JP7258724B2 - Automatic harvesting system by automatic harvesting robot - Google Patents

Description

The present invention relates to an automatic harvesting system using an automatic harvesting robot.

In a fruit field, a fruit-suspending development surface is provided in a fruit nursery divided into multiple sections, a trolley travel path is arranged along each fruit-suspension development surface, and a travel navigation line is constructed on the trolley travel path and travel navigation. Harvesting vehicles equipped with a harvestable fruit detection device, a fruit harvesting mechanism, and a fruit storage tray mechanism are known that travel along a navigation line while reading a gate line. (See Patent Document 1, for example).

JP 2016-073265 A

However, in Patent Document 1, there is a problem that the order of harvesting lines must be programmed in advance.

SUMMARY OF THE INVENTION An object of the present invention is to provide an automatic harvesting system using an automatic harvesting robot capable of reliably selecting a harvesting lane by a simple method and performing a harvesting operation.

In order to solve the above problems,
A first aspect of the present invention is
Fruit vegetables are grown in the cultivation beds while automatically traveling on moving rails respectively provided in a plurality of harvesting lanes between a plurality of cultivation beds and traveling spaces provided on one end side of the harvesting lanes in a direction crossing the moving rails. An automatic harvesting robot for thinning fruits is provided with a container detection sensor for detecting a storage container for harvesting fruits and vegetables preliminarily placed on a harvest lane between the cultivation beds, and a rail sensor for detecting the moving rail,
The automatic harvesting robot stops when the rail sensor detects the moving rail while the automatic harvesting robot is traveling in the travel space, and enters the harvesting lane when the container detection sensor detects the storage container at the stop position. and, if the container detection sensor does not detect the container at the stop position, it does not enter the harvesting lane and starts traveling toward the next harvesting lane. This is an automatic harvesting system using a harvesting robot.
A second aspect of the present invention is
The automatic harvesting system using the automatic harvesting robot according to the first aspect of the present invention is characterized in that the detection of the storage container by the container detection sensor detects an object to be detected attached to the storage container.
A third aspect of the present invention is
The storage containers are stacked in multiple stages on a storage container mounting table on which the storage containers are placed, and the storage containers are mounted by a storage container fixing means for fixing the storage containers provided on the storage container mounting table. The automatic harvesting system using the automatic harvesting robot according to the first or second aspect of the present invention is characterized in that the placement position is fixed.
The fourth aspect of the present invention is
At least one pair of moving rails for the automatic harvesting robot is provided in the harvesting lane between the cultivation beds, the container mounting table is placed on the moving rails, and the starting end side of the moving rails is formed in a U shape, A third aspect of the present invention is characterized in that an arm extending in the direction of the moving rail is formed on the end edge portion of the container mounting table on the running space side, and the end of the arm is engaged with the U-shaped portion. This is an automatic harvesting system using an automatic harvesting robot.
A first invention related to the present invention is
An automatic harvesting robot for picking fruits and vegetables grown in the cultivation beds while automatically traveling in the harvest lanes between the cultivation beds arranged in parallel. A container detection presence/absence sensor for detecting the container is provided,
An automatic harvesting system using an automatic harvesting robot, wherein the container detection presence/absence sensor selects a harvest lane between the cultivation beds in which the container is detected, travels, and performs a harvesting operation.

A second invention related to the present invention is
The automatic harvesting system using the automatic harvesting robot according to the first invention related to the present invention is characterized in that the detection of the storage container by the container detection presence/absence sensor detects an object to be detected attached to the storage container.

A third invention related to the present invention is
The storage containers are stacked in multiple stages on a storage container mounting table on which the storage containers are placed, and the storage containers are mounted by a storage container fixing means for fixing the storage containers provided on the storage container mounting table. The automatic harvesting system by the automatic harvesting robot according to the first or second invention related to the present invention is characterized in that the placement position is fixed.

A fourth invention related to the present invention is
A third invention related to the present invention characterized in that at least a pair of moving rails for the automatic harvesting robot is provided in the harvesting lane between the cultivation beds, and the container mounting table is placed on the moving rails. This is an automatic harvesting system using an automatic harvesting robot.

A fifth invention related to the present invention is
An automatic harvesting system using an automatic harvesting robot according to a fourth invention related to the present invention, characterized in that a mounting table fixing member for fixing the container mounting table to the moving rail is provided.

According to the first aspect of the present invention, it is possible to determine whether or not there is a need for work in the conditions of the harvesting lane based on the detection of the container detection sensor and the rail sensor, thereby simplifying work control.
According to the second aspect of the present invention, in addition to the effects of the first aspect of the present invention, by providing the detection target, the detection accuracy of the container can be increased, so that the lane between the harvestable cultivation beds can be ensured. You can choose.
According to the third aspect of the present invention, in addition to the effects of the first or second aspect of the present invention, since the storage containers can be positioned at the same position, the detection accuracy of the container detection sensor is improved.
According to the fourth aspect of the present invention, it is possible to easily prevent displacement of the mounting table caused by the harvesting robot running on the mounting table.
According to the first invention related to the present invention , it is possible to easily select the lane between the cultivation beds on which the containers are placed and perform the harvesting work.

According to the second invention related to the present invention , by providing the detected body, the detection accuracy of the storage container can be increased, so that the lane between the harvestable cultivation beds can be reliably selected.

According to the third invention related to the present invention , the container can be positioned at the same position, so that the detection accuracy of the container detection sensor is improved.

According to the fourth invention related to the present invention , by providing the lowest stage of the container at a position higher than the ground, the automatic harvesting robot can easily take in the container.

According to the fifth invention related to the present invention , the container can be positioned at the same position, and the detection accuracy is improved.

1 is a plan view of an automatic harvesting system using an automatic harvesting robot according to an embodiment of the present invention; FIG. 1 is a plan view of an automatic harvesting system using an automatic harvesting robot according to an embodiment of the present invention; FIG. FIG. 1 is a front view of an automatic harvesting system using an automatic harvesting robot according to an embodiment of the present invention; 1 is a plan view of an automatic harvesting system using an automatic harvesting robot according to an embodiment of the present invention; FIG. FIG. 4 is a plan view of an automatic harvesting system using an automatic harvesting robot according to another example of the embodiment of the present invention; A plan view of an automatic harvesting system using the automatic harvesting robot of the embodiment of FIG. FIG. 4 is a plan view of an automatic harvesting system using an automatic harvesting robot according to still another example of the embodiment of the present invention; A plan view of an automatic harvesting system using an automatic harvesting robot according to the embodiment of FIG. A plan view of an automatic harvesting system using an automatic harvesting robot according to the embodiment of FIG. Front view of an automatic harvesting system using an automatic harvesting robot according to an embodiment of the present invention in FIG. FIG. 1 is a plan view of an automatic harvesting system using an automatic harvesting robot according to an embodiment of the present invention in FIG. Front view of an automatic harvesting system using an automatic harvesting robot according to an embodiment of the present invention in FIG. Front view of an automatic harvesting system using an automatic harvesting robot according to an embodiment of the present invention in FIG. Front view of an automatic harvesting system using an automatic harvesting robot according to an embodiment of the present invention in FIG. FIG. 1 is a front view of an automatic harvesting system using an automatic harvesting robot according to an embodiment of the present invention; (A) and (B) are front views showing comparative examples with the embodiment of FIG. (A), (B), and (C) are respectively a front view, a side view, and a plan view of the mounting table of the automatic harvesting system using the automatic harvesting robot according to the embodiment of the present invention. (A) and (B) are respectively a front view and a plan view of a mounting table and rails of an automatic harvesting system using an automatic harvesting robot according to an embodiment of the present invention. FIG. 1 is a plan view for explaining the operation of an automatic harvesting system using an automatic harvesting robot according to an embodiment of the present invention; 1 is a plan view of an automatic harvesting system using an automatic harvesting robot according to an embodiment of the present invention; FIG. Plan view of an automatic harvesting system using an automatic harvesting robot showing a comparative example with respect to FIG. Plan view of an automatic harvesting system using an automatic harvesting robot showing a comparative example with respect to FIG. 1 is a plan view of an example of an automatic harvesting system using an automatic harvesting robot according to an embodiment of the present invention; FIG. FIG. 2 is a plan view of another example of an automatic harvesting system using an automatic harvesting robot according to an embodiment of the present invention; FIG. 3 is a plan view of still another example of an automatic harvesting system using an automatic harvesting robot according to an embodiment of the present invention; 1 is a plan view of an example of an automatic harvesting system using an automatic harvesting robot according to an embodiment of the present invention; FIG. 1 is a plan view of an example of an automatic harvesting system using an automatic harvesting robot according to an embodiment of the present invention; FIG. A plan view of an embodiment of an automatic harvesting system using an automatic harvesting robot showing a comparative example with the embodiments of FIGS. 26 and 27. A plan view of a comparative example with an example of an automatic harvesting system using an automatic harvesting robot according to an embodiment of the present invention in FIG. A plan view of a comparative example with an example of an automatic harvesting system using an automatic harvesting robot according to an embodiment of the present invention in FIG. 1 is a plan view of an example of an automatic harvesting system using an automatic harvesting robot according to an embodiment of the present invention; FIG. 1 is a block diagram centering on a control device of an automatic harvesting system using an automatic harvesting robot according to an embodiment of the present invention; FIG.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a plan view of an automatic harvesting system using an automatic harvesting robot according to an embodiment of the present invention.

In FIG. 1, 1 is a cultivation bed in the automatic harvesting system of the present embodiment, 2 is a harvesting lane between the cultivation beds 1, 3 is a storage container for storing fruits and vegetables, and 4 is a cultivation bed 1 traveling on the harvesting lane. 5 is a container presence/absence sensor provided in the automatic harvesting robot, and 6 is a running space in which the automatic harvesting robot runs. A large number of cultivation beds 1 and harvest lanes 2 are installed side by side. The container presence/absence sensor 5 is an example of the container detection sensor of the present invention, and is capable of reading not only the presence/absence of the storage container 3 but also other information.

An empty storage container 3 is placed in a harvesting lane 2 to be harvested in advance. Therefore, while the automatic harvesting robot 4 travels in the travel space 6, the container presence/absence sensor 5 senses the harvesting lane 2, and when the storage container 3 is detected, harvesting is performed in that harvesting lane 2. Also, as shown in FIG. 2, harvesting is not performed in the harvesting lane 2 without the storage container 3 . This eliminates the trouble of setting the harvest lane 2 in advance by a program. FIG. 32 is a block diagram for performing such control.

Sensing by such a container presence/absence sensor 5 must be performed accurately. For example, as shown in FIG. 3, it may be difficult to accurately detect the harvest lane 2 due to the presence of the cultivation bed 1, liquid supply pipes, and the like. In addition, FIG. 3 is a view of the cultivation bed 1 and the harvest lane 2 side from the running space 6 side. Therefore, as shown in FIG. 4, the automatic harvesting robot 4 is further provided with a rail sensor 7 for sensing movement rails (hereinafter simply referred to as rails) 21 , 21 of the automatic harvesting robot 4 .

That is, the automatic harvesting robot 4 senses the rails 21, 21 with the rail sensor 7 while traveling in the travel space 6 with the container presence/absence sensor 5 turned off. Then, when the rails 21, 21 are detected, it stops. Therefore, the container presence/absence sensor 5 is turned on to sense the presence/absence of the storage container 3 . If not, the harvesting operation is not started, and the container existence sensor 5 is turned off again, and the traveling space 6 is further advanced while being detected by the rail sensor 7.例文帳に追加

These rails 21, 21 also serve as hot water pipes in this embodiment. Here, the hot water pipe is a pipe through which hot water for heating the inside of the house passes.

FIG. 5 shows another embodiment in which a lane mark 8 is provided at a position corresponding to the harvesting lane 2 in the travel space 6 . On the other hand, a mark sensor 9 for sensing the lane mark 8 is provided on the side of the automatic harvesting robot 4 . Therefore, as shown in FIG. 6, the harvesting lane 2 can be accurately detected by the mark sensor 9 instead of the rail sensor 7 . The operation of the container presence/absence sensor 5 is the same as the operation described above.

FIG. 7 shows still another embodiment in which the rail sensor 7 and the mark sensor 9 are not provided, and the empty container take-in sensor 10 is also used for controlling the so-called empty container take-in operation. That is, on the left and right sides of the front side of the automatic harvesting robot 4, a sensor 10 composed of a light projecting section 10a and a light receiving section 10b is provided. Then, the automatic harvesting robot 4 is caused to enter the lane 2 for each of the harvesting lanes 2, 2, . As shown in FIG. 8, if light cannot be received, it means that there is a container 3, and the harvesting operation proceeds. Conversely, as shown in FIG. 9, if the light can be received, it means that the storage container 3 does not exist, and the vehicle returns to the running space 6 . This will save the number of sensors. Compared to the conventional technique in which all the harvesting lanes are run all the way to the back, the efficiency is relatively high because the system can enter only up to the entrance of all the harvesting lanes 2 .

Next, the case of detecting the storage container 3 with the container presence/absence sensor 5 described above will be described.

As shown in FIGS. 10 and 11, an object to be detected 11 such as a reflector is attached to a predetermined position on the travel space 6 side of the container 3 . On the other hand, a container presence/absence sensor 5 is attached to the inner surface of the automatic harvesting robot 4 at a position corresponding to the position of the object 11 to be detected. FIG. 10 shows a state in which the storage container 3 and the automatic harvesting robot 4 are positioned in adjacent harvesting lanes 2,2.

Then, while traveling in the traveling space 6, the container presence/absence sensor 5 is turned on, and as shown in FIG. When it reaches the harvesting lane 2 at the location (Y) where the container 3 is located, it is detected and the automatic harvesting robot 4 stops. This makes it possible to simultaneously and accurately detect the container 3 and the harvest lane 2 .

In addition, as shown in FIG. 12, the detected object 11 may have a characteristic pattern. For example, it may be a two-dimensional barcode. This is because it can contain a variety of information. For example, the pattern of the last harvesting lane 2 is made different from the patterns up to that point to indicate that it is the last lane, and control is made to prevent further movement.

Also, as shown in FIG. 13, if there is only one object 11 to be detected at a predetermined position, erroneous detection may occur due to an error in the vertical arrangement of containers 3 when the containers 3 are stacked in multiple stages. Therefore, as shown in FIG. 14, it is desirable to attach the object to be detected 11 to all the containers 3 . By doing so, no erroneous detection occurs no matter how many layers are stacked.

Next, the take-in structure of the container 3 of the automatic harvesting robot 4 will be described. FIG. 15 shows a structure for making it easier for the automatic harvesting robot 4 to pick up the container 3 . That is, on the rails 21, 21 where the container 3 is to be placed, a container mounting table (hereinafter simply referred to as a mounting table) 12 having a thickness so thin that the body of the automatic harvesting robot 4 can easily climb over it is placed. The storage container 3 is set in the . 41 is a wheel for running on the rail 21, 43 is a wheel for running on the floor, and 42 is a holding member for the wheel 42 for the floor.

In this state, the automatic harvesting robot 4 gets on the rails 21 and 21 and moves onto the mounting table 12 thereof. In this state, the container 3 is held while being pinched by the clamping member 13 . After that, the plant descends from the mounting table 12 and proceeds to the back on the rail 21 to start picking the fruit.

FIG. 16 shows a comparative example that does not use such a mounting table 12. In (A), the width of the container 3 is smaller than the width of the rails 21, 21, and it is difficult to lift the container 3. FIG. (B) is a case where the width of the container 3 is larger than the width of the rails 21, 21, making it difficult to run on the rails 21, 21, and the body width of the self-propelled harvesting robot 4 becomes large. .

FIG. 17 shows a further contrivance of this mounting table 12. As shown in FIG. That is, when mounting the container 3 on the mounting table 12, the position must be accurate. In particular, when utilizing the container 3 to detect the harvest lane 2, precise control is required. Therefore, notch portions 12a are provided at the four corners of the mounting table 12, and four legs 3a are provided on the lower surface of the container 3. When the container 3 is mounted on the mounting table 12, these legs are By fitting the container 3a into the notch 12a, the container 3 can be set at an accurate position on the mounting table 12. As shown in FIG. Here, the notch portion 12a and the leg 3a are an example of container fixing means for the container of the present invention.

Furthermore, the accuracy of the position of the mounting table 12 with respect to the rails 21 is also important. Therefore, as shown in FIG. 18, when the running space 6 side of the rail 21 is U-shaped, an arm 121 extending in the direction of the rail 21 is formed at the end edge portion 12c of the mounting table 12 on the running space 6 side. Further, by engaging the end of the arm 121 with the U-shaped portion 21a of the rail 21, the mounting table 12 is prevented from slipping in the direction of the rail 21. FIG. On the other hand, the portion 12b where the edge portion 12c of the mounting table 12 is bent downward prevents the rail 21 from shifting in the width direction.

In this manner, as shown in FIG. 19, the container 3 can be accurately positioned in the vertical and horizontal directions with respect to the mounting table 12, and the mounting table 12 can also be accurately positioned in the vertical and horizontal directions with respect to the rails 21. The container 3 can always be placed on the rail 21 at an accurate position. As a result, when the automatic harvesting robot 4 travels in the travel space 6, the accuracy of using the container 3 as a mark to stop is improved. Here, the edge portion 12c, the arm 121, the U-shaped portion 21a, the bent portion 12b, and the like are examples of the mounting table fixing member of the present invention.

Next, the direction of travel in the travel space 6 will be described. As shown in FIG. 20, the running space 6 moves only in one direction. In FIG. 20, a plurality of black circles in the storage container 3 are symbols indicating harvested. If it is possible to move in the reverse direction as shown in FIG. 21 instead of in one direction, it becomes impossible to distinguish between a harvested container and an empty container as shown in FIG. 22, which may cause a malfunction. Assuming that it moves only in one direction, control is also easy. If another means for identifying whether the container 3 is harvested or empty is devised, movement in the opposite direction will be allowed, but the structure will be complicated.

Next, a method for judging the end of the running space 6 will be explained. FIG. 23 shows a method for detecting the walls of this plant factory. A wall detection sensor 14 for detecting a greenhouse wall 15 is attached to the side of the automatic harvesting robot 4 , and the end of the travel space 6 is determined by detecting the wall 15 with the wall detection sensor 14 .

Alternatively, as shown in FIG. 24, an end mark 16 indicating the end is provided at the end position of the running space 6, and an end sensor 17 for detecting the end mark 16 is provided at the side of the automatic harvesting robot 4. , thereby determining the end of the running space 6 by detecting the end mark 16 . If it is desired to finish the work before the wall 15, it can be realized by placing the end mark 16' at a desired position before the wall 15. - 特許庁

Alternatively, as shown in FIG. 25, when the automatic harvesting robot 4 travels in the travel space 6, a line sensor 18 that constantly detects a line 61 such as a magnetic tape drawn in the center is attached to the side of the automatic harvesting robot 4. , and the line 61 is cut at the terminal position of the running space 6 (its end is 61a). As a result, the end of the line 61 can be detected at the position where the line sensor 18 cannot detect the line 61, and the line can be stopped.

Next, in the case of a greenhouse in which the cultivation beds 1 are arranged on both sides of the traveling space 6, after detecting the end as described above, the automatic harvesting robot 4 moves toward the arrow A as shown in FIG. orbit like After that, as shown in FIG. 27, it travels in one direction to harvest. On the other hand, as shown in FIG. 28, after harvesting in a predetermined harvesting lane 2a, it can be said that it is very inefficient to turn on the spot in the travel space 6 and direct the harvesting lane 2b on the opposite side. .

Next, the starting position of the automatic harvesting robot 4 will be explained. As shown in FIG. 29, if the automatic harvesting robot 4 is placed on the running space 6 and started from there, there is a problem of blocking traffic. Further, as shown in FIG. 30, when starting from the waiting area, it is necessary to align the traveling guideline 61 and the line sensor 18, for example. Alternatively, if it is desired to start from the harvest lane 2 which is quite far on the travel space 6, the travel time there is wasted.

Therefore, as shown in FIG. 31, it is desirable to install the automatic harvesting robot 4 on the rail 21 of the harvesting lane 2 on which the container 3 is placed and to start from there. As a result, it does not obstruct traffic, and it is possible to start from lane 2 at the back of the greenhouse, saving time. Of course, since it is on the rail 21, position adjustment becomes easy.

FIG. 32 is a block diagram showing a control device 100 that inputs output signals from the various sensors described above, and a travel system mechanism 200 that performs travel such as forward movement and turning according to the control output signals from the control device 100. As shown in FIG.

The automatic harvesting robot of the present invention has known functions and structures other than those described above.

Furthermore, the automatic harvesting system using the automatic harvesting robot of the present invention is not limited to tomatoes and the like, and can be applied to a wide range of fields in which the automatic harvesting robot is made to run and harvested by providing a plurality of harvesting lanes and running spaces along the lanes. is.

INDUSTRIAL APPLICATION This invention can provide the automatic harvesting system by the automatic harvesting robot which can select the lane which harvests reliably by a simple method, and can perform a harvesting operation, and is useful for a plant factory.

1 Cultivation bed 2 Harvesting lane 21 Automatic harvesting robot movement rail 3 Storage container 4 Automatic harvesting robot 5 Container existence sensor 6 Traveling space 61 Traveling guideline 7 Rail sensor
8 lane mark 9 mark sensor 10 empty container take-in sensor (10a light emitter, 10b light receiver)
11 Object to be detected 12 Mounting table 12a Notch 12b Bent portion 12c End edge 121 Arm 13 Clamping member 14 Wall detection sensor 15 Wall 16 Termination mark 17 Termination sensor 18 Line sensor 100 Control device 200 Travel system mechanism

Claims (4)

Fruit vegetables are grown in the cultivation beds while automatically traveling on moving rails respectively provided in a plurality of harvesting lanes between a plurality of cultivation beds and traveling spaces provided on one end side of the harvesting lanes in a direction crossing the moving rails. An automatic harvesting robot for thinning fruits is provided with a container detection sensor for detecting a storage container for harvesting fruits and vegetables preliminarily placed on a harvest lane between the cultivation beds , and a rail sensor for detecting the moving rail ,
The automatic harvesting robot stops when the rail sensor detects the moving rail while the automatic harvesting robot is traveling in the travel space, and enters the harvesting lane when the container detection sensor detects the storage container at the stop position. and, if the container detection sensor does not detect the container at the stop position, it does not enter the harvesting lane and starts traveling toward the next harvesting lane. An automatic harvesting system using a harvesting robot. 2. An automatic harvesting system by an automatic harvesting robot according to claim 1, wherein detection of said storage container by said container detection sensor detects an object to be detected attached to said storage container. The storage containers are stacked in multiple stages on a storage container mounting table on which the storage containers are placed, and the storage containers are mounted by a storage container fixing means for fixing the storage containers provided on the storage container mounting table. 3. The automatic harvesting system by the automatic harvesting robot according to claim 1 or 2, wherein the placement position is fixed. At least one pair of moving rails for the automatic harvesting robot is provided in the harvesting lane between the cultivation beds, the container mounting table is placed on the moving rails , and the starting end side of the moving rails is formed in a U shape, 4. The apparatus according to claim 3, wherein an arm extending in the direction of the moving rail is formed on the end edge portion of the container mounting table on the traveling space side, and the end of the arm is engaged with the U-shaped portion. Automatic harvesting system by automatic harvesting robot.

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