JPS5931616A - Fruit harvesting apparatus - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a fruit harvesting device for harvesting mandarin oranges, apples, and other fruits, and more specifically, the present invention relates to a fruit harvesting device for harvesting oranges, apples, and other fruits. The present invention relates to a fruit harvesting device including a control means for moving a fruit picking section attached to a moving means to a position where the fruit can be picked based on the following.

Traditionally, fruit harvesting has been carried out manually, and is currently not mechanized. However, this kind of harvesting work not only requires a lot of manpower, but also involves unexpectedly heavy labor, so mechanization is strongly desired.
As such a device, a fruit harvesting device having a novel configuration as officially listed can be considered.

The present invention has been made in view of the above circumstances, and in configuring a fruit harvesting device with a stomach structure, the picking section is moved in order to pick the fruits in order. The purpose is to prevent the moving means and the picking unit from hitting the surrounding fruits and damaging them.

To achieve this objective, the fruit harvesting device of the present invention comprises:
In the device having a stomach recorder structure, the fruit position detection result is stored in memory, and a means for determining a picking order such that the fruits are picked in order from the bottom, and a picking section is attached to the fruit from the bottom. This configuration employs a feature of being equipped with a means for approaching the vehicle.

Because of this characteristic structure, the picking section picks the fruits from the bottom in a rational order, and when doing so, approaches the fruit from the bottom, so when moving the picking section, The fruits on the travel path have already been picked, and the risk of damaging them has become extremely low. Furthermore, since the movement path is shortened, this possibility can be reduced in this respect as well.Examples will be described below with reference to the accompanying drawings.

(I) Overall structure FIGS. 1 and 2 show external appearances of fruit harvesting devices that are embodiments of the invention, respectively. FIG. 1 shows an embodiment of a riding-type fruit harvesting device; Figure 2 shows an embodiment of a remote-controlled fruit harvesting device that operates based on commands from a monitor device (8) installed separately from the machine body.

The riding-type fruit harvesting device shown in Fig. 1 is configured to perform harvesting work while located under the fruit tree, and is suitable for relatively large fruit trees such as apples. This remote-controlled fruit harvesting device has a frame-shaped main body (1) that can be used even when the fruit trees are small and the distance between adjacent fruit trees is narrow, such as for mandarin oranges. is configured to do so.

Each of these fruit harvesting devices has a main body (1) equipped with a traveling device (2) so that it can be moved to any location.
It consists of a position detection device (3) installed on the main body il+ to detect the position of the fruit, and a picking device (4).

The picking device (4) is composed of a multi-jointed arm (5) having multiple degrees of freedom and a picking section (6) attached to the tip of the arm (6). ) is configured to be moved to a position where the fruit can be picked by the multi-jointed arm (5)K. The articulated arm (5) used as this means of movement includes various types of hydraulically driven link structures as shown in Figure 1, electric type with high rigidity structure as shown in Figure 2, and many others. Any multi-degree-of-freedom, multi-joint arm can be used, such as a flexible structure with several joints.

The fruit picked with the picking part (6) at the tip of the arm (6) is
It is also possible to transport the product to a storage section provided at a predetermined location by moving the arm (6);
In the fruit harvesting device shown in the figure, in order to improve the efficiency of harvesting work, the picking part (6) is connected to a transport cylinder (7) having elasticity and flexibility, and the transport cylinder (7) is connected to the main body fi+. Cylindrical body (
71, the fruit is configured to be transported to a storage compartment (not shown) in the body (1). In addition, in the case shown in Figure @1, by providing such a transport cylinder (7) inside the arm (5), the transport cylinder (7) can be used to move the arm (5).
This prevents the arm (5) from becoming a hindrance, and thereby increases the selectivity of the position of the arm (5).

Also shown in FIGS. 1 and 2 (31 is a television camera (
This is an example of a fruit position detection device constructed using a device such as 91, and its detailed configuration and operation will be described later.

The traveling device (2) may be configured to move up and down with respect to the main body (1) so that it can be applied to slopes, or it may be configured without an auxiliary device such as an actuator.

(Ill Structure of the picking part The picking part (6) has a cylindrical catching part (10) as shown in FIG. 3, and the picking part (10) can quickly catch the fruit. In addition, a guide portion (11) that expands upward is disposed at the upper opening of the trapping portion (10), and is configured to suck air from the upper opening.

This guide part (11) is configured to have the function of a contact sensor that detects the direction in which an object touches and issues a signal.
The details will be described later, but based on this signal, the arm (5
) to move the picking part (6) at the tip of the arm (5) so that the fruit is introduced into the catching part (10). Further, an upwardly opened exhaust port (19) is provided around the guiding part (1) in order to blow away leaves and the like around the picking part (6) when it approaches the fruit.

Further, the guide portion (11) also has a plurality of contact members (11a) configured to be slightly rotatable downward so as to also function as a contact sensor (11c) as described above.
) and -, each contact member (11a)...
Each contact member (lla) is equipped with a switch (11b) so that rotation based on contact with the fruit can be detected.
) of * is attached.

The contact sensor (11C) is not limited to this configuration, and a contact sensor such as a touch sensor may be attached to the inner wall of the guiding portion (11).

With this configuration, a tenon cutting cutter [+21] is provided at one end of the trap R((lot) in order to cut the fruit pith introduced into the trapping part (lO).

The structure of this cutter (12) is that it meshes with the external ring gear (13) as shown in Fig. 4, and the center of this external ring gear (13) around the axis (X) is the capture part ++[]). -1 part of the opening is placed so as to coincide with the center of the opening, and
An air motor (
15) is attached to the capture part (10). Now, when this external ring gear (13) is rotated in the direction of the arrow by the air motor (15), each blade (14) is rotated in the direction of the arrow by the axis txt fixed to the catching part (10). At this time, the intersection points come together at the center and cut the tenon. Therefore, the tenon is brought to the center of the two-part opening of the trapping part (lO) and cut, so no unreasonable force is applied to the fruit. This often damages the fruit, and also prevents the tenon from escaping and can be cut reliably.

The positioning required for tenon cutting by the cutter (121) is performed by a control method described later based on signals from a plurality of optical sensors (16) provided immediately below the blade (14) of the cutter (121).

These optical sensors (16)... have a structure consisting of a pair of a light emitting part (16→ and a light receiving part (16b)), and each sensor (16)... From the center, they are arranged so that they are about the thickness of a tenon and are offset to the sides so that they cross the opening.
In position 12), all light is blocked, but
When the tenon is at the position of the cutter (12), at least some light is not blocked because it is thin, and based on this, based on the signals from these optical sensors (16)...
The picking part (6) is positioned so that the tenon is at the position of the cutter o21.

A light sensor (17) similar to the above is installed at the bottom of the capture unit (lO).
... is placed at a predetermined interval above and below, and the light is captured by the trapping section (
The size of the fruit can be determined by detecting the position of the bottom of the fruit when positioning (q) is performed based on the signal from the optical sensor (16). It is configured so that it can be detected. These four sensors (17) are provided for the purpose of detecting the size of the fruit.
It can also be used to confirm that it is included.

As mentioned above, the opening at the bottom of the capture part (10) and the storage part on the ill side of the main body are connected to the flexible and stretchable transport cylinder (7).
1, and the fruit picked by cutting the tenon is transported to the storage section through the transportation cylinder (7) by the air sucked from the trapping section (10) and its own weight. be done.

There is an air pump installed on the illumination side of the main unit (
National exhaust gas is led to the exhaust port (19) of the guide section and the air motor (15) that drives the cutter (121) through a group of exhaust passages held integrally within the transport cylinder (7).Air motor The exhaust passage that sends the exhaust air at 0 o'clock is provided with solenoid valves (211, 2), and these solenoid valves f2]1 and (21f send signals from the computer to air motor 05) to control the 0IOr operation as necessary. Mr. 1
1θ). In this way, this embodiment is configured to operate the tenon cutting cutter (121) using exhaust gas, but an air cylinder may be used instead of the air motor, and another driving source such as an electric motor may be used. It is also possible to operate the cutter (12).

Further, by selecting a material (for example, rubber) having an appropriate rigidity for the contact member (11a) of the guide portion (11) according to the target fruit, the fruit picking operation can be performed reliably.

Alternatively, a part of the exhaust gas may be blown into the upper opening of the trapping part (10) so that the fruit is centered with respect to the opening of the trapping part (10).

(Illll Arm Control) The arm (5) is configured to be controlled by a computer, and the control computer includes the arm (5).
Routines that move the tip of a object to a given coordinate position, or move the tip a given amount:
By preparing routines for performing basic operations, it is configured to be programmable using a so-called robot language. The structure of this robot language, together with the control method of the arm (5), can be the same as the conventional structure.

Moreover, this computer is configured to be able to collect signals from a plurality of sensors and change control based on these beliefs. b) a contact sensor (1, 1c) consisting of
...and the optical sensor Q61 of the capture unit (lO),
The configuration is such that the belief of flηΦ· is taken into the computer and control is performed based on the signals from these sensors.

Control of the arm (5) by this computer is performed according to the sequence shown in FIGS. 5(a) and 5(b).

First, as shown in (if, (ill) in FIG. 5(a), the position of the fruit to be picked is read from the memory, which is a storage medium, and the position of the fruit to be picked is located at a predetermined distance directly below the position (R1 is the picking part (6)). is set to f! It is only read out sequentially from the beginning.

Next, the control moves from (il'+) to (vil), and based on the signal from the guidance section (Ill contact sensor (11c)...), the contact sensor C11 that has contacted the fruit
c) By moving the picking part (61) to the side, nrJ
The picking part (6) is gradually raised while adjusting its horizontal position so that the catching part (10) moves directly below the fruit.

When the light sensor (16) installed in the upper opening of the trapping part (6) emits a signal indicating that the light is completely cut off during this upward movement, this is detected in step (vi) and the control is carried out. (Proceed to the stage indicated by Xl. Meanwhile, these optical sensors - (16)
If the above-mentioned light-shielding signal is not emitted even though .passes the height read out from the memory, the control
From stage l, the process moves to stage (viil) and (ix), where the harvesting operation for that fruit is stopped and the operation for harvesting the next fruit is started. If the bottom of the fruit enters the upper opening, which is the entrance of the tub trapping part (1o), at the stage of (Vii), a signal will be emitted from the optical sensor (161...) provided at the upper opening as described above. , the control moves to the stage (Xi). Therefore, in the following sequence, it is checked whether the thing that has entered the trapping section (10) is a fruit, and only when it is confirmed that it is a fruit, the cutter +121 is operated to pick it. It is configured to be done.

In this fruit confirmation method, after the optical sensor (16) installed in the upper opening of the trapping part (10) emits the above-mentioned signal, a predetermined number of these optical sensors (16) emit light. The picking section (61
The distance that the fruit rises is measured, and only when this distance is within a predetermined range, the fruit enters the trapping section (101), and the tenon is recognized as having reached the position corresponding to these optical sensors (16), and the cutter is cut. (This is to operate 121 and perform U1 cropping.

That is, at the cabinet stage, the measurement of the ascending distance begins. next(
In step xi), the optical sensor 06) provided in the upper opening of the trapping part (6) emits a signal L7 when light passes through.
This is to enable an interrupt to occur when the

The picking part (6) is widened by the arm (5) according to the sequence shown (xil). this]−
When the above-mentioned interruption occurs at the shoulder, control is transferred to the sequence shown in Figure 5 (b), and after checking the upper row distance, -
If the load distance is within the distance, the cutter (12) is operated. On the other hand, if the interrupt does not occur even after reaching the predetermined distance, the control moves to the sequence shown in (xiil) or (xtv), stops the harvesting operation of the fruit, and stops the picking section (6).
) is returned to the first place @(R), and then the person moves on to the fruit harvesting motion.

That is, when the control is transferred to the sequence shown in FIG. 5 (b) due to the above-mentioned interrupt, at the stage (x), it is checked whether the picking unit (6) has increased by a set amount "1" to approximately the size of the fruit. When the amount has not been reached, the control is transferred to the step (iii) in FIG. 5(a) through the sequence of [i-i, (xx++), and the process starts again from introducing the fruit into the trapping section (6). ,. In this way, the capture unit (
6) Prevents malfunctions caused by foreign objects such as leaves entering the machine.

Now, if the predetermined amount of fruit is present, it is assumed that the fruit has entered the trapping section (6), and the sequence shown from (xvi) to (xxj) in Figure 5 (b) IJke) is executed. The control is transferred to, first, the movement of the picking section (11 is stopped and the optical sensor (16) is installed at the bottom of the capturing section (6).
・NiJ: Operate the rear vine (12) whose size is detected and pick the fruit. Then, the picking section (61) is returned to the initial position +R1, the fruit harvesting operation is finished, and the next fruit harvesting operation is started.

Note that the optical sensor (1
7) 40 out by #.79. This size is used for selection, but it can also be used to prevent malfunctions. That is, these optical sensors (1 car) check whether or not the fruit is in the trap (10), and only when it is detected, the above-mentioned (16) (IV) position detection device @ Figure 6 (I) is activated. ) is a principle diagram of an embodiment of the position detection device, including a television camera (9) and a laser light source (2).
? J, and operates based on the sequence shown in FIG. 6(b).

The television camera (9) has its optical axis ft) aligned with the first horizontal axis (
The laser light source (22) as a spot beam emitting device also has a laser light source (22) as a spot beam emitting device. 2. The television camera (9) is configured to be able to be rotated around the horizontal axis (E2) by a motor (not shown) while maintaining a state perpendicular to the horizontal axis (E2).
The laser light source C2 (d) is configured to be rotatably driven around the vertical axis (E3) by a motor (not shown).

These horizontal axes (E, ω) are parallel to each other, and the first horizontal axis (El), the optical axis ftJ of the television camera (9), and the vertical axis (E) intersect at the same point. , and the second horizontal axis C
E2), the laser light source C2), and the vertical axis (B3) are arranged so as to intersect at the same point. Both horizontal axes (E
(E2) remains parallel to the lower axis (E2).
3) It is configured to rotate on the second horizontal axis (E3) and move on the lower axis (E3) while maintaining the above state.

Therefore, the television camera (9) and the laser light source (22) have their optical axes [t), (rl are always in the same plane"-
In this plane, the lower axis (E3) rotates rigidly, and the optical axes ft) and TRI rotate within that plane and intersect at one point, except when they are parallel.

Each axis (Esu, (Esu, ('1ja) rotation angle ωsu, (0='), ω3) from the stiffness standard is the first, second, @30 provided in the Nasuke core. - Taly encoder W, H+
, (configured to be detected by ffl+.

Additionally, a television camera (
9) can be arbitrarily rotated around the first horizontal axis (El), and the computer that controls this detection device (31) has the ability to move the laser light source, check the position, and perform work. The configuration is such that it is possible to specify the rotation angle of the second horizontal axis (E2), which is the offset of the laser light source ez.

When the computer commands the movement of the laser light source as shown in the flowchart of FIG. 6(b), the computer moves the laser light source C2) in a predetermined order, and moves the laser light source located on the optical axis irl. As this predetermined order, in this embodiment, 1
For each rotation command, the light source is rotated by a fixed angle in a predetermined range around the vertical axis (E), and when the rotation in the predetermined range is completed, the light source is rotated by a fixed distance on this axis (E) in a predetermined range. The laser beam on the optical axis (rl) moves with each movement command and is emitted at regular intervals within a specific search range. .

In other words, each time the operator moves the laser beam, the operator rotates the television camera (9) around the first horizontal axis (E) and points the fruit (4) irradiated by the laser beam at the reference point on the screen. You can input its coordinates by capturing it. That is, this screen is optically the same as the schematic screen shown at 81, and this reference point corresponds to the optical axis it of the television camera (9). , C, (rotation angle ωl around E), (θ.

(773) and the laser light source 12 from the television camera (9)
2) is configured to calculate the coordinates of the fruit by detecting the distance 1111field, l.

Immediately, as shown in Figure 6 (b), when a position detection command is issued, the computer takes in the above information (01), paste, ω, and (d) and calculates the coordinates of the position of the fruit (Al). triangle 1
111 Calculated using the Ni principle and cylindrical coordinates.

Next, based on the calculated coordinates, it is determined whether the picking device (4) can reach the coordinates. If the coordinates cannot be reached, a display is displayed to notify the worker of this fact, and if the coordinates are reached, the coordinates are memorized, and the following predetermined comparisons are made with the previously detected positions. The picking order is determined, and the sorting is performed and stored so that the picking order is arranged in the array. In this order, the lower the order, the higher the order, and the next closest the order is set. Therefore, when it comes time to pick, the items are picked in order from the bottom, and items of approximately the same height are picked from the bottom.

Here, to explain the offset angle ω of the laser light source, by changing this amount, it is possible to change the search range for fruit, and when the laser beam hits an obstacle such as a leaf in front, To avoid this, vary this amount)

[Brief explanation of the drawing]

The drawings show an embodiment of the fruit harvesting device according to the present invention, and show the first embodiment of the fruit harvesting device according to the present invention.
Figure 2 is an overall perspective view of the fruit harvesting device, @
Figure 3 is a longitudinal sectional view of the extraction part, and Figure 4 is IV-I of Figure 3.
5(a) and (b) are flowcharts showing the control sequence of the arm, and FIG.
B) is a principle diagram of one embodiment of the position detection device and a flowchart showing its control sequence. Prisoner...Fruit, (31...Position detecting means, (5)...Fruit picking unit moving means, (6)...
...Fruit picking part.

Claims (1)

[Claims] A means (3) for detecting the position of the fruit (Al) and a moving means (5) based on the detection result by the detecting means (3).
A fruit harvesting device having a control means for moving a fruit picking unit (6) attached to the fruit to a position where the fruit + Al can be picked.
Thereafter, a means for determining the picking order so as to pick the fruit in order starting from the fruit located at the bottom, and a picking section (
6) A fruit harvesting device characterized by being equipped with means for approaching from below.