JPH0648932B2 - Hands for harvesting fruits and vegetables - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a fruit and vegetable harvesting hand used in a fruit and vegetable harvesting device for harvesting fruit and vegetables such as apples, mandarins and tomatoes, and more specifically, a harvesting target. The present invention relates to a fruit and vegetable harvesting hand provided with a vacuum pad for adsorbing fruit and vegetables and a cutter for cutting the handle of the fruit and vegetables adsorbed on the vacuum pad.

[Conventional technology]

In the above-mentioned hand for harvesting fruits and vegetables, a vacuum pad provided for this hand is used to adsorb and capture the fruits and vegetables to be harvested, and a cutter is used to cut the handle of the fruits and vegetables. Is.

[Problems to be solved by the invention]

However, in the above-mentioned fruit and vegetable harvesting hand, since the fruit and vegetables to be harvested are adsorbed and captured by the vacuum pad, the handle portion to be cut is located in front of the adsorption vacuum pad. It will be located.
Therefore, the cutter needs to be configured to cut the handle on the front side of the vacuum pad that adsorbs the fruit and vegetables, but with the cutter protruding from the vacuum pad toward the harvest-ready fruit and vegetables side, However, there is a disadvantage that the cutter and the target fruit and vegetables collide with each other before the vacuum pad adsorbs the target fruit and vegetables and the fruit and vegetables are damaged. Also, during the approach, the cutter may damage other fruits and vegetables.

The present invention has been made in view of the above circumstances, and an object thereof is to prevent the cutter from interfering with the approach to the fruit vegetables to be harvested.

[Means for solving problems]

The characteristic configuration of the hand for harvesting fruit and vegetables according to the present invention includes a capturing position in which the vacuum pad is projected toward the fruit and vegetables to be harvested with respect to the cutter, and a handle for cutting back from the position toward the cutter. In order to switch to the position, there is provided a drive mechanism that relatively moves the vacuum pad and the cutter in the perspective direction with respect to the harvested reeds, and the action and effect thereof are as follows.

[Work]

That is, the fruit and vegetables are captured while the vacuum pad is projected toward the target fruit and vegetables side of the cutter,
The cutter prevents the fruit from colliding with the fruit and vegetables during this capturing operation, and when cutting the handle of the captured fruit and vegetables,
So that the handle can be cut without damaging the target fruits and vegetables,
The vacuum pad and the cutter are moved relative to each other in the perspective direction with respect to the fruits and vegetables to be harvested so that the cutter is operated in a state where the vacuum pad retracts toward the cutter.

In other words, until the target fruits and vegetables are captured, the vacuum pad is in a state of protruding toward the target fruits and vegetables side from the cutter, and when the handle is cut, the cutter is in a state of protruding from the vacuum pads to the target fruits and vegetables side. First, the vacuum pad and the cutter are moved relative to each other.

〔The invention's effect〕

Therefore, when capturing the harvested fruits and vegetables, the vacuum pad can be located closer to the target fruits and vegetables than the cutter, so that the cutter collides with and damages the fruits and vegetables during the capture operation. There is no such thing as
When the pattern of the captured fruit and vegetables is cut, the cutter can be positioned closer to the target fruit and vegetables than the vacuum pad, so that the pattern can be surely cut without damaging the fruit and vegetables.

〔Example〕

 Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIG. 6, a fruit harvesting device (2) is provided at the front of the passenger car body (1), and a fruit storage container is provided on the side of the passenger car body (1).
(3) is provided, and a conveying device (4) for conveying the fruits harvested from the fruit harvesting device (2) to the storage container (3) is provided to configure a fruit harvesting device mainly used for harvesting apples and mandarins. The fruit harvesting device (2) will be described in detail below.

A guide frame (6) for vertically moving the boom mount (5) is attached to the front part of the passenger car body (1), and a lifting electric motor (M
₁ ) and the boom mount (5) are interlocked by a chain (7) so that the boom mount (5) can be adjusted up and down.

A plate-shaped boom (8) is pivotally mounted on the boom mount (5) so as to be horizontally swingable around a vertical axis (P ₁ ), and an electric motor (M ₂ ) for swinging the boom is provided.

Further, an articulated telescopic arm (9) is pivotally attached to the tip of the plate-shaped boom (8) about a vertical axis (P ₂ ),
An electric motor (M ₃ ) for arm rotation is installed
A harvesting hand (H) is provided at the tip of (9).

The telescopic arm (9) comprises the first arm on the base end side.
(9a), a second arm (9b) pivotally supported at the tip of the first arm (9a), and a third arm (9c) pivotally supported at the tip of the second arm (9b). Each of them is provided with an electric motor (Ma) for swinging the first arm (9a) around a horizontal axis with respect to the plate-shaped boom (8), and the second arm (9b) is the first arm. (9a) an electric motor (Mb) swinging around a horizontal axis, and an electric motor (Mb) swinging the third arm (9a) around a horizontal axis relative to the second arm (9b) ( Mc) each.

Further, inside the first arm (9a), a video camera (S ₀ ) as an image pickup means for picking up the fruit (F) to be harvested is provided. Then, the imaging visual field range of this video camera (S ₀ ) is
Movement of the passenger car body (1), elevation of the boom mount (5), horizontal swing of the plate-like boom (8), plate-like boom of the telescopic arm (9)
It is designed to be set by horizontal swing or forward / backward swing with respect to (8).

To construct the harvesting hand (H), as shown in FIGS. 1 to 3, a U-shaped base frame (10) in plan view is attached to the distal end of the telescopic arm (9) with a bolt. The catch case (11) is bolted to the tip of the base frame (10).

And, the ventilation pipe (12), the tubular portion of the capture portion case (11)
(11a) is slidably fitted and supported, and a vacuum pad (13) made of soft rubber is externally fitted to the tip of the ventilation pipe (12), and the ventilation pipe (12) has a base portion for ventilation. The branch pipe (14) of the above is externally fitted, and the branch pipe (14) is expandable and contractible.
(15) is connected, and as shown in FIG. 4, the bellows type hose (15) is connected to the intake pump (16) by piping. Further, a negative pressure sensor (S ₁ ) for detecting that the fruit has been adsorbed on the vacuum pad (13) is attached to the branch pipe (14).

Light reflection type proximity sensor (S ₂ ) that detects when the harvesting hand (H) has approached the target fruit within the set distance
Is provided at the center of the opening of the vacuum pad (13) so that its detection surface faces the direction of the fruit to be harvested. That is, the sensor main body (17) housing the light emitting unit that emits light toward the target fruit, the light receiving unit that receives the reflected light thereof, the circuit that performs the signal processing thereof, etc. is held in the branch pipe (14). At the same time, an optical fiber cable (18) for projecting and receiving light which is fed from the sensor body (17) is extended through the inside of the ventilation pipe (12) into the inside of the vacuum pad (13), and its extended end. Is held by the holder (19) on the vacuum pad (13).

Air cylinder for operating the vacuum pad (13)
(20) is interposed between the capturing part case (11) and the ventilation pipe (12), and the ventilation pipe (12) with respect to the tubular part (11a) of the capturing part case (11). The vacuum pad (13) is operated to move in and out of the trap case (11) by sliding the vacuum pad (13) forward and backward. That is, when guiding the hand (H) toward the harvest target fruit as described below, the vacuum pad (13) is operated to the protruding side approaching the target fruit side, and the fruit is placed on the vacuum pad (13). After adsorbing, the vacuum pad (13) is operated to the retreat side away from the target fruit as described later, and the cutter (21) and the vacuum pad (13) described later are moved in the perspective direction with respect to the target fruit. A drive mechanism (B) for relative movement is configured.

The capturing part case (11) has a cutting device (21), which is an arc-shaped and strip-shaped clipper type cutter (21), and an arc-shaped and strip-shaped fruit pulp supporting member (22). 23) is provided. In other words, with respect to the capture portion case (11), both ends of the cutter (21) and the fruit pulp support member (22) are rotatably and pivotally supported about a coaxial core, and the cutter (21) and An electric motor (M ₄ ) for undulating and swinging the fruit pulp support member (22) is provided, and an air cylinder (24) for driving the cutter (21) is provided,
Therefore, along with the standing-up operation, between the cutter (21) and the fruit-stalk supporting member (22), the fruit pad of the fruit adsorbed to the vacuum pad (13) is supported, and the supported fruit-stalk is described above. Cutter
It is configured to be disconnected by the operation of (21). Incidentally, the cutter (21) and the fruit pulp support member (22) are interlockingly connected to the electric motor (M ₄ ) for undulation and swing through a differential mechanism (25), and the cutter (21) and When either one of the fruit pulp support members (22) comes into contact with the fruit pulp first, it is possible to continue the standing operation of the other side while the standing operation of the side that comes in contact first is stopped. I am doing it.

Further, a switch (S ₃ ) for detecting the completion of the standing operation and a switch (S ₄ ) for detecting the completion of the retraction operation are provided on the protrusion (27) attached to the input gear (26) of the differential mechanism (25). It is provided so that it can be turned on and off.

As shown in FIG. 4, a control device (28) composed of a microcomputer is provided with image pickup information by the video camera (S ₀ ), fruit detection information by the proximity sensor (S ₂ ), and a negative pressure sensor.
(S ₁ ) Fruit adsorption detection information, switches for detecting the standing operation and the retreating operation of the cutter (21) and the fruit pulp support member (22)
Input the detection information from (S ₃ ) and (S ₄ ) respectively, and operate the raising and lowering and swinging of the harvesting device (2) based on the various detection information and the information stored in advance. electric motor (M ₁ ~M ₃₎ drive motor controller to (29a), said motor controller to operate the driving of the drive motor of the telescopic arm (9) (Ma, Mb, Mc) (29b), a cutter ( 21) and the motor controller (29c) for operating the drive of the electric motor (M ₄ ) for ups and downs of the peduncle support member (22), the control valve (30a) for the operation air cylinder (25) of the cutter (21). The control valve (30b) for the air cylinder (20) for moving the vacuum pad (13) into and out of the vacuum pad (13) and the control valve (30c) for the vacuum pad (13) output an operation command to the harvesting device. Guide the hand (H) to the fruit to be harvested, and harvest the fruit automatically. That.

That is, in the control device (28), the vacuum pad
Hand guiding means for guiding the harvesting hand (H) toward the target fruit (F) with the suction port of (13) facing the harvesting target fruit (F) side, and the guided harvesting hand (H) Each of the hand-driving means for automatically harvesting by cutting the fruit stem of the target fruit (F) by automatically differentiating is constituted.

Next, each of the above means will be described based on the flowchart shown in FIG.

That is, the fruit (F) to be harvested by the video camera (S ₀ )
The image of the range where is located is taken in, image processing is performed to extract the image information corresponding to only the target fruit by removing the background of branches and leaves, and the direction in which the extracted fruit is located is calculated.

Next, based on the calculated direction, while the suction port of the vacuum pad (13) is maintained toward the harvest target fruit side, the telescopic arm (9) is telescopically operated, and the harvesting hand (H ) Toward the target fruit.

After this approach operation, based on the detection information of the proximity sensor (S ₂ ), when it is determined that the hand (H) has approached within a set distance with respect to the fruit to be harvested, suction operation of the vacuum pad (13) Is started. However, if the proximity sensor (S ₂ ) does not operate even when the approach distance exceeds the set value, the telescopic arm (9) is shortened, and the harvesting hand (H) is returned to the approach start position and the approach is started. Stop.

After the suction operation of the vacuum pad (13), the harvesting hand (H) is moved forward by a set distance (for example, 30 to 50 mm) toward the fruit to be harvested, and based on the detection information of the negative pressure sensor (S ₁ ). It is determined whether or not the target fruit has been adsorbed, and if it is adsorbed as desired, the air cylinder (20) is operated to retire the vacuum pad (13), and at the same time the harvesting hand (H). Is moved forward along the moving direction of the vacuum pad (13) to take in the fruit to be harvested within the operating range of the cutter (22). However, when the negative pressure sensor (S ₁ ) does not operate, the suction operation of the vacuum pad (13) is stopped, the telescopic arm (9) is shortened, and the harvesting hand (H) starts approaching. Return to the position.

Then, after capturing the harvested target fruit in harvesting hand (H), said cutter (21) and Hate梗the support member with erecting operated toward the front side, the standing working completion detecting switch (S ₃₎ It is determined whether or not the stand-up operation is completed based on the detection information of. When this standing operation is completed, the suction operation of the vacuum pad (13) is stopped, the harvesting hand (H) is retracted in that state, and the cutter (21) is placed on the base side of the fruit stem. After the positioning, the cutter (21) is operated to cut the peduncle. Immediately after cutting, the suction operation of the vacuum pad (13) is started to re-adsorb the fruit after cutting of the peduncle, and then the cutter (21) and the peduncle support member (22) are used to detect the withdrawal operation completion switch ( S ₄ ) is operated until it is laid down, the telescopic arm (9) is shortened, and the harvesting hand (H) is returned to the approach start position,
The vacuum pad (13) is projected, the suction operation is stopped, and the harvested fruits are supplied to the conveyor device (4) to complete the harvesting operation for one fruit. However, if the standing-up operation completion detection switch (S ₃ ) does not operate and the standing-up operation is not completed, it is judged that there is a problem such as another object such as a branch being caught, and the cutter (21) and the result. Set the infarct support member (22) to the switch (S
₄ ) Operate the stilts until the telescopic arm (9)
And the harvesting hand (H) is returned to the approach start position to stop the harvesting operation.

In addition, when a plurality of fruits are extracted based on the imaging information of one time when calculating the direction in which the fruits to be harvested are located as described above, for example, the fruits are sequentially harvested from the fruits on the lower side to the fruits on the upper side. Or the fruit that looks the largest, that is, the fruit closest to the harvesting hand (H) is harvested in order, and the work is continued. Therefore,
Each time the harvesting operation for one fruit is completed, the presence or absence of unharvested fruits is discriminated, and the harvesting operation described above is repeated until one fruit cannot be extracted in the imaging range.

[Another embodiment]

To configure the drive mechanism (B) that relatively moves the vacuum pad (13) and the cutter (21) in the perspective direction with respect to the harvested fruit and vegetables, in the above example, the vacuum pad (13) with respect to the cutter (21). The case where the cutter (21) is moved with respect to the vacuum pad (13) may be used although the case where the cutter (21) is moved is illustrated. Further, as the drive mechanism, various actuators such as a hydraulic cylinder and an electric motor other than the air cylinder (20) can be used.

Further, in the above-mentioned embodiment, the structure of the harvesting hand in the fruit harvesting device has been described, but it can be applied to a harvesting device for vegetables such as tomato.

In implementing the present invention, the configuration of each part such as the specific configuration of the harvesting hand (H) and the specific configuration of the telescopic arm (9) provided for guiding can be variously changed.

[Brief description of drawings]

The drawings show an embodiment of a hand for harvesting fruits and vegetables according to the present invention. Fig. 1 is a plan view of the harvesting hand, Fig. 2 is a side view thereof, Fig. 3 is a front view thereof, and Fig. 4 is control. FIG. 5 is a block diagram showing the configuration of the system, FIG. 5 is a flowchart showing the operation of the control device in the harvesting operation, and FIG. 6 is a side view showing the overall configuration of the fruit harvesting device. (13) …… vacuum pad, (21) …… cutter, (B) ……
Drive mechanism.

Front Page Continuation (72) Inventor Ueda ▲ Yoshi ▼ 64 Ishizukitamachi, Sakai City, Osaka Prefecture Kubota Iron Works Co., Ltd. Sakai Works (56) References JP-A-59-106215 (JP, A) JP-A-60 -66912 (JP, A)

Claims (1)

[Claims] 1. A hand for harvesting fruits and vegetables, comprising a vacuum pad (13) for adsorbing fruits and vegetables to be harvested, and a cutter (21) for cutting a handle of the fruits and vegetables adsorbed on the vacuum pad (13). The position for capturing the vacuum pad (13) protruding toward the harvestable fruit and vegetables side of the cutter (21) and the position for cutting the handle retracted from the position toward the cutter (21). Vacuum pad (1
A hand for harvesting fruits and vegetables, which is provided with a drive mechanism (B) for relatively moving the cutter (21) and the cutter (21) in the perspective direction relative to the fruits and vegetables to be harvested.