JPH10127182A - Receiving shelf for cultivating inclined cultivation fruit vegetable - Google Patents

Abstract

PROBLEM TO BE SOLVED: To facilitate the vine lowering work of fruit vegetables. SOLUTION: A holding plate 21 provided with oblong holes 22 is installed in an inclined state, the main stem and foliage of the fruit vegetable are received and held by the holding plate 21 and fruits are held in a hung state from the parts of the oblong holes 22 and cultivated in the inclined state.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a dedicated cultivation tray for receiving the main stem, foliage, fruits and the like of fruits and vegetables cultivated on an inclined basis.

[0002]

2. Description of the Related Art When cultivating fruits and vegetables such as cucumbers, for example, the main columns such as bamboo and sticks are installed in an inclined state, and the main stems of fruit and vegetables are arranged along the main columns such as bamboo and sticks. There are many methods of cultivating and separating fruits and foliage.

[0003]

When cultivation is carried out using the main pillar, and when the cultivation is completed and the picking operation is performed, if the fruit and vegetables are cucumber, the beard of the cucumber is entangled with the main pillar. However, the present invention attempts to solve this problem by means of the present invention.

[0004]

For this purpose, according to the present invention, a main plate (b) portion and foliage (a) of a fruit and vegetable (a) are installed by tilting a holding plate 21 provided with a long hole 22 in a vertical direction. The portion (c) is received and held by the upper side 28 of the holding plate 21, and the fruit (d) of the fruit (a) is suspended from the long hole 22 to hold the fruit (a). A cultivation tray for cultivating inclined cultivated fruits and vegetables is characterized by being cultivated in an inclined state.

[0005]

The fruits and vegetables (a) are, for example, cucumbers (a)
When the cucumber (a) is cultivated in an inclined state, the holding plate 21 is installed in an inclined state, and the main stem (b) portion and foliage (c) portion of the cucumber (a) hold the cucumber (a). The holding plate 2 is received and held by the upper side 28 of the plate 21.
The fruits (d) are cultivated in a state of being suspended from the long holes 22 of the holding plate 21 in a state of being inclined along 8.

[0006]

According to the present invention, the main stem (b) of the cucumber (a) is cultivated only by placing it on the holding plate 21. Since the beard is not entangled, the work of lowering the vine is easy. Due to the shape of the holding plate 21, the foliage (c) portion can be bent upward, so that the leaves do not hide the fruit (d) and harvesting becomes easy.

[0007]

An embodiment of the present invention will be described below with reference to the drawings. In the illustrated example, the fruit vegetables (a) are, for example, cucumbers (a), and the dedicated cultivation tray 20 used when the cucumbers (a) are cultivated in an inclined state is shown. Cucumbers (a) cultivated in an inclined state in the cultivation tray 20 are harvested by the fruit and vegetable harvesting machine 1.

The cultivation receiving shelf 20 is provided with a holding plate 21 having a predetermined radius and a substantially semicircular shape at a predetermined length. And a holding hole 23 having a predetermined length and a predetermined width in the lateral direction is provided in the vicinity of the upper end, and a notch 24 having a predetermined length and a predetermined width in the vertical direction is provided at the lower end. The configuration is provided. The section AA of the holding plate 21 may be V-shaped as shown in FIG. 5 or U-shaped as shown in FIG. 6 and the opening 28a may be directed upward. By making the cross-sectional shape V-shaped, the foliage (c) and the contact area of the leaves are enlarged,
Support can be ensured, and pressure loss of foliage (c) and leaves can be prevented.

In the cultivation field where cucumber (a) is grown,
The upper receiving rod 25 and the lower receiving rod 26 are installed at predetermined intervals in the vertical direction and at predetermined intervals in the horizontal direction. The support rod 2
5, the holding hole 23 of the holding plate 21 is fitted, and the notch 24 of the holding plate 21 is inserted into the lower receiving rod 26, with the opening 27 of the holding plate 21 facing upward, The notch 24 is provided with a semicircular insertion hole 24a for inserting the main stem (b). The attachment and detachment of the holding plate 21 are facilitated to facilitate the work of unloading the vine after the cultivation.

The upper stem 28 of the holding plate 21 receives and holds the main stem (b) and foliage (c) of the cucumbers (a) planted in the cultivation field. The fruit (d) is cultivated in a state of being hung from the long hole 22 of the holding plate 21 while being cultivated in an inclined state, and the foliage (c) is cultivated in the holding plate 21. It is cultivated by bending it upward and inward on the walls on both sides of 21.
And cannot be hidden. As shown in FIG.
The holding plate 21 may be attached in a letter shape to grow the cucumber (a).

FIG. 8 to FIG. 10 are views showing the cultivation receiving shelf 29. FIG. The cultivation receiving shelf 29 is provided with a substantially semicircular holding plate 30 having a predetermined radius at a predetermined length, and a central portion of the holding plate 30 is provided with a long hole 31 having a predetermined length and a predetermined width. A string 32 is provided at the center of the elongated groove 31, a holding hole 23 having a predetermined length and a predetermined width is provided near the upper end, and a notch having a predetermined length and a predetermined width is provided at the lower end. 24 are provided.

The upper receiving rod 25 and the lower receiving rod 25 installed in the cultivation field have a holding hole 23 of a holding plate 30 and a notch 24.
Is inserted and inserted, and the holding plate 30 is mounted in an inclined state with the opening 27 thereof facing upward. (Figure 1
The same setting method as above) The main stem (b) portion and the foliage (c) portion of the cucumber (a) planted in the cultivation field are received and held by the upper surface 28 of the holding plate 30 and the main stem is held. The part (b) is clipped and held on a string 32 with a clip (not shown), and is cultivated in an inclined state along the holding plate 30. Therefore, it is configured to be cultivated while being held in a suspended state.

[0013] As described above, the holding plate 30 is a plate, from which the cucumber (a) beard is easy to remove first, and the main stem (b) portion is fixed with a clip, and is removed. Is easy. FIG. 11 to FIG. 13 are diagrams illustrating a cultivation device. The cultivation device 33 has a configuration in which a round bar 34 having a predetermined length is provided, and the round bar 34 is provided with a V-shaped elastic brush 35 at predetermined intervals. The V-shaped part formed between the brushes 35 receives and holds the main stem (b) of the cucumber (a), the foliage (c) is received and held by the brush 35, and the fruit (d) is , The brush 3
It is configured to be held in a suspended state from between 5, 35. The round bar 34 is configured to be driven into a cultivation field where cucumber (a) is cultivated.

According to the above, foliage of cucumbers (a) (c)
And the fruit (d) can be surely separated, so when harvesting the cucumbers (a) in the fruit and vegetable harvester 1,
Can be harvested easily. FIG. 14 and FIG.
It is a figure which shows the apparatus 36 for cultivation. The cultivation device 36
Is provided with a round bar 37 having a predetermined length, and the round bar 37 is provided with a receiving plate 38 formed of a V-shaped resin plate or the like, and the receiving plate 38 is opened at predetermined intervals. 39 are provided. The V-shaped portion of the receiving plate 38 receives and holds the main stem (b) portion of the cucumber (a), and the foliage (c) portion is received and held at a position other than the open portion 39 of the receiving plate 38. The fruit (d) is held in a suspended state from the opening 39. The round bar 37 is configured to be driven into a cultivation field for cucumber (a) cultivation.

As described above, the same effects as those of the cultivation apparatus 53 can be obtained. 16 and 17 are diagrams showing a fruit harvester. The fruit and vegetable harvesting machine 1 includes, on the upper side of the electric traveling unit 2, fruits and vegetables such as cucumbers (a).
And the like, a manipulator 3 for harvesting, a multi-plate CCD camera 4 for photographing the shape of the cucumber (a) to be harvested, a visual means 6 including a position sensor 5 for detecting the position, and the like.

A cultivation field using the vegetable harvester 1
It is used in fields where cucumber (a) is grown in an inclined state. The manipulator 3 is a cucumber (a)
An inclined frame 8 provided so as to be substantially parallel to the inclination of the main stem (b), a base 10 mounted to be able to move up and down along a guide rail 9 of the inclined frame 8, and an upper side of the base 10 A main body 11 is provided so as to be freely rotatable horizontally, an arm 12 is provided on the manipulator 3 to form an articulated shape, and a holding support 13 is provided at a tip end of the arm 12. The holding support 13 has a holding piece. 14, 14 and the cutter 7 are provided.

The holding pieces 14, 14 can be opened and closed by a cylinder (not shown), a motor (not shown), or the like. Is sandwiched. The inclined frame 8 is attached to the traveling section 2 using a hinge 15, and the back side is supported by a support link 16. The support link 16 is attached to an arbitrary position of the long hole 18 of the support plate 17, and the inclination position of the support plate 17 can be adjusted to adjust the inclination angle of the inclination frame 8 arbitrarily. By operating each part of the manipulator 3, the holding support 13 is moved to the position of the cucumber (a) to be harvested and held, and the fruit portion of the cucumber (a) is cut and harvested.

The visual means 6 scans the field of view of the CCD camera 4 horizontally and vertically, and cucumber (a) of the object.
And an illuminance sensor 19 for detecting illuminance when capturing an image captured by the CCD camera 4 with light of a predetermined wavelength. The detection control device 40 is provided in the visual means 6 and includes a CCD
Camera 4, position sensor 5, illuminance sensor 19, potentiometer metal 49 of another embodiment described later, and hot sensor 7
6 are input to a CPU 42 which outputs arithmetic and logic operations, comparison operations, and various signals through an input circuit 41 to which various detections detected by the CPU 6 are input. The section 2, the manipulator 3, and the clamping motor 47, the moving motor 56, the clamping motor 60, and the opening / closing motor 63 of another embodiment described later are operated and controlled to harvest the cucumber (a).

FIGS. 18 to 20 show the structure of the holding supporter,
And control. A holding motor 47 that supports a gear 46 that meshes with a gear 45 is provided in the holding support 44, and holding pieces 48 and 4 that hold a cucumber (a) or the like.
8 and the adjustment of the holding interval of the holding pieces 48
By the rotation of the pinching motor 47, the gears 45,
46 is performed.

The holding piece 48 has a structure in which a potentiometer metal 49 is provided and a resilient spring 50 is provided. The tip of the holding piece 48 is extendable and contractable by the spring 50. When the tip of the holding piece 48 comes into contact with the crop in the storage device 51 for storing the crop, the potentiometer metal 49 detects this contact, and the manipulator 3 is stopped and controlled by this detection.

The operation will be described with reference to the flowchart of FIG. 20. The cucumber (a) harvesting operation is started (step 101), the manipulator 3 is controlled to the discharging posture (step 102), and the cucumber (a) is held. The holding pieces 48, 48 of the holding support body 44 are stored in the storage device 51.
It is detected whether or not the cucumber (a) stored in the tank has come into contact (step 103). If NO is detected, the process returns to step 103. If YES is detected, the manipulator 3 is controlled to stop (step 104), and the cucumbers (a) held between the holding pieces 48, 48 are discharged (step 10).
5), the machine 1 stops (step 106).

As described above, the discharge attitude is controlled by the height of the stored material for storing the harvested product, so that damage to the harvested product is eliminated, and furthermore, the height variation of the stored harvested product can be eliminated. . 21 to 24 show the configuration and control of the sandwiching support portion. A movement motor 56 for supporting a gear 55 meshing with a gear 54 provided on a movable box-shaped support 53 is provided in the support 52, and the movement motor 56 is provided between the support 52 and the support 53. A movement receiving member 57 is provided vertically between the moving motors 5.
6, the support 53 is slidably moved via the gears 54 and 55.

In the support 53, a holding motor 60 for supporting a gear 59 meshing with a gear 58 is provided, and holding pieces 61 for holding a cucumber (a) are provided. , 61 is adjusted by rotating the holding motor 60.
Through the configuration. The operation will be described with reference to the flowchart of FIG. 24. The cucumber (a) harvesting operation is started (step 201), and step 20 is performed.
Proceeding to step 2, steps 202 to 205 are controlled as shown. It is detected whether or not the cucumber (a) is sandwiched (step 206), and if YES is detected, harvesting is performed and harvesting is performed (step 207). The operation stops (step 208).

If NO is detected in step 206, the process proceeds to step 209, and steps 209 to 210
Is controlled as shown in the figure, and it is detected from the target cucumber (a) position whether the sandwiching support 52 is on the right side (step 21).
1) If NO is detected, the support 5 of the sandwiching support 52
3 is controlled to move to the right (step 212), and if YES is detected, the support tool 53 of the nipping support 52 is controlled to move to the left (step 213), and steps 212 and 213 proceed to step 206. Return.

As described above, it is not necessary to return the manipulator 3 to the initial position, and the efficiency of the harvesting operation can be improved. Further, it is not necessary to repeat complicated attitude control. FIG. 25 shows a configuration of the sandwiching support portion. A rotating shaft 64 having a screw on an outer peripheral portion that is rotationally driven by an opening / closing motor 63 is provided in the holding support body 62, and one side of a moving metal 65 is screwed into the rotating shaft 64. A moving shaft 66 is fixedly provided on the other side of the moving metal 65, and a holding member 67 provided at the distal end of the moving shaft 66 has a base overlapped with opening and closing arms 69, 69 having a long hole 68 so as to be freely opened and closed. Then, it is mounted with the support pin 70. At the ends of the opening / closing arms 69, 69, holding pieces 71, 71 for holding the cucumber (a) are fixedly provided with fixing pins 72, 72.
1, 71 open and close.

A resilient spring 73 is provided on the outer periphery of the moving shaft 66, and the moving amount of the moving metal 65 caused by the rotation of the opening / closing motor 63 is always a constant moving amount. The holding force is determined by the spring 7
3 and the holding pieces 71,
When the external device 71 is in the open state, it operates in the closed state by the external force, but when the external force disappears, the spring 73 returns to the original position.

As described above, the rotational drive control of the open / close motor 63 is a fixed amount, and the control is easy. The object to be clamped is less pressed, and the object to be clamped is not damaged. Further, since the object is opened and closed by an external force, the object is not damaged even when it comes into contact with an obstacle. 26 to 28 show the configuration and control of the sandwiching support portion. The holding member 74 is provided with holding pieces 75, 75 which can be opened and closed and can be turned up and down and left and right by wrist rolls 78.
The hitches 8 and 78 are configured to change automatically. The cucumber (a) is sandwiched between the holding pieces 75, 75. On the upper part of the holding piece 75, photo-sensors 76, 76 for detecting the cucumber (a) are provided at predetermined intervals.
7, 77 are provided, and the predetermined interval is set to be smaller than the diameter of the cucumber (a) at a suitable harvest time. The interval can be adjusted as appropriate depending on the type of fruit and vegetable (a) to be harvested.

The operation will be described with reference to the flowchart of FIG. 27. The cucumber (a) harvesting operation is started (step 301), and image processing is performed on the photographed image to lower the cucumber (a) by a predetermined position from the uppermost end position. The nipping position is calculated (step 302), the nipping support 74 approaches the nipping position (step 303), and it is detected whether both of the photosensors 76 and 76 are in the blocking state (FIG. 28-A) (step 304), and YES is determined. If detected, the approach is stopped (step 305), and the holding support 74 is stopped.
Is controlled to be raised (step 306), the uppermost position is detected (step 307), and if YES is detected, harvesting operation is controlled (step 308), and it is detected whether cucumber (a) has been harvested (step 309), If NO is detected, the process returns to step 308. If YES is detected, the operation stops (step 310).

If NO is detected in step 304, the bases of the photosensors 76, 76 are shut off, and the front end is detected in a transmission state (FIG. 28B) (step 311).
If O is detected, the process returns to step 303. If YES is detected, immature cucumbers (A) are detected (step 312), and the routine proceeds to step 310. If NO is detected in step 307, it is detected whether both photosensors 76 and 76 are in the transmission state (FIG. 28C) (step 313), and Y
When ES is detected, the lifting of the holding support 74 is stopped (step 314).

If NO is detected in step 313, the roots of the photosensors 76, 76 are shut off, and the front end is detected in a transmission state (FIG. 28D) (step 315).
When ES is detected, the holding of the holding support 74 is stopped (step 316), and the tip of the holding pieces 75, 75 is controlled to be raised to a set predetermined angle (step 31).
7).

If NO is detected in step 315, the bases of the photosensors 76, 76 are transmitted and the front end is detected in a cut-off state (FIG. 28-D) (step 318).
When ES is detected, the holding support 74 is stopped from rising (step 319), and the tip of the holding pieces 75, 75 is controlled to be lowered to a set predetermined angle (step 32).
0). If NO is detected in step 318, step 3
Return to 06.

Steps 314, 317 and 320 proceed to step 309. As described above, the design also serves as a fruit handle, the number of parts can be reduced, and the weight of the body can be reduced. In addition, the same sensor 76 can detect both a suitable harvesting time and a fruit pattern, and cost reduction can be achieved.

FIGS. 29 and 30 show the harvest control.
The operation will be described with reference to the flowchart of FIG. 29. The cucumber (a) harvesting operation is started (step 40).
1) Image processing (FIG. 30) from the photographed image (step 402), cucumber (a) and main stem (b) are extracted by image processing (step 403), and cucumber (a) is main stem (b) Is detected (step 404), and if YES is detected, the wrist roll 78
It is controlled to rotate counterclockwise (step 305).

When NO is detected in step 404, it is detected whether the cucumber (a) is on the left side of the main stem (b) (step 406), and when YES is detected, the wrist roll 78 is detected.
Is controlled to rotate clockwise (step 407). When NO is detected in step 406, it is detected whether the cucumber (a) is in front of the main stem (b) (FIG. 30-G) (step 408), and when YES is detected, the wrist pitch is controlled to rotate downward. (Step 409).

Steps 405, 407, and 409 are harvested (step 410). The operation stops (step 411). If NO is detected in step 408, it is determined that harvesting is impossible (step 41).
2) Go to step 411. As described above, since the cucumber (a) can be horizontally moved, a work space for the fruit handle can be secured.

[Brief description of the drawings]

FIG. 1 is a sectional front view of the operation of a receiving tray for cultivation.

FIG. 2 is a plan view of a cultivation receiving shelf.

FIG. 3 is a front view of a tray for cultivation.

FIG. 4 is an enlarged sectional view taken along the line AA of FIG. 2;

FIG. 5 is a view showing another embodiment, and is an enlarged sectional view taken along line AA of FIG. 2;

FIG. 6 is a view showing another embodiment, and is an enlarged sectional view taken along line AA of FIG. 2;

FIG. 7 is a view showing another embodiment, and is an operational front sectional view of a cultivation receiving shelf.

FIG. 8 is a view showing another embodiment, and is a plan view of a receiving tray for cultivation.

FIG. 9 is a view showing another embodiment, and is a front view of a receiving tray for cultivation.

FIG. 10 is a view showing another embodiment, and is an enlarged sectional view taken along the line AA of FIG. 9;

FIG. 11 is a view showing another embodiment, and is an operational front view of the cultivation apparatus.

FIG. 12 is a view showing another embodiment, and is a front view of a cultivation apparatus.

FIG. 13 is a view showing another embodiment, and is a plan view of an apparatus for cultivation.

FIG. 14 is a view showing another embodiment, and is a front view of a cultivation apparatus.

FIG. 15 is a view showing another embodiment, and is a plan view of an apparatus for cultivation.

FIG. 16 is a view showing another embodiment, and is an overall front view of a fruit and vegetable harvester.

FIG. 17 is a block diagram showing another embodiment.

FIG. 18 is a view showing another embodiment, and is an enlarged front sectional view of a sandwiching support.

FIG. 19 is a view showing another embodiment, and is an enlarged front view in which a portion of the holding support is broken.

FIG. 20 is a flowchart showing another embodiment, and is a flowchart.

FIG. 21 is a view showing another embodiment, and is an enlarged plan cross-sectional view of a holding support.

FIG. 22 is a view showing another embodiment, and is an enlarged front sectional view of a holding support.

FIG. 23 is a view showing another embodiment, and is an operation view of a holding support.

FIG. 24 is a flow chart showing another embodiment.

FIG. 25 is a view showing another embodiment, and is an enlarged plan sectional view of a sandwiching support.

FIG. 26 is a view showing another embodiment, and is an enlarged front view of a holding support.

FIG. 27 is a flowchart showing another embodiment, and is a flowchart.

FIG. 28 is a view showing another embodiment, and is an operation view of a holding support.

FIG. 29 is a flow chart showing another embodiment.

FIG. 30 is a diagram showing another embodiment, and is a processed image diagram.

[Explanation of symbols]

 21 Holding plate 22 Long hole 28 Upper surface (A) Fruit vegetables (B) Main stem (C) Foliage (D) Fruit

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor, Chinori Matsunaga 1-Yachikura, Tobe-cho, Iyo-gun, Ehime Pref.

Claims (1)

[Claims] 1. A holding plate 21 provided with a long hole 22 in a vertical direction.
The main stem (b) portion and the foliage (c) portion of the fruit and vegetable (a) are received and held by the upper surface 28 of the holding plate 21 and the fruit (d) of the fruit and vegetable (a) ) Is the long hole 22
A cultivation tray for inclined cultivation of fruits and vegetables, wherein the fruits and vegetables (a) are cultivated in an inclined state while being held in a suspended state from a part.