JPH0716340B2 - Guidance device for fruit and vegetable harvesting equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention is provided with a vacuum pad for adsorbing fruits and vegetables, and adsorption detection means for detecting that fruits and vegetables are adsorbed on the vacuum pad, and induction start. Position detection means for detecting the target position where the harvested fruit and vegetables are located with respect to the position, and based on the detection information of the position detection means, the vacuum pad guides until the adsorption detection means detects the adsorption of 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 that guides the vehicle so as to go straight in a direction connecting the starting position and the target position.

[Conventional technology]

The guide device of the fruit vegetable harvesting device of this type, the vacuum pad for adsorbing the fruit vegetables, so as to linearly guide toward the target position where the harvested fruit vegetables which is the shortest distance from the guidance start position is located. It is the one.

[Problems to be Solved by the Invention]

However, in the guiding device of the above-mentioned fruit and vegetable harvesting device, since it is configured to linearly guide the vacuum pad toward the target position where the fruit and vegetables to be harvested are located, for example, FIG. As shown in, if there is an object such as a branch or leaf that interferes with the approach on the front side of the harvested fruit and vegetables between the guidance start position and the target position, the vacuum pad can adsorb the fruit and vegetables properly. There is a risk that it will run out and the harvest will fail.

If the branches or leaves on the front side of the target fruit are disturbed and the harvest fails, the guidance start position is changed to a position bypassing the branches or leaves that obstruct the approach, and the target position is detected again and guidance is performed. So, re-induction was troublesome.

The present invention has been made in view of the above circumstances, and its purpose is to utilize the information of the target position where the once-detected fruit and vegetables are once detected, even if the harvest is unsuccessful. It is to automatically bypass the obstructing branches and leaves so that the vacuum pad can be guided to the target position.

[Means for Solving the Problems]

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

That is, the guiding means detects that the vacuum pad has been guided to a position close to the target harvested fruit and vegetables within a set distance range, and the vacuum pad moves the set distance to When the adsorption detection means detects the adsorption of fruits and vegetables, the movement of the vacuum pad is stopped, and when the adsorption pad does not detect the adsorption of fruits and vegetables even when the vacuum pad moves the set distance. Directs the vacuum pad toward the target position from a direction different from the direction connecting the guide start position and the target position after retracting the vacuum pad from the target position by a set distance to the guide start position side. The point is that it is configured to guide.

[Action]

In other words, if it is not possible to detect that fruit vegetables have been adsorbed even if the vacuum pad is guided beyond the set distance from the target position, an object that interferes with adsorption is between the vacuum pad and the fruit vegetables to be harvested. Then, the approach direction to the harvested fruit and vegetables 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.

〔The invention's effect〕

Therefore, even if the vacuum pad is guided in the direction that connects the guidance start position and the target position where the harvested fruit and vegetables are located, if the fruit and vegetables cannot be adsorbed, the approach direction to the target position is automatically changed and re-established. Since the guidance can be performed, it is not necessary to change the guidance start position due to harvest failure and perform the re-guidance. Therefore, while effectively utilizing the target position detection information once, re-guidance due to harvest failure is automatically performed.
In addition, it has become possible to do it efficiently.

〔Example〕

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

As shown in FIG. 5, a swingable support post (2) is erected on a substantially central portion of a vehicle body (V) provided with a pair of left and right traveling wheels (1) at the front and rear, respectively. A boom (3) is attached to the upper end of (2) so as to be able to move up and down.

An auxiliary boom (4) is horizontally swingably attached to the tip of the boom (3), and an articulated arm (5) is swung and vertically moved at the tip of the auxiliary boom (4). The fruit harvesting machine is configured by being attached so as to be swingable in the direction, and a work hand (H) for fruit harvesting is attached to the tip of the arm (5).

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

The arm (5) is pivotally operated around a vertical axis (Y) by an electric motor (9a), and rocked around a horizontal axis (X) by an electric motor (9b). It is configured to be expanded and contracted by an electric motor (9c).
That is, although the arm (5) is of an articulated type, it operates as a telescopic arm.

Explaining the working hand (H), as shown in FIG. 3 and FIG. 4, the vacuum pad (10) for adsorbing fruits has a suction port with its suction port facing the front side of the hand. A ventilation branch pipe (12) is provided on the tip of the trachea (11), and a ventilation branch pipe (12) is provided at the base of the ventilation pipe (11). 13) is connected.

However, the bellows type hose (13) is a pump (1
4) is connected to the pipe (see Fig. 1).

The proximal end of the branch pipe (12) is pivotally attached to the distal end (5a) of the arm (5) about a vertical axis (P1), and the working hand ( 2) is a rotary type in which the direction of H) is switched from the state in which it extends and contracts with the arm (5) to the state in which the set angle is inclined clockwise.
The position switching type hand swing air cylinder (27)
The output shaft (28) of the air cylinder (27) is fixed to the tip portion (5a) of the arm (5) and is fixed to the branch pipe (12).

That is, when the vacuum pad (10) cannot adsorb the fruit even if the vacuum pad (10) is guided toward the fruit to be harvested in a state where the direction of the vacuum pad (10) matches the extension and contraction direction of the arm (5), The entire hand with respect 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 FIG. 8).

In addition, a cutting device is provided for cutting a fruit stem of a fruit (F) captured in a state of being adsorbed to the vacuum pad (10), a so-called fruit handle, and a space for accommodating the vacuum pad (10). A catch case (15) is provided.

As shown in FIGS. 3 and 4, the capturing portion case (15) includes a base end portion (15a) externally fitted and supported by the ventilation pipe (11) so as to be slidable in the front-rear direction of the hand, and An upper cover portion (15b) fixed to cover the upper end and the left and right sides of the hand (H), and a lower cover portion (15c) fixed to the lower end of the base end portion (15a) on the distal end side. The upper cover part (15b) and the lower cover part (1
5c) covers the outer circumference of the hand.

However, an opening (16) having a size that allows the fruit (F) adsorbed by the vacuum pad (10) to pass through a location facing the suction port of the vacuum pad (10).
Are formed (see FIGS. 7A to 7C).

In addition, a slit-like groove (17) through which a fruit handle is inserted is formed in a portion of the both cover portions (15b) and (15c) close to the opening (16), and when harvesting the fruits, While only the harvested fruit (F) adsorbed by the vacuum pad (10) can be taken into the trap case (15), the handle can be moved smoothly during the taking.

On the other hand, the lower cover part (15c) swings around the axial center (Q) along the up-down direction in order to discharge downwardly cut fruits of the handle held in the capture case (15). It is attached freely. The air cylinder (18) that opens and closes the lower cover portion (15c) laterally is used as a base end portion (15a) of the capturing portion case (15).
It is attached to the bottom of the.

As shown in FIGS. 3 and 4, the handle cutting device includes a strip plate-shaped and semi-arcuate hair clipper type cutter (19) and a strip-shaped and semi-arcuate handle support member (20). ) And both ends of the cutter (19) and the handle support member (20) are
It is pivotally attached to the left and right side portions of the base end portion (15a) of the capturing portion case (15) so as to be swingable around the horizontal axis.

Then, the cutter (19) and the handle support member (20) each have a state in which the handle of the fruit captured in the capture case (15) is projected to the front side of the hand so as to support between them, and The electric motor (21) is configured to freely swing back and forth so as to switch to a state of retracting to the rear side of the hand so as to form a passage for introducing fruit therebetween.
Further, an air cylinder (22) for driving the slide of the cutter (19) is provided, so that the cutter (19) and the handle support member (20) are separated from each other in accordance with the standing operation which causes the swing to the protruding side. A handle is supported between them, and the supported handle is cut by the sliding operation of the cutter (19) (see FIGS. 7 (d) and 7 (e)).

However, although not shown, the cutter (19) and the handle support member (20) are the cutters (19) or handles that are abutted first when any one of them contacts the handle first. The electric motor (21) is provided through a differential mechanism so that the handle support member (20) or the cutter (19) on the other side can be continuously raised while the stand-up operation of the support member (20) is stopped.
Is linked to. That is, the projecting positions of the cutter (19) and the handle support member (20) can be automatically changed according to the position of the captured fruit handle.

Incidentally, in the figure, (S1) is a negative pressure sensor as an adsorption detecting means for detecting that the fruit has been adsorbed to the vacuum pad (10), which is provided above the branch pipe (12),
Based on the detection information, it controls the sliding movement of the capturing part case (15), the swinging back and forth of the cutter (19) and the handle support member (20), and the slide driving of the cutter (19). The harvest will be activated. (S2) is an optical proximity sensor for detecting that the vacuum pad (10) has approached the fruit to be harvested within a set distance, and is a lateral side on the proximal side of the branch pipe (12). And a signal processing section (23) attached to the optical fiber () extending from the signal processing section (23) to the tip side of the vacuum pad (10) through the branch pipe (12) and the ventilation pipe (11). twenty four)
Based on the detection information, the start of the suction operation of the vacuum pad (10) is controlled.
(S3) is a color image sensor for picking up an object in the direction of the vacuum pad (10),
It is installed together with the proximity sensor (S2) inside the tip opening of the ventilation pipe (11), and detects the direction in which the fruit to be harvested is located based on the color and brightness of the imaged information. Is configured to. (S4) is a swing position detection sensor that uses a potentiometer to detect the retracted swing position of the cutter (19) and the handle support member (20). Further, (25) is an illuminating device that illuminates the front side so that the image pickup information by the image sensor (S2) is not affected by the ambient brightness, and (26) is the front and rear of the capturing part case (15). An air cylinder for sliding movement.

<Configuration of Guidance Control Device> Next, a control configuration for guiding the work hand (H) toward the harvest target fruit will be described.

As shown in FIG. 1, a control device (29) for controlling the operation of each part is provided based on the detection information of each of the sensors (S1) to (S4) and various control information set and stored in advance. ing.

In the figure, (30) is a control valve for the boom lifting hydraulic cylinder (7), (31) is a control valve for the boom swing hydraulic cylinder (6), and (32) is the auxiliary boom swing motor ( 8) a drive circuit, (33a) a drive circuit for the arm rotation motor (9a), (33b) a drive circuit for the arm swing motor (9b), and (33c) an arm extension motor (9c). Drive circuit, (34) is the capturing part case (15)
Control valve of the air cylinder (26) for moving in and out, (35) a control valve of the cutter driving air cylinder (22), (36) a control valve of the shutter opening and closing air cylinder (18), (37) Is a drive circuit for the undulation operation motor (21) of the handle cutting device,
(38) is a control valve of the swinging air cylinder (27) of the working hand (H), and (39) is the vacuum pad (10).
Control valve for suction control, and each of these control valves and each drive circuit are operated based on a command from the control device (29).

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

Explaining the position detecting means (100), first,
The work hand (H) is positioned at the approach start position as the guidance start position in a state where the direction of the work hand (H) is aligned with the extension and contraction direction of the arm (5), and the direction of the work hand (H) is the fruit to be harvested. (F) In a certain direction, the image sensor (S3) causes the image of the direction in which the working hand (H) is facing (see FIG. 6 (A)).

Then, using the control device (29), the image information of the image sensor (S3) is subjected to image processing to extract a region (F0) corresponding to only the color of the fruit, and within the region. The position of the brightest highlight point (f) on the image is obtained (see FIG. 6B).

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

However, when a plurality of regions corresponding to only the fruit color are extracted from the imaged image information by the image sensor (S3), for example, the image sensor (S3) is fixed by the illumination device (25). Since the image processing is performed with brightness, the fact that the brightness of the area corresponding to it becomes brighter as the fruit is closer, and based on the average brightness of each area, Only the position of the highlight point (f) in the bright area is obtained.

When there are multiple fruits (F) in one area, the fruit on the front side looks brighter.
One highlight point (f) corresponding to the fruit on this side
Therefore, even if a plurality of fruits (F) are adjacent to each other, the position information corresponding to the front side, which is easy to approach, can be automatically obtained.

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

That is, the control device (29) is used to detect the direction of the target position from the imaged image information of the image sensor (S3), and the target position is determined based on the detection information of the proximity sensor (S2). On the other hand, the position detecting means (100) is configured to detect whether or not the position is within a set distance.
Is configured.

<Operation of Guidance Control Device> Hereinafter, the operation of each unit will be described in detail while explaining the operation of the control device (29) based on the flowchart shown in FIG.

First, as described above, the work hand (H) is set to the approach start position as the guidance start position with the working hand (H) aligned with the extension and contraction direction of the arm (5), and the image sensor (S3) is used to harvest the object. The target position direction in which the fruit is located is imaged, and the imaged 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 in a state of moving forward at high speed in the detected target position direction, that is, the direction in which the fruit to be harvested is located, and the proximity sensor (S2) is within a set distance with respect to the fruit. Determine whether or not it has turned on and turned on.

When the proximity sensor (S2) is turned on, the extension speed of the arm (5) is switched to a low speed, and then suction of the vacuum pad (10) is started (see FIG. 7 (a)).

However, if the proximity sensor (S2) does not turn on even if the arm (5) is extended by a preset distance, it is determined that harvesting has failed, and the working hand (H) is stopped. After that, the arm (5) is contracted and returned to the approach start position.

After the suction of the vacuum pad (10) is started, when the negative pressure sensor (S1) is turned on and the adsorption of fruit is detected, the hand (H) is stopped and the harvesting operation described below is started. Become.

However, after the suction of the vacuum pad (10) is started, even if the proximity sensor (S2) advances a set distance corresponding to the distance at which the proximity sensor (S2) senses and turns on the fruit, the negative pressure sensor (S1) When it is not turned on, as described above, it is determined that there is an object such as a branch or a leaf that interferes with the adsorption between the vacuum pad (10) and the fruit to be harvested (F), and the distance equal to the set distance is determined. After retracting a distance corresponding to, the work hand (H) is tilted to the right with respect to the arm (5) and the work hand (H) is positioned on the left front side, and then,
From the direction different from the direction connecting the approach start position and the target position, the work hand (H) whose direction is inclined is advanced at a low speed so as to go straight toward the harvest target fruit (F) located at the target position. , Approach the same target position again (see FIG. 8).

The retry start position for changing the position of the work hand (H) to the left front and starting the movement toward the target again is the set distance of the proximity sensor (S2) and the arm (5) of the work hand (H). And the position of the hand (H) when the proximity sensor (S2) is turned on when the hand (H) is approached without tilting.

Then, again, it is determined whether or not the negative pressure sensor (S1) is turned on. If the negative pressure sensor (S1) is not turned on even if the set distance is advanced, it is determined that harvesting is impossible. , The work hand (H) is stopped, suction of the vacuum pad (10) is stopped, and the tilt of the work hand (H) is returned, and then the arm (5) is contracted to approach the start position. Will be returned to.

While changing the approach direction of the work hand (H) and advancing the set distance, the negative pressure sensor (S1)
When it is turned on and the fruit adsorption is detected, the working hand (H) is stopped and the harvesting operation is started.

After harvesting the fruits to be harvested, after returning the arm (5) to the approach start position, the capturing part case (15)
The lower case portion (15c) is horizontally swung to discharge the harvested fruits into the box (K), thus completing one harvesting operation.

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

Therefore, the arm (5) is extended toward the target position direction detected based on the image information captured with the work hand (H) set at the approach start position,
In addition, when the negative pressure sensor (S1) does not detect the fruit adsorption, the negative pressure sensor (S1) detects the fruit adsorption while tilting the work hand (H) to change the approach direction. A series of processes up to the stop corresponds to the guiding means (101).

To explain the harvesting operation, as shown in FIG. 7, when the negative pressure sensor (S1) is turned on, the working hand (H) is stopped and the harvested fruit is adsorbed and held. , The catching case (15) is projected toward the front of the hand, and the fruit (F) adsorbed by the vacuum pad (10) is taken into the internal space of the catching case (15) (seventh). See figures (b) and (c)).

Next, the cutter (19) and the handle support member (20) are temporarily stopped at the front side of the protruding position where the fruit handle is sandwiched between them, and the vacuum pad (10) is removed. After the suction is stopped, the work hand (H) as a whole is moved backward by a set distance, and the position of the cutter (19) with respect to the fruit is corrected so that the length of the handle to be cut becomes shorter. (See FIG. 7 (d)).

Then, the cutter (19) and the handle support member (20) are continuously projected, and the cutter (19) is slid to drive the cutter so that the handle of the fruit is sandwiched between them to cut the handle. The harvesting operation is completed (see FIG. 7 (e)).

The fruit with the handle cut is held in the lower case portion (15c) of the capturing portion case (15).

However, when the direction of the working hand (H) is tilted at the time of completion of this harvesting operation, after the direction is returned to the state of being aligned with the extension and contraction direction of the arm (5), It will be returned to the approach start position.

[Another embodiment]

In the above-mentioned embodiment, the position detecting means (100) is used for the harvesting object based on the image pickup information of the image sensor (S3) for picking up the direction of the vacuum pad (10) and the detection information of the proximity sensor (S2). Although the case where the target position where the fruit (F) is located is detected is illustrated, for example, the target position may be detected using a distance measuring device, and the specific configuration can be variously changed.

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

Further, in the above-described embodiment, in order to switch the approach direction from the direction coinciding with the extension / contraction direction of the arm (5) to a different direction, the working hand (H) is swung with respect to the arm (5) to change the direction. Although the case has been exemplified, the approach direction 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). Further, the boom (3) may control the position of the auxiliary boom (4) to change the approach direction, and the guiding means (101) is used to move the vacuum pad (10) from the target position by a set distance. When the negative pressure sensor (S1) as the adsorption detection means does not detect the adsorption of the fruit even when the vehicle is guided beyond the point, the vacuum pad (10) is moved from the target position by a set distance to the guide start position side. The specific configuration for guiding the vacuum pad (10) toward the target position from a direction different from the direction connecting the guide start position and the target position after the backward movement can be variously changed.

Further, in the above embodiment, the case where the present invention is applied to the fruit harvesting machine is exemplified, but the present invention can be applied to various fruit and vegetable harvesting devices, such as a work hand (H), an arm (5), The specific configuration of each part such as the structure of the auxiliary boom (4), the boom (3), and the vehicle body (V) can be changed in various ways.

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures of the accompanying drawings by the entry.

BRIEF DESCRIPTION OF THE DRAWINGS The drawings show an embodiment of a guiding device for a fruit and vegetable harvesting apparatus according to the present invention, FIG. 1 is a block diagram of a control configuration, FIG. 2 is a flow chart of control operation, and FIG. A cutaway side view of the hand, FIG. 4 is the same plan view, FIG. 5 is a cutaway side view of the fruit harvester, and FIGS. 6 (a) and 6 (b) are explanatory views of image processing, and FIG. 7 (a) to FIG. (E) is an explanatory view of the harvesting operation, and FIG. 8 is an explanatory view of the switching of the guiding direction. (10) ... vacuum pad, (S1) ... adsorption detection means, (100) ... position detection means, (101) ... guidance means.

Claims (1)

[Claims] 1. A vacuum pad (10) for adsorbing fruits and vegetables.
Is provided, and adsorption detection means (S1) for detecting that fruits and vegetables have been adsorbed to the vacuum pad (10), and position detection means (100 for detecting the target position where the fruits and vegetables to be harvested are located relative to the guidance start position (100). ) And the position detecting means (10
Based on the detection information of 0), the vacuum pad (10) goes straight in a direction connecting the guidance start position and the target position until the adsorption detection means (S1) detects the adsorption of fruits and vegetables. And a guiding means (101) for guiding the fruit vegetable harvesting apparatus, wherein the guiding means (101) is a vacuum device within a set distance range with respect to the target fruit vegetable to be harvested. Pads (10)
Is detected to have been guided to a close position,
When the vacuum pad (10) moves the set distance and the adsorption detection means (S1) detects the adsorption of fruits and vegetables, the movement of the vacuum pad (10) is stopped,
When the suction detection means (S1) does not detect the adsorption of fruits and vegetables even when the vacuum pad (10) moves the set distance, the vacuum pad (10) is guided to the set distance from the target position. After retreating to the start position side, the fruit and vegetable harvesting configured to guide the vacuum pad (10) toward the target position from a direction different from the direction connecting the guide start position and the target position. Device guidance device.