raspberries, strawberries, citrus fruits such as mandarin oranges, lemons, cherry peaches, apples, pears, loquats, grapes, mangoes, papayas, dragon fruits, etc. A case where a substantially circular blueberry is targeted for harvesting will be specifically described.

[Positioning of harvesting end factors]
First, the mobile robot 50 is moved, the arm 51 of the mobile robot 50 is driven, and the harvesting end is set so that the blueberry B to be harvested is included in the imaging range of the imaging camera 11 mounted on the harvesting end effector 10. The effector 10 is disposed. Here, it is preferable to arrange | position the front-end | tip part 18 of the pipe 13 for fruit adsorption | suction of the end effector 10 for harvesting in the position which does not inhibit the imaging of the blueberry B by the imaging camera 11. FIG.

[Maturity determination by image processing of images taken by imaging camera]
Next, the position of each blueberry B and the color of the pericarp are detected from the image captured by the imaging camera 11, and based on the detection result, it is determined whether or not the blueberry should be harvested (blueberry maturity).

  Specifically, a program for detecting the position of each blue fruit in the image is created using the image processing library OpenCV, blue is detected from the RGB values of the image captured by the imaging camera 11, and the blueberry is detected. B's landing position is estimated. Next, after performing noise processing by labeling, circle detection by Hough transform (Hough transform) is performed on the blue detection position, and the position of blueberry B for each grain is estimated. This Hough transform is one of feature extraction methods used in digital image processing. In the present embodiment, a three-dimensional Hough space is used to represent the center and radius of image data captured by the imaging camera 11. By converting into three parameters, a “circle” is detected, and the position and maturity of each blueberry B are precisely determined.

  The circle detection by the Hough transform can suppress the erroneous detection of the blueberry B by setting an appropriate range for the size of the circle to be detected. FIG. 4 is a diagram illustrating an example of an image captured by the imaging camera 11, and FIG. 4A is a diagram illustrating an example of an image when a fruit in the image is relatively small. FIG. 4B is a diagram illustrating an example of an image when the fruit in the image is relatively large. In the figure, the fruit detected as the fruit of the blueberry B by the circle detection by the Hough transform is shown surrounded by a circle.

  As shown in FIG. 4 (a), when the blueberries in the image are relatively small (the distance between the imaging camera 11 and the blueberry B is relatively large), out of 42 blue blueberries that can be found visually. 31 blueberries can be detected by circle detection by Hough transform. On the other hand, as shown in FIG. 4B, when the blueberries in the image are relatively large (the distance between the imaging camera 11 and the blueberries B is relatively small), the blue blueberries 2 that can be found visually. All two blueberries can be detected by circle detection by Hough transform.

  Thus, when performing image processing, depending on the size of the fruit in the image (distance between the imaging camera 11 and the fruit), for example, noise removal by labeling and the minimum and maximum radii of a detectable “circle” By appropriately setting the distance that should exist between the circles in the image, it is possible to suppress erroneous detection of the blueberry B for each grain.

  In addition, as noise in image processing, although the inner wall of a cultivation room, the fixtures for cultivation, etc. which sunlight reflected are considered, as shown to Fig.5 (a), (b), the leaf of blueberries itself or green fruit The present inventors have confirmed that it can be reliably removed by the blue detection described above.

[Ripeness determination based on the softness of the fruit]
Next, for each blueberry determined to be a ripe blueberry from the color of the blueberry peel as described above, the viscoelasticity of each grain, which is an indicator of the softness of the blueberry, is detected, and the harvest is performed based on the detection result. Judge whether blueberries should be (blueberry maturity). In the present embodiment, the case where the viscoelasticity is detected as viscoelasticity will be described. For example, viscoelasticity may be used as a blueberry softness determination index.

  Specifically, the tip of the fruit adsorbing pipe 13 of the harvesting end effector 10 is moved to the blueberry position estimated by the blue detection described above by moving the mobile robot 50 or driving the arm 51 of the mobile robot 50. 18 is moved, and the tip 18 of the pipe 13 is brought into contact with the blueberry B to be harvested. Then, the inside of the pipe 31 is decompressed using the compressor 21, and the blueberry B is adsorbed and supported by the tip 18 of the pipe 13 (see FIG. 6A).

  In a state where the blueberry B is supported on the distal end portion 18 of the pipe 13, the pressing means 17 of the harvesting end effector 10 is rotationally driven at a constant speed with the base end portion 14 as the rotation center using the servo module. The blueberry B is pressed at a constant speed with the tip pin 16, and the blueberry B is deformed by a predetermined deformation amount (for example, about 1 mm). At that time, distortion occurs on the surface of the root portion 9 of the pressing means 17 due to the viscoelasticity of the blueberry, and the surface distortion is measured with a strain gauge attached to the surface of the root portion 9. The reaction force (viscoelastic force) of blueberry against 16 is calculated. Then, the relationship between the deformation amount (for example, about 1 mm) of blueberry B and the reaction force (viscoelastic force) is measured to calculate the viscoelastic modulus of blueberry B (see FIG. 6B). In calculating the viscoelasticity of the blueberry B, correction is performed in consideration of the amount of bending of the root portion 9 of the pressing means 17.

  Here, blueberries to be harvested have many fruits that are densely fruited, and the distance between the fruit to be subjected to maturity determination by softness and the fruit adjacent thereto is often extremely small. Therefore, as described above, the blueberry B is adsorbed and supported by the cylindrical pipe 13 to support the blueberry B with a relatively small physique compared to, for example, the case where the blueberry B is supported by a gripping means or the like. In addition, the adjacent blueberry B can be damaged, or the blueberry B to be determined can be supported without interfering with the adjacent blueberry B. In addition, the pressing means 17 that presses the blueberry B to be determined is arranged so as to intersect the pipe 13, and the pressing means 17 is rotated about the base end portion 14 as a rotation center, so that the pipe on the surface of the blueberry B is piped. Since the tip side pin 16 of the pressing means 17 can press the surface on the 13th side, it is possible to prevent the blueberry B adjacent to the blueberry B to be determined from colliding with the tip pin 16 of the pressing means 17, and the end factor. The physique of 10 whole can also be reduced in size.

  As a result of calculating the viscoelasticity of the blueberry B, when the viscoelasticity is within a predetermined range, it is determined that the blueberry is ripe, and the maturity determination based on the ease of peeling off the fruit described below is executed. .

  On the other hand, when the viscoelastic modulus of blueberry B is not within the predetermined range (for example, it is harder than the predetermined hardness), it is determined that the blueberry is not ripe, and the electromagnetic valve 26 shown in FIG. The inside of 13 is opened to the atmosphere, and the blueberry B is separated from the tip 18 of the pipe 13 and the blueberry B is not harvested. Then, the mobile robot 50 is moved, or the arm 51 of the mobile robot 50 is driven, and the fruit adsorbing pipe 13 of the harvesting end effector 10 is moved to the position of a separate blueberry B determined to be a ripe blueberry by blue detection. The tip 18 is moved, and a freshness determination based on the softness of the fruit is newly executed.

[Ripeness determination based on ease of fruit removal]
Next, the blueberries determined to be ripe blueberries from the viscoelasticity of the blueberries by the above-described determination of ripeness are harvested based on the fruit and fruit pattern growing strength that is an index of ease of tearing the blueberries. Here, the growth strength is a force required when separating a fruit and a fruit pattern.

  Specifically, using the pipe 13 and the compressor 21 used in the maturity determination based on the softness of the fruit, the mobile robot 50 is moved in a state where the blueberry B is adsorbed and supported by the tip 18 of the pipe 13. Alternatively, the arm 51 of the mobile robot 50 is driven to separate the harvesting end effector 10 from the tree pattern of the blueberry B. Thereby, the blueberry B is pulled from the fruit handle, and the blueberry B is collected from the fruit handle and harvested (see FIG. 6C).

  At that time, the pressure inside the pipe 13 is controlled, and the adsorption force to the pipe 13 acting on the blueberry B is changed, and the blueberry B (mogi) growing on the fruit pattern with an accumulation strength below a predetermined adsorption force. Harvest only fruits that are easy to remove. On the other hand, when the harvesting end effector 10 is moved away from the tree pattern of the blueberry B, the blueberry B (fruit that is difficult to peel off) that has grown on the fruit pattern with a setting strength higher than the predetermined adsorption power is obtained. The strength of fruit and fruit pattern overcomes the adsorption force to the pipe 13 acting on the blueberry B, and the fruit and fruit pattern is not harvested by being separated from the tip 18 of the pipe 13 while being grown on the fruit pattern.

  As a result, it is possible to harvest only the ripe blueberries B (fruits suitable for harvesting) that are easy to peel off, and the unripe blueberries B that are difficult to peel off are not harvested, but are allowed to grow on the trees until the blueberries B are fully ripe. be able to.

  When the harvesting end effector 10 is separated from the tree pattern of the blueberry B to harvest the blueberry B, the pressure inside the pipe 13 is controlled to change the adsorption force to the pipe 13 acting on the blueberry B. However, when the blueberry B is adsorbed and supported by the tip 18 of the pipe 13 in the above-described maturity determination based on the softness of the fruit, it is preliminarily based on the setting strength as an index of the ease of tearing off the fruit. By controlling the pressure inside the pipe 13 and adjusting the adsorption force to the pipe 13 acting on the blueberry B, it is easy to peel off the maturity determination based on the softness of the fruit while the pressure inside the pipe 13 is substantially constant. The fruit harvesting based on the length can be executed, and the fruit harvesting process can be simplified.

  After harvesting the ripe blueberry B by adsorbing it to the tip 18 of the pipe 13, the mobile robot 50 is moved or the arm 51 of the mobile robot 50 is driven to bring the blueberry B to a predetermined storage box. The electromagnetic valve 26 shown in FIG. 3 is opened to open the inside of the pipe 13 to the atmosphere, and the blueberry B is separated from the tip 18 of the pipe 13 and stored in the storage box.

[Experiment and results of measuring viscoelasticity, growth strength and sugar content of fruits with test samples]
In order to specify the viscoelasticity and the setting strength of the fruit, which are the criteria for determining the ripeness based on the softness of the fruit and the ripeness determination based on the ease of tearing, the present inventors have different viscoelasticity and setting strength. Blueberry fruits (test samples) were prepared, and viscoelasticity measurement, growth strength measurement and sugar content measurement were performed on each test sample.

[Viscoelasticity measurement and epidemic strength measurement]
Rheometer (viscoelasticity measuring instrument) capable of performing tensile test and compression test (viscoelasticity measuring instrument) and RTC-3005D ).

  Referring to FIG. 7, the method for measuring the viscoelasticity of a test sample is outlined. A test sample is placed on a rheometer sample stage so that the pattern of blueberries is in a substantially horizontal direction. It was moved at 1 mm / sec in the direction of a cylindrical adapter (diameter 2 mm) connected to a strain gauge. The test sample placed on the sample stage was pressed by 1 mm with the adapter, and the reaction force (viscoelastic force) [gf] at that time was measured. By dividing the reaction force by the unit length, the viscoelastic modulus [gf / mm] serving as an index of the softness of blueberries was calculated.

  Next, referring to FIG. 8, an outline of the method for measuring the setting strength of the test sample will be described. A clip for gripping the pattern of the test sample is attached to the rheometer adapter so that the blueberry pattern is substantially vertical. An inspection sample was placed on the sample stage of the rheometer so as to face upward, and the inspection sample was fixed by a substantially U-shaped fixing means so that the inspection sample was not separated from the sample stage. Then, the handle of the test sample is gripped by the clip, the sample stage is moved away from the adapter of the rheometer at a rate of 1 mm / sec, and the separation force (peak) when the test sample fruit and the handle are separated. Value) [gf] was measured, and this separation force was defined as the setting strength [gf] which is an index of ease of tearing blueberries.

[Sugar content measurement]
The sugar content was measured using a digital sugar content meter (manufactured by ATAGO: PR-101).
To outline the method for measuring the sugar content of a test sample, the blueberry fruit with its fruit pattern removed is wrapped in a fabric sewn with a synthetic fiber made of polyurethane / nylon, and then wrapped in a fabric using a commercially available squeezer. The fruit juice was collected by crushing. Next, the collected fruit juice was centrifuged at 13000 rpm for 10 minutes at 16 degrees using a centrifuge, and only the supernatant of the collected fruit juice was extracted. And the supernatant liquid of the extracted fruit juice was dripped on the prism of the sample stage of the above-mentioned digital sugar content measuring device, and the Brix value (soluble solid content concentration) [%] of the blueberry of the test sample was measured. Since most of the fruit juice of blueberry fruit is sugar, the measured Brix value was defined as the sugar content [%] of blueberry.

[Results of measuring viscoelasticity, growth strength, and sugar content of fruits using test samples]
FIG. 9 is a diagram showing the relationship between the viscoelasticity of fruit, the setting strength and the sugar content of the test sample. In addition, blueberry fruit, which is a test sample, generally has a sugar content of 10% as a criterion for determining the sweetness of consumers. A low test sample is indicated by Δ (triangle).

  As shown in the figure, the viscoelasticity (index of fruit softness) is 60 [gf / mm] (0.59 [N / mm]) or less, and the setting strength (index of ease of fruit tearing) is 100 [gf] It was confirmed that the test sample having a value of (0.98 [N]) or less has a high probability of having a sugar content of 10% or more. In particular, test samples with viscoelasticity (fruit softness index) of 28 [gf / mm] (0.27 [N / mm]) or more and 60 [gf / mm] (0.59 [N / mm]) or less It was confirmed that the probability that the sugar content is 10% or more becomes extremely high.

  From this experimental result, when harvesting blueberries to be harvested using the harvesting device described above, the fruit viscoelasticity threshold that is a criterion for judging the maturity based on the softness of the fruit is 60 [gf / mm] or less, preferably Is 28 [gf / mm] or more and 60 [gf / mm] or less, and the consumption intensity threshold is set to 100 [gf] or less, which is a criterion for determining the degree of ripeness based on the ease of fruit removal. It was demonstrated that fruits with a sugar content of 10% or more can be efficiently harvested.

  In addition, the threshold values for the above-mentioned viscoelastic modulus and epiphytic strength are set to threshold values that allow consumers to feel sweetness, especially when harvested blueberries are used for raw consumption. A separate threshold can be set when used as processed food. Moreover, the above-mentioned viscoelastic modulus and threshold value of the setting strength can be set as appropriate according to the variety of blueberries.

  In the embodiment described above, a harvesting end effector for harvesting fruits is attached to the tip of the arm of the mobile robot (RH1), and the mobile robot is moved or the arm is driven to drive the harvesting end effector. However, for example, an operator may use the harvesting end effector in proximity to the fruit to be harvested.

  In the embodiment described above, the mode of estimating the position of the fruit to be harvested by image processing of the image captured by the imaging camera has been described. However, for example, the fruit of the fruit to be harvested such as a stereo camera or an ultrasonic sensor is used. A separate device for specifying the three-dimensional position may be applied.

  For example, when using the harvesting device described above at a farm site in a natural environment, the ambient light conditions change (sunny or cloudy) depending on the date and time, and image processing of images captured by the imaging camera Although there is a possibility that the accuracy of blue detection due to the above will decrease, the harvesting device described above is used under conditions where the external light conditions are substantially constant, such as underground or plant factories that use artificial lighting by blocking external light, or at night. By using it, the exposure adjustment of the imaging camera can be omitted, and the accuracy of blue detection by image processing can be maintained. In addition, when using the harvesting device described above at night, it is possible to reliably harvest ripe fruits (fruits suitable for harvesting), and to reduce the labor of the workers and improve the efficiency of fruit harvesting operations. You can also.

  Further, in the above-described embodiment, the description has been given of the mode in which the fruit to be harvested is attracted to the tip of the pipe and is pulled from the fruit handle by being pulled in the substantially horizontal direction. It may be collected from the handle or may be collected from the handle by pulling the fruit in the direction in which the handle extends. For example, when a fruit is pulled from the fruit pattern in the direction in which the fruit pattern extends, the fruit and fruit are not evenly distributed around the connection between the fruit and the fruit pattern. It is possible to suppress the change in the strength of the settling caused by the direction of pulling the fruit, and to maintain the accuracy of the maturity determination based on the ease of tearing off the fruit.

  In the above-described embodiment, the description has been given of the mode of collecting the fruit to be harvested from the fruit pattern by moving the mobile robot or driving the arm to separate the harvesting end effector from the plant. For example, the fruit to be harvested may be collected from the fruit pattern by placing the plant on a moving device and separating the plant side from the harvesting end effector.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and there are design changes and the like without departing from the gist of the present invention. They are also included in the present invention.

DESCRIPTION OF SYMBOLS 9 ... Root part of a press means, 10 ... End factor for harvesting, 11 ... Imaging camera (1st determination means), 12 ... Housing | casing, 13 ... Pipe for fruit adsorption (cylinder), 14 ... Base end of a press means 15, a tip of the pressing means, 16, a tip pin, 17, a pressing means, 18, a tip of the pipe, 19, a cushioning material (buffer material), 20, a computing means, 21, a compressor (decompression unit) ... tank, 23, 25 ... pressure sensor, 24, 26 ... solenoid valve, 50 ... mobile robot, 51 ... arm, 52 ... driving wheel, 53 ... caster, 100 ... harvesting device, P ... plant, B ... fruit (for example, blueberry)

Claims (14)

A harvesting device that harvests fruit growing on a plant from a fruit handle,
First determination means for determining whether or not the fruit is to be harvested from the color of the fruit skin of the fruit growing on the plant;
A second determination means for determining whether or not the fruit should be harvested from the viscoelasticity of the fruit growing on the plant;
Harvesting by harvesting from the fruit pattern the fruit having an epiphytic strength below a predetermined epiphysic intensity among the fruits determined to be harvested by the first determining means and the second determining means. and means, the,
The harvesting means pulls the fruit in a state where the fruit is adsorbed with a predetermined adsorbing force, and collects the fruit having an epiphytic strength with the fruit handle below the predetermined adsorbing force from the fruit handle . Harvesting equipment.   The second determination means includes a cylinder and a pressure reducing unit that depressurizes the inside of the cylinder, and depressurizes the inside of the cylinder in a posture in which the fruit growing on the plant is brought into contact with the end of the cylinder. Supporting means for adsorbing and supporting the fruit at the end of the cylinder, pressing means for pressing the fruit supported by the supporting means, and calculating means for calculating the viscoelasticity of the fruit from the pressing force of the pressing means And the harvesting device according to claim 1. The harvesting means comprises the supporting means, and a moving means for separating the supporting means and the plant,
In a posture in which the fruit is brought into contact with the end of the cylindrical body of the supporting means, the inside of the cylindrical body is depressurized to adsorb and support the fruit at the end of the cylindrical body, and the supporting means in a state where the fruit is adsorbed 3. The harvesting apparatus according to claim 2, wherein the fruit is pulled by separating the plants, and a fruit having an epiphytic strength with a fruit pattern is equal to or less than a predetermined epidermal strength is collected from the fruit pattern.   The harvesting device according to claim 3, wherein the pressure inside the cylindrical body of the support means is adjusted.   The harvesting device according to any one of claims 2 to 4, wherein a buffer material is provided at an end of the cylindrical body of the support means.   The fruit is a blueberry, the first determining means determines whether the fruit should be harvested by determining the blue color of the fruit peel, and the second determining means has a fruit viscoelasticity of 0.59 N / mm. The following fruit is determined as a fruit to be harvested, and the harvesting means collects a fruit having an epiphytic strength of 0.98 N or less from the fruit pattern from the fruit pattern. Harvesting equipment as described in. A harvesting method for harvesting fruit growing on a plant from a fruit handle,
Determining whether or not the fruit should be harvested from the skin color of the fruit growing on the plant;
Determining whether the fruit should be harvested from the viscoelasticity of the fruit growing on the plant;
A step of collecting and harvesting fruit from the fruit pattern with an epiphytic strength of the fruit pattern that is determined to be harvested from the fruit peel color and the viscoelasticity of the fruit, and a predetermined epidermal strength of the fruit pattern; Tona is,
In the step of the harvesting, pulling the fruit in a state of adsorbing the fruit with a predetermined suction force, harvesting method epiphytic strength and peduncle are we collect the predetermined suction force following fruits from the peduncle.   Depressurize the inside of the cylinder with the posture where the fruit growing on the plant is in contact with the end of the cylinder, so that the fruit is adsorbed to the end of the cylinder and the fruit adsorbed on the end of the cylinder is pressed. The harvesting method according to claim 7, wherein the viscoelasticity of the fruit is calculated from the pressing force to determine whether the fruit should be harvested. When it is determined that the fruit to be harvested from the viscoelastic pericarp color and fruit berries, pulling the fruit by Rukoto to separate the cylindrical body and plants in a state of being adsorbed fruit the cylindrical body end, harvesting method according to claim 8 epiphytic strength and peduncle is you taken following fruit predetermined epiphytic intensity from peduncles.   The harvesting method according to claim 8 or 9, wherein the pressure inside the cylinder is adjusted when it is determined that the fruit should be harvested from the color of the fruit peel and the viscoelasticity of the fruit.   The harvesting method according to any one of claims 7 to 10, wherein it is determined whether or not the fruit is to be harvested from the color of the fruit skin under a condition where the external light condition is constant.   The fruit is a blueberry, it is determined whether or not the fruit to be harvested by the blue determination of the fruit peel, and the fruit having a fruit viscoelasticity of 0.59 N / mm or less is determined as the fruit to be harvested, The harvesting method according to any one of claims 7 to 11, wherein a fruit having an epiphytic strength of 0.98 N or less is collected from a fruit handle and harvested. A maturity determination device for determining the maturity of a fruit growing on a plant,
First determination means for determining whether or not the fruit is to be harvested from the color of the fruit skin of the fruit growing on the plant;
A second determination means for determining whether or not the fruit should be harvested from the viscoelasticity of the fruit growing on the plant;
A third determination means for determining whether or not the fruit is to be harvested from the intensity of the fruit pattern growing on the plant,
The third determination means pulls the fruit in a state where the fruit determined to be harvested by the first determination means and the second determination means is adsorbed with a predetermined adsorption force, A maturity determination device for determining a fruit having an intensification strength of not more than the predetermined adsorption power as a fruit to be harvested. A maturity determination method for determining the maturity of a fruit growing on a plant,
A first determination step for determining whether or not the fruit should be harvested from the color of the fruit skin of the fruit growing on the plant;
A second determination step for determining whether or not the fruit should be harvested from the viscoelasticity of the fruit growing on the plant;
A third determination step for determining whether or not the fruit should be harvested based on the intensity of the fruit pattern growing on the plant,
In the third determination step, the fruit is pulled in a state in which the fruit determined to be harvested from the color of the fruit peel and the viscoelasticity of the fruit is adsorbed with a predetermined adsorbing force, and the fruit is formed. A maturity determination method for determining a fruit whose strength is equal to or less than the predetermined adsorption power as a fruit to be harvested.

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