JPH01165306A - Guiding device for fruit vegetable harvesting apparatus - Google Patents

Abstract

PURPOSE:To provide a guiding device enabling automatic detour around an obstruct utilizing the once detected information on the target position, by retreating the apparatus to the initial position when no fruit vegetable is detected even by guiding the apparatus beyond a prescribed distance and again guiding the apparatus from different direction. CONSTITUTION:A working hand H having a vacuum pad 10 is attached to a tip end of an expansion arm 5. The vacuum pad 10 is guided straightly toward a target position based on the detection information on the target position of harvesting objective fruit vegetables detected by a position detection means until the suction of a fruit vegetable is detected by a suction detection means S1. When the suction of fruit vegetable is not detected even by guiding the vacuum pad 10 beyond the target position over a prescribed distance, the vacuum pad is temporarily retreated to the starting position of guiding and is guided toward the target position along a direction different from the former direction.

Description

Detailed Description of the Invention [Industrial Application Field] The present invention provides a vacuum pad for adsorbing fruits and vegetables, an adsorption detection means for detecting that the fruits and vegetables have been adsorbed to the vacuum pad, and a method for starting guidance. Based on the detection information of the position detection means, the vacuum pad detects the target position where the fruits and vegetables to be harvested are located, and the suction detection means detects the suction of the fruits and vegetables. The present invention relates to a guiding device for a fruit and vegetable harvesting device, which is provided with a guiding means for guiding the device to move straight in a direction connecting a starting position and the target position.

[Conventional technology]

The guidance device of this type of fruit and vegetable harvesting device described above is designed to linearly guide the vacuum pad that adsorbs fruits and vegetables toward the target position where the fruits and vegetables to be harvested are located at the shortest distance from the guidance start position. This is what I did.

[Problem that the invention seeks to solve]

However, in the guidance device of this type of fruit and vegetable harvesting device described above, since the vacuum pad is configured to be guided linearly toward the target position where the fruits and vegetables to be harvested are located, for example, as shown in FIG. As shown in Figure 2, if there is an object such as a branch or leaf on the front side of the fruits and vegetables to be harvested between the guidance start position and the target position that obstructs the approach, the vacuum pad may not be able to properly absorb the fruits and vegetables. There is a risk that the crop will be lost and the harvest will fail.

If harvesting fails because branches or leaves in front of the fruit to be harvested get in the way, the guidance start position is changed to a position that bypasses the branches or leaves that are in the way of the approach, and the target position is detected and guided again. This made re-guidance troublesome.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to approach the target position while directly utilizing the information of the target position of the fruits and vegetables to be harvested, which has been detected repeatedly, even if the harvest fails. The goal is to automatically bypass branches and leaves that get in the way and guide the vacuum pad to its target position.

[Means for solving problems]

The characteristic structure of the guidance device of the fruit and vegetable harvesting device according to the present invention is as follows:
It is as follows.

That is, if the suction detection means does not detect the adsorption of fruits and vegetables even if the vacuum pad is guided beyond the set distance from the target position, the guiding means moves the vacuum pad away from the target position by a set distance. after retreating toward the guidance start position, the vacuum pad is configured to be guided toward the target position from a direction different from a direction connecting the guidance start position and the target position. .

[For production]

In other words, if it is not detected that fruit and vegetables have been adsorbed even if the vacuum pad is guided beyond the set distance from the target position, there is an object between the vacuum pad and the fruit and vegetables to be harvested that is interfering with suction. Based on this judgment, the approach direction to the fruits and vegetables to be harvested is automatically changed so that the guidance is directed toward the same target position from a direction different from the direction connecting the guidance start position and the target position.

〔Effect of the invention〕

Therefore, even if the vacuum pad is guided in the direction connecting the guidance start position and the target position where the fruits and vegetables to be harvested are located, if the fruit and vegetables cannot be suctioned, the approach direction to the target position is automatically changed and the vacuum pad is restarted. Since it can be guided, there is no need to change the guidance start position and re-guidance due to a failure in harvesting. As a result, re-guidance due to failure in harvesting can be automatically performed while effectively utilizing the target position detection information of − times.
Moreover, we were able to do it efficiently.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in FIG. 5, a rotatable support post (2) is erected approximately at the center of a vehicle body (V) provided with a pair of left and right running wheels (1) at the front and rear, respectively. A boom (3) is attached to the upper end of (2) so as to be movable up and down.

An auxiliary boom (4) is attached to the tip of the boom (3) so as to be able to swing freely in the horizontal direction.
An articulated arm (5) is attached to the tip of the arm (5) so that it can rotate and swing vertically.
A work hand (H) for fruit harvesting is attached to the tip of 5) to constitute a fruit harvesting machine.

In the figure, (6) is a hydraulic cylinder for swinging the support post (2), (7) is a hydraulic cylinder for lifting and lowering the boom (3), (8) is an electric motor for swinging the auxiliary boom, (K
) is a box for storing harvested fruits.

The arm (5) is rotated by an electric motor (9a) to rotate the vertical axis (
Y), and is configured to be operated to swing around a horizontal axis (X) by an electric motor (9b), and to be extended and contracted by an electric motor (9C). That is, although the arm (5) is constructed as a multi-joint type, it operates as a telescopic arm.

To explain the working hand (H), as shown in FIGS. 3 and 4, the vacuum pad (10) that sucks fruit is in a state where its suction port faces the front side of the hand,
A branch pipe (12) for ventilation is fitted externally to the tip of the ventilation pipe (11) for suction, and a branch pipe (12) for ventilation is provided at the base of the ventilation pipe (11). A bellows type hose (13) is connected.

However, the bellows type hose (13) is not equipped with an intake pump (
14) (see Figure 1).

Note that the proximal end of the branch pipe (12) is connected to the arm (5).
is pivoted to the tip (5a) of the arm (5a) so as to be able to swing around the vertical axis (P,), and the direction of the work hand (H) is aligned with the direction of expansion and contraction of the arm (5). A rotary type hand swinging air cylinder (2 positions) that changes the set angle clockwise from 1 to 2.
7) is fixed to the tip (5a) of the arm (5), and the output shaft (28) of the air cylinder (27) is fixed to the branch pipe (12).

In other words, even if the vacuum pad (10) is guided toward the fruit to be harvested with the direction of the vacuum pad (10) matching the direction of expansion and contraction of the arm (5), the vacuum pad (10) cannot adsorb the fruit. In this case, the entire hand relative to the arm (5) is swung clockwise so that the same fruit to be harvested can be approached from a direction different from the initial approach direction (see Figure 8). .

Also, a space for storing the vacuum pad (10) and a cutting device for cutting the stalk, so-called fruit stalk, of the fruit (F) captured while being attracted to the vine pad (10), and the vacuum pad (10). A trap case (15) is provided.

As shown in FIGS. 3 and 4, the capture portion case (15) includes a proximal end portion (15a) that is externally supported by the ventilation pipe (11) so as to be slidable in the front-rear direction of the hand; an upper cover portion (15b) fixedly attached to cover the upper part of the distal end side and both left and right sides of the hand (II);
A lower cover part (15C) is fixed to the lower part of the distal end side of the base end part (15a), and the upper cover part (15b) and the lower cover part (15c) cover the outer peripheral part of the hand. ing.

However, an opening (1) of a size that allows the fruit (F) adsorbed by the vacuum pad (10) to pass through is provided at a location opposite to the suction port of the vacuum pad (10).
6) is formed (see Figure 7 (a) to (c))
.

In addition, a slit-like groove (17) through which the fruit stalk is inserted is formed in the portion of the double force bar portions (15b) and (15c) close to the opening (16), so that when harvesting the fruit, While only the harvested fruit (F) adsorbed by the vacuum pad (10) can be taken into the trapping part case (15), the handle can be smoothly moved when taking the fruit (F).

On the other hand, the lower cover part (15c) swings around an axis (Q) along the vertical direction in order to discharge downwardly the fruit with the stem cut off held in the catcher case (15). It can be installed freely.

An air cylinder (18) that laterally opens and closes the lower cover portion (15c) is fixed to the lower part of the proximal end portion (15a) of the capture portion case (15).

As shown in FIGS. 3 and 4, the handle cutting device includes a clipper-type cutter (19) in the shape of a strip and a semicircular arc;
The cutter (19) and the handle support member (20) each have a handle support member (20) in the shape of a strip and a semicircular arc. 1
5) is pivotally attached to both left and right sides of the proximal end portion (15a).

The cutter (19) and the handle support member (20) are arranged in such a manner that they protrude toward the front side of the hand so as to support the handle of the fruit caught in the catcher case (15) between them. The hand is configured to be swingable in and out using an electric motor (21) so that the hand can be retracted to the rear side to form a passage for introducing fruit between the hands. Further, an air cylinder (22) for sliding the force lid (19) is provided, so that the cutter (19) and the handle support member (20) are moved in accordance with the upright operation that swings toward the protruding side. The handle is supported between the handles, and the supported handle is cut by the sliding operation of the cutter (19) (see FIGS. 7(d) and (e)).

However, although not shown in the drawings, when either the cutter (19) or the handle support member (20) contacts the handle first, the cutter (19) or the handle that came into contact first With the standing operation of the support member (20) stopped,
It is operatively connected to the electric motor (21) via a differential mechanism so that the handle support member (20) or the cutter (19) on the other side can be operated in an upright manner. In other words, the protruding positions of the force lid (19) and the handle support member (20) can be automatically changed according to the position of the handle of the captured fruit.

In the figure, (S1) is a negative pressure sensor as an adsorption detection means for detecting that fruit is adsorbed to the vacuum pad (10), and is provided at the upper part of the branch pipe (12). Based on the detection information, the capture unit case (1
5), the sliding movement of the cutter (19) and the handle support member (20), the swinging movement of the cutter (19) and the handle support member (20), and the slide drive of the cutter (19) are controlled to perform the harvesting operation.

(S2) is a previous generation proximity sensor that detects when the vacuum pad (10) approaches the fruit to be harvested within a set distance; The attached signal processing section (23) and the branch pipe (12) and the ventilation pipe (1) are connected to the signal processing section (23).
1) and extends to the distal end side of the vacuum pad (10) through the optical fiber (24), and the start of the suction operation of the vacuum pad (10) is controlled based on the detected information. .

(S3) is a color image sensor that images an object in the direction of the vacuum pad (10), and together with the proximity sensor (S2), the vent pipe (11)
), and is configured to detect the direction in which the fruit to be harvested is located based on the color and brightness of the imaged information. (S4
) is a sensor for detecting a swing position using a potentiometer for detecting the swing position of the cutter (19) and the handle support member (20). Further, (25) is an illumination device that illuminates the front side so that the image information captured by the image sensor (S2) is not affected by surrounding brightness; (26)
is an air cylinder for sliding the catching part case (15) back and forth.

Next, a control configuration for guiding the work hand (H) toward the fruit to be harvested will be explained.

As shown in FIG. 1, each of the sensors (S1) to (S,
) and various control information set and stored in advance, a control device (29) is provided that controls the operation of each part.

In the figure, (30) is the hydraulic cylinder for lifting and lowering the boom (
(7) is a control valve, (31) is a control valve for the boom swinging hydraulic cylinder (6), (32) is a drive circuit for the auxiliary boom swinging motor (8), and (33a) is a control valve for the arm swinging motor ( 9a) is a drive circuit, (33b) is a drive circuit for the arm swinging motor (9b), (33c) is a drive circuit for the arm extension/retraction motor (9c), and (34) is a drive circuit for the capture part case (15). Air cylinder for exit/exit (26)
control valve (35) is the cutter driving air cylinder (
22), a control valve (36) for the air cylinder (18) for opening and closing the shutter, (37) a drive circuit for the motor (21) for raising and lowering the handle cutting device, and (38) for the work hand. (H) is a control valve for the swing air cylinder (27), (39) is a control valve for suction control of the vacuum pad (10), and each of these control valves and each drive circuit is as follows:
It operates based on commands from the control device (29).

However, the position detection means (100) detects the target position where the fruit to be harvested is located using the control device (29).
, and a guiding means (101) for guiding the vacuum pad (10) from a guiding start position toward the target position.
Each of these will be configured.

To explain the position detection means (100), first, with the direction of the work hand (H) matching the direction of extension and contraction of the arm (5), it is positioned at an approach start position as a guidance start position; Then, the working hand (
H) towards the direction of the fruit to be harvested (F),
The image sensor (S3) captures an image of the direction in which the work hand (H) is facing (see FIG.
b) see).

Then, using the control device (29), image processing is performed on the imaging information of the image sensor (S3) to extract an area (Fo) corresponding only to the color of the fruit, and within that area, The highlight point that appears brightest (
f) on the image (Fig. 6 (b))
reference).

Next, based on the position of the highlight point (f) on the image, the turning angle and lifting position of the boom (3), the swinging position of the auxiliary boom (4), and the position of the arm (5) are determined. Based on the vertical swing angle, turning position, etc., the direction in which the above-mentioned point (f) is located with respect to the approach start position is detected as the direction of the target position where the fruit to be harvested is located.

However, if a plurality of areas corresponding only to the color of the fruit are extracted from the image information captured by the image sensor (S3), for example, the image sensor (S3) is Since images are processed at a constant brightness, the brightness of the areas corresponding to fruits that are close to each other is brighter, and the image is calculated based on the average brightness of each area. Therefore, only the position of the highlight point (f) in the brightest area is determined.

Note that if there are multiple fruits (F) in one area, the fruit in the foreground looks brighter, so the position of one highlight point (f) corresponding to the fruit in the foreground is Even if a plurality of fruits (F) are adjacent to each other, positional information corresponding to the near side that is easy to approach can be automatically obtained.

By the way, from the position of the highlight point (f) extracted from the imaging information of the image sensor (S3), only the direction of the target position for guiding the work hand (H) can be detected. By (S2),
It is detected that the vacuum pad (10) has approached the target position to a set distance.

That is, by using the control device (29), the process of detecting the direction of the target position from the image information captured by the image sensor (S), and the process of detecting the direction of the target position based on the detection information of the proximity sensor (S2). The position detecting means (1) detects whether the object has approached within a set distance.
00) is configured.

Hereinafter, based on the flowchart shown in FIG. 2, the operation of each part will be explained in detail while explaining the operation of the control device (29).

First, as described above, the work hand (H) is aligned with the extension and contraction direction of the arm (5), and is set at the approach start position as the guidance start position, and the image sensor (S3) detects the harvest target. An image is taken in the direction of the target position where the fruit is located, and the image information is subjected to image processing to detect the direction of the target position with respect to the approach start position.

Then, the arm (5) is extended at high speed in the direction of the detected target position, that is, the direction in which the fruit to be harvested is located, and the proximity sensor (S2) is moved within a set distance from the fruit. It is determined whether or not it is turned on when approaching.

As the proximity sensor (S2) turns on, the extension speed of the arm (5) is switched to a low speed, and then the suction of the vacuum pad (10) is started (Fig. 7 (A)).
reference).

However, if the proximity sensor (S2) does not turn on even after extending the arm (5) by a preset distance, it is determined that the harvest has failed and the work hand (H) is stopped. After that, the arm (5) is retracted and returned to the approach starting position.

After the vacuum pad (10) starts suctioning, when the negative pressure sensor (S1) turns on and detects fruit adsorption, the hand (H) is stopped and a harvesting operation, which will be described later, is started. Become.

However, after the vacuum pad (10) starts suctioning, the proximity sensor (S2) detects the fruit and turns ON.
If the negative pressure sensor (S1) is not ONL even if the set distance is moved forward, as described above, there is a branch between the vacuum pad (10) and the fruit to be harvested (F). After determining that there is an object such as a tree or a leaf that is obstructing the suction, the robot moves back a distance equivalent to the set distance, and then
tilting the work hand (H) to the right with respect to the arm (5) and positioning the work hand (H) to the left front side;
Then, the work hand (H) whose direction is inclined is moved forward at low speed so as to go straight toward the fruit to be harvested (F) located at the target position, and is different from the direction connecting the approach start position and the target position. The object is then approached again toward the same target position (see Figure 8). Note that the target position for changing the position of the work hand (H) to the left front is determined by the set distance of the proximity sensor (S2), the inclination angle of the work hand (H) with respect to the arm (5), and the fact that the hand (H) is not tilted. This is determined from the position of the hand (H) when the proximity sensor (S2) is turned ON when approaching the vehicle.

Then, it is determined again whether or not the negative pressure sensor (S1) is turned on, and if the negative pressure sensor (S1) is not turned on even after advancing the set distance, it is determined that harvesting is impossible. , after stopping the work hand (H), stopping the suction of the vacuum pad (10), and restoring the tilt of the work hand (H), the arm (5)
This will shorten the distance and return it to the approach starting position.

While changing the approach direction of the work hand (II) and moving forward the set distance, the negative pressure sensor (St
) is turned ON and fruit adsorption is detected, the work hand (H) is stopped and the harvesting operation is started.

After harvesting the fruit to be harvested, the arm (5) is returned to the approach start position, and then the trapping case (15) is returned to the approach start position.
) by swinging the lower case part (15C) laterally to discharge the harvested fruit into the box (K), thereby completing the - times of harvesting work.

However, it is determined whether the work is completed or not, and if the work is not completed, the work hand (H) is set to the next approach start position and the approach is restarted toward the next harvest target fruit. Become.

With this, the arm (5) is extended in the direction of the target position detected based on the image information taken with the work hand (H) set at the approach start position,
In addition, when the negative pressure sensor (S1) does not detect fruit adsorption, while changing the approach direction by tilting the work hand (It), as the negative pressure sensor (S1) detects fruit adsorption, A series of processes up to stopping corresponds to the guiding means (Lot).

To explain the harvesting operation, as shown in FIG. 7, as the negative pressure sensor (S1) turns on, the work hand (H) is stopped and the fruit to be harvested is held by suction. , the catching part case (15) protrudes toward the front of the hand, and the vacuum pad (10)
The adsorbed fruit (F) is taken into the internal space of the trapping case (15) (see FIGS. 7(b) and 7(c)).

Next, the cutter (19) and handle support member (20) are
After stopping the suction of the vacuum pad (10) in front of the protruding position where the fruit stalk is sandwiched between them, the work hand (1
4) Move the entire cutter downward and toward the front a set distance so that the length of the handle to be cut is short (
19) (see Figure 7 (d)).

Then, with the cutter (19) and the handle support member (20) continuing to protrude and the handle of the fruit being sandwiched between them, the cutter (19) is slid and driven to cut the handle. to complete the harvesting operation (7th
(See figure (e)).

In addition, the fruit whose stalk has been cut is stored in the trapping case (15).
It is now held in the lower case part (15C) of.

However, if the direction of the work hand (H) is tilted at the time when this harvesting operation is completed, after returning the direction to match the direction of extension and contraction of the arm (5), Return to the approach starting position.

[Another example]

In the above embodiment, the position detection means (100) detects the target to be harvested based on the imaging information of the image sensor (S3) that captures the direction in which the vacuum pad (10) faces and the detection information of the proximity sensor (S2). Although a case has been described in which the target position where the fruit (F) is located is detected, the target position may be detected using a distance measuring device, for example, and the specific configuration can be modified in various ways.

Further, in the above embodiment, the vacuum pad (10) is configured to be tilted rightward with respect to the arm (5), but it may be tilted leftward or vertically. .

In addition, in the above embodiment, the approach direction is determined by the arm (5).
In the above example, the work/'% hand (H) is swung with respect to the arm (5) to change the direction from the same direction as the expansion/contraction direction of the arm (5) to a different direction. ) The direction of approach to the target position may be changed by increasing the degree of freedom of each joint of the arm (5) and controlling the movement of the arm (5). In addition, the boom (3
) or the auxiliary boom (4) to change the approach direction.
If the negative pressure sensor (S1) serving as the suction detection means does not detect fruit suction even if the vacuum pad (10) is guided beyond the set distance from the target position, the vacuum pad (10) ) is retreated a set distance from the target position toward the guidance start position, and then the vacuum pad (10) is directed toward the target position from a direction different from the direction connecting the guidance start position and the target position. The specific configuration for guiding can be modified in various ways.

Further, in the above embodiment, the case where the present invention is applied to a fruit harvesting machine is illustrated, but the present invention can be applied to various fruit and vegetable harvesting devices, and includes a working hand (II), an arm (5
), auxiliary boom (4), boom (3), and vehicle body (v
), and the specific configuration of each part can be changed in various ways.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of the drawing]

The drawings show an embodiment of the guidance device for the fruit and vegetable harvesting device according to the present invention, in which FIG. 1 is a block diagram of the control configuration, FIG. 2 is a flowchart of control operation, and FIG. 3 is a cutaway side view of the working hand. Figure 4 is a plan view of the same, Figure 5 is a cutaway side view of the fruit harvesting machine, Figures 6 (a) and (0) are explanatory diagrams of image processing, and Figure 7
Figures (a) to (d) are explanatory views of the harvesting operation, and Fig. 8 is an explanatory view of switching the guiding direction. (10)...Vacuum pad, (S,)...
...Adsorption detection means, (100)...Position detection means, (101) Old...Guidance means.

Claims (1)

[Claims] A vacuum pad (10) for adsorbing fruits and vegetables is provided, and an adsorption detection means (S_1) for detecting that the fruits and vegetables have been adsorbed by the vacuum pad (10), and the fruits and vegetables to be harvested are located relative to the guidance start position. a position detection means (100) for detecting a target position; and a position detection means (10) for detecting a target position.
Based on the detection information of S_1), the adsorption detection means (S_1
guiding means (101) for guiding the vacuum pad (10) to move straight in a direction connecting the guiding start position and the target position until the vacuum pad (10) detects adsorption of fruits and vegetables;
) A guidance device for a fruit and vegetable harvesting device, comprising:
The guiding means (101) is arranged so that the guiding means (101)
0) from the target position beyond the set distance, if the suction detection means (S_1) does not detect the suction of fruits and vegetables, the vacuum pad (10) is guided beyond the set distance from the target position. After retreating to the guidance starting position,
A guidance device for a fruit and vegetable harvesting device configured to guide the vacuum pad (10) toward the target position from a direction different from a direction connecting the guidance start position and the target position.