JPS62104511A - Harvesting hand of fruits - 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] [Industrial Application Field] 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, mandarin oranges, and tomatoes, and more particularly, to a hand for harvesting fruits and vegetables such as apples, mandarin oranges, and tomatoes. A capturing position comprising a vacuum pad for adsorbing fruits and vegetables, and a cutter for cutting the handle of the fruits and vegetables adsorbed to the vacuum pad, and a capture position in which the vacuum pad is projected toward the fruit and vegetables to be harvested rather than the power lid. , a hand for harvesting fruits and vegetables provided with a drive mechanism for moving the vacuum pad and the cutter relative to the fruit and vegetables to be harvested in a distance direction to switch to a handle cutting position in which the handle is moved back toward the cutter side from that position. Regarding.

[Conventional technology]

In the above-mentioned hand for harvesting fruits and vegetables, the vacuum pad provided in the hand protrudes toward the side of the fruits and vegetables to be harvested beyond the cutter, absorbs and captures the fruits and vegetables to be harvested, and then moves the vacuum pad to the side of the cutter. The handle is moved backward to take the fruits and vegetables to be harvested into the harvesting hand, and the cutter cuts the handle of the caught fruits and vegetables.

[Problem that the invention seeks to solve]

However, in this type of hand for harvesting fruits and vegetables, if the cutter and its drive mechanism that cut the handle of the captured fruits and vegetables are left exposed to the outside, the component parts will not work properly. There is a risk that it may get caught on obstacles such as branches or leaves during the approach, causing it to malfunction. Also, cutter and its drive! 18J] There is also a risk that other fruits and vegetables may be damaged by the structural members of the mechanism.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to prevent the cutter from being exposed to the outside while not interfering with the capturing operation when the vacuum pad is in the position of capturing the fruit to be harvested. The goal is to avoid doing so.

[Means for solving problems]

A characteristic configuration of the hand for harvesting fruits and vegetables according to the present invention is that a cover that covers the circumferential part of the cutter is provided in a state where the vacuum pad is located at the capturing position, and the cover is provided so as to be openable and closable. The actions and effects are as follows.

[For production]

In other words, when the cover is closed, the cutter is not exposed to the outside, so it is possible to capture the fruits to be harvested while preventing the cutter from damaging the fruits and vegetables to be harvested. In this case, the cover of the cutter does not interfere with the operation of the cutter, and the handle of the caught fruits and vegetables can be reliably cut.

〔Effect of the invention〕

Therefore, since the cover that covers the circumference of the cutter can be opened and closed when the vacuum pad is in the capturing position, the cover does not interfere with the vacuum pad's ability to capture fruits and vegetables to be harvested. In addition, the cutter can be prevented from getting caught on or damaging the fruits and vegetables ready for harvest or their branches and leaves.

〔Example〕

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

As shown in FIG. 6, a fruit harvesting device (2) is provided at the front of the passenger vehicle body (1), a fruit storage container (3) is provided on the side of the passenger vehicle body (1), and a fruit harvesting device (2) A conveying device (
4) is installed to constitute a fruit harvesting machine mainly used for harvesting apples and mandarin oranges.
) will be explained in detail.

A guide frame (6) that guides the boom mount (5) in a vertically movable manner is attached to the front part of the passenger vehicle body (1), and the electric motor for lifting (Ml) and the boom mount (5) are connected by a chain. (7), so that the boom mount (5) can be adjusted up and down.

A plate-shaped boom (8) is pivotally attached to the boom mounting base (5) so as to be horizontally swingable around a vertical axis (Pl), and an electric motor (M2) for swinging the boom is provided.

Further, a multi-joint telescopic arm (9) is rotatably attached to the tip of the plate-like boom (8) around a vertical axis (P2), and an electric motor (M3) for rotating the arm is attached. A harvesting hand (I) as a fruit catching section is provided at the tip of the telescopic arm (9).

The telescoping arm (9) includes a first arm (9a) at the base end, a second arm (9b) pivotally supported at the distal end of the first arm (9a), and the second arm. (9b
), each of which is provided with a third arm (9c) that is pivotally supported at the tip of the boom (8), and which swings the first arm (9a) about the horizontal axis relative to the plate-shaped boom (8). The motor (Ma) connects the second arm (9b) to the first arm (9a
) is an electric motor (M
b), an electric motor (Mc) that swings the third arm (9c) about the horizontal axis with respect to the second arm (9b);
Each of these is provided.

Further, a video camera (So) as an imaging means for taking an image of the fruit to be harvested is provided inside the first arm (9a). The imaging field of view of this video camera (So) is limited to the movement of the passenger vehicle body (1) and the boom mounting base (5).
), horizontal swing of the plate boom (8), telescopic arm (
9) The plate-like boom (8) is horizontally rocked and back and forth to be moved.

To configure the harvesting hand (H), as shown in FIGS. 1 to 3, a base frame (10) having a U-shape in plan view is bolted to the tip of the telescoping arm (9). The catching part case (11) is bolted to the tip of the base frame 10).

Then, the ventilation pipe (12) is inserted into the trapping part case (11).
A vacuum pad (13) made of soft rubber is slidably fitted and supported in the cylindrical part (lld) of the vent pipe (lld).
12), a branch pipe for ventilation (14) is fitted to the base of this vent pipe (12), and the branch pipe (14) is fitted to the base of the vent pipe (12).
14) is connected to a flexible bellows type hose (15), and as shown in Fig. 4, the bellows type hose (15) is connected to an intake pump (16) by piping. Further, a negative pressure sensor (Sl) that detects when fruit is adsorbed to the vacuum pad (13) is connected to the branch pipe (14).
It is attached to.

A light reflection type proximity sensor (S2) that detects when the harvesting handle I'' (II) approaches the target fruit within a set distance is arranged so that its detection surface faces toward the target fruit. , is provided at the center of the opening of the vacuum pad (13).In other words, a sensor that houses a light emitting part that irradiates light toward the target fruit, a light receiving part that receives the reflected light, and a circuit that processes the signal. The main body (17) is held within the branch pipe (14) and the sensor main body (17) is held within the branch pipe (14).
7) Optical fiber cable for emitting and receiving light (
18) extends into the inside of the vacuum pad (13) through the inside of the ventilation pipe (12), and its extended end is attached to the vacuum pad (13) with a holder (19).
It is supported by

An air cylinder (20) for operating the vacuum vaso I" (13) in and out is interposed between the trapping part case (11) and the ventilation pipe (12), and Slide the vacuum pad (13) back and forth with respect to the trap case (11) to attach the vacuum pad (13) to the trap case (11).
1) It is better to let people leave.

That is, when guiding the hand (II) toward the fruit to be harvested as described below, the vacuum pad (13) is operated to the protruding side that approaches the target fruit side, and the fruit is placed on the vacuum pad [t3]. After adsorption, as described below, the Hakyumbano F' (13) is operated to the retiring side away from the target fruit, and as a result, the cutter (described later)
21) and the vacuum pad (13) relative to the target fruit in the far and near directions.

The trapping part case (11) is provided with a stalk cutting device (21) comprising a clipper type cutter (21) having an arc shape and a band plate shape, and a stalk support member (22) which also has an arc shape and a band plate shape. 2
3) is provided. In other words, the trapping part case (11)
In contrast, the cutter (21) and the stem support member (22
) are pivoted around the coaxial core so that they can swing up and down,
An electric morph (M4) for raising and lowering the cutter (21) and the stem support +A (22) is provided, and an air cylinder (24) for driving the cutter (21) is provided. The vacuum pad (13) is placed between the cutter (21) and the stem support member (22).
The cutter (21) is configured to support the fruit stem adsorbed to the fruit stem, and to cut the supported fruit stem by the operation of the cutter (21). In addition, the cutter (21) and the fruit stem support member (2
2) is operatively connected to the electric motor (M4) for up-and-down swinging via a differential mechanism (25), and the cutter (2)
1) and the fruit stem supporting member (22) contact the fruit stem first, and the other side continues to be operated in a state where the raising operation of the side that contacted first is stopped. This is so that it can be done.

Further, a switch (S3) for detecting the completion of the standing operation and a switch (S4) for detecting the completion of the retiring operation are connected to the protrusion (27) attached to the input gear (26) of the differential mechanism (25). It is provided to be operated ON10FF.

When the vacuum pad (13) protrudes from the distal end side of the capture part case (11) and is located at the capture position, only the vacuum pad (13) is attached to the distal end of the capture part case (11). A resin-covered cover (
28), which can be opened and closed freely.

When opening and closing the cover (28), the left and right cover members (28) are divided vertically into two halves, each having a hemispherical cross-sectional shape, so that the stem cutting device (23) is located on the inner surface of each cover (28).
a) and (28b) are pivotally supported outwardly with respect to the trapping part case (11), and are provided on each pivot portion of the left and right cover members (28a) and (28b). The protrusions (29) and (29) are connected to the catching part case (
A pair of air cylinders (30) and (30) are provided to open and close the cover (28) by pushing and pulling it in the direction along the front-rear direction G of 11).

As shown in FIG. 4, a control device (31) configured with a microcomputer receives image information from the video camera (So), fruit detection information from the proximity sensor (S2), and fruit information from the negative pressure sensor (Sl). Input the suction detection 1n information, the detection information ￥U from the switch (S3) and (S-) for each detection of the upright operation and retraction operation of the cutter (21) and the stem support member (22), and then B1. an electric motor (which operates the lifting, lowering, and swinging of the storage device (2)) based on various detected information from the above and pre-stored information;
M, ~Mz) drive motor controller (32a),
An electric motor (Ma, M) for driving the telescopic arm (9)
Motor controller (3) that operates the drive of
2b), a motor controller (32c) that operates the drive of the electric motor (M4) for raising and lowering the cutter (21) and the stem support member (22), and control for the air cylinder (24) for operating the cutter (21). A valve (33a), an air cylinder (
20), the control valve (33b), the vacuum pad (
control valve (33c) and cover (28) for
) to each of the control valves (33d) to automatically guide the harvesting hand (H) to the fruit to be harvested and harvest the fruit. It's Nishide.

That is, the control device (31) guides the harvesting hand (H) toward the target fruit (F) with the suction port of the vacuum pad (13) facing the target fruit (F). The hand guiding means and the hand driving means automatically operate the guided harvesting hand (11) to cut and harvest the stalk of the fruit (F) to be harvested.

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

In other words, the video camera (So) captures an image of the range in which the fruit to be harvested (F) is located, and image processing is performed to remove the background such as leaves and leaves to extract image information corresponding only to the target fruit. and calculate the direction in which the extracted fruit is located.

Next, based on the calculated direction, the cover (2
8) With the vacuum buff) (13)
While maintaining the state in which the suction port faces toward the target fruit, the telescopic arm (9) is telescopically operated to cause the harvesting hand (11) to approach the target fruit.

After this approach operation, when it is determined that the hand (H) has approached the fruit to be harvested within a set distance based on the detection information of the proximity sensor (S2), the suction operation of the vacuum pad (13) is performed. will be started. However, even if the approach distance exceeds the set value, the proximity sensor (S
If 2) is not activated, the telescopic arm (9) is shortened, the harvesting hand (H) is returned to the approach starting position, and the approach is stopped.

After the suction operation of the hakineem bud (13), the harvesting hand 01) is moved forward by a set distance (for example, 30 to 50 mm) toward the fruit to be harvested, and the negative pressure sensor (S
Based on the detection information in l), it is determined whether or not the target fruit has been adsorbed, and if the target fruit has been adsorbed as desired, the air cylinders (30) and (30) for opening/closing the cover are operated to While opening the cover members (28a) and (28b) outward, the air cylinder (20) for driving the vacuum pad (
13) and at the same time operate the harvesting hand page 1.
1) is moved forward along the direction in which the vacuum pad (13) moves in and out to bring the fruit to be harvested into the operating range of the cutter (21). However, if the negative pressure sensor (S+) does not operate, the vacuum pad (13) is protruded, its suction operation is stopped, and the cover (28) is closed to stop the harvesting operation. Shorten the telescopic arm (9) and return the harvesting hand (11) to the approach starting position.

Then, after taking in the fruit to be harvested into the harvesting hand (11), the cutter (21) and the stem support member (22
) is caused to rise downward [1;, and it is determined whether or not the rising operation is completed based on the detection information of the standing operation completion detection switch (S:l). When this raising operation has been completed, the suction operation of the vacuum pad (13) is stopped, and in this state, the harvesting hand (H) is moved backward to place the cutter (21) on the base side of the fruit stem. After positioning the cutter (21)
Activate to cut the stem. Immediately after cutting, the suction operation of the vacuum pad (13) is started to suck the fruit after cutting the stem again, and then the cutter (21) and the stem support member (22) are switched to the retraction operation completion detection switch ( S4
) is activated, and the telescopic arm (9) is operated.
) was shortened, the harvesting hand (H) was returned to the approach start position, the vacuum pad (13) was protruded, and its suction operation was stopped to supply the harvested fruit to the conveyance device (4). After that, the cover (28) is closed to complete the harvesting operation for one fruit. however,
If the stand-up operation completion detection switch (S3) does not operate and the stand-up operation is not completed, it is determined that a problem has occurred such as another object being caught in the cutter (21).
and lowering the fruit stem support member (22) until the retirement operation completion detection switch (S4) is activated, and shortening the telescoping arm (9) in the same manner as stopping the suction of the vacuum pad (13); Return the harvesting hand (H) to the approach start position and stop the harvesting operation.

In addition, as mentioned above, when calculating the position direction of the fruit to be harvested, if a plurality of fruits are extracted based on one imaging information, for example, the fruits are harvested in order from the lower fruit to the upper side. Alternatively, the work may be continued in order, such as picking the fruit in order starting from the thickest (visible fruit, that is, the fruit closest to the harvesting hand (11)).

Therefore, the presence or absence of unharvested fruits is determined every time the harvesting operation for - number of fruits is completed, and the above-mentioned harvesting operation is repeated until no fruit can be extracted in the imaging range.

Example C] In the above example, in order to configure the cover (28) so that it can be opened and closed freely, cover members (28a) and (28b) are provided by dividing the cover (28) into two parts in the left and right direction, respectively. Air cylinders (30), (30) that open and close against
Although the case where the opening/closing operation is provided is illustrated, the opening/closing operation may be performed using one air cylinder, or the opening/closing operation may be performed by providing seven cutuators in the form of a morph type. Further, the opening/closing operation may be performed in conjunction with the backward movement of the vacuum pad (13) using a link mechanism or the like. Furthermore,
The cover (28) may be divided into two parts in the left and right direction, or may be divided into three or more parts υj.

Further, in the above embodiment, the drive mechanism (B) for moving the vacuum pad (13) and the cutter (21) relative to each other in the distance direction with respect to the fruits and vegetables to be harvested is configured such that the vacuum pad (13) is moved relative to the cutter (21). Although the cutter (21) is moved relative to the vacuum pad (13), it is also possible to move the cutter (21) relative to the vacuum pad (13).

Moreover, as the drive mechanism, various actuators such as a hydraulic cylinder and an electric motor can be used in addition to the air cylinder (20).

Further, in the above embodiment, the configuration of the harvesting hand in a fruit harvesting device has been described, but the present invention can also be applied to a device for harvesting vegetables such as tomatoes.

Further, in carrying out the present invention, various changes may be made to the configuration of each part, such as the specific configuration of the harvesting hand (1) and the specific configuration of the telescoping arm (9) provided for exclusive use.

[Brief explanation of drawings]

The drawings show an embodiment of the fruit and vegetable harvesting hand according to the present invention, in which 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 a control diagram. FIG. 5 is a block diagram showing the configuration of the system, FIG. 5 is a flowchart showing the operation of the control device during harvesting operation, and FIG. 6 is a perspective view showing the overall configuration of the fruit harvesting device. (13)～・・・Vacuum pad, (21)・・
...Cutter, (28) ...Cover, (B)
・・・・・・Drive mechanism.

Claims (1)

[Claims] It is equipped with a vacuum pad (13) that adsorbs fruits and vegetables to be harvested, and a cutter (21) that cuts the handle of the fruits and vegetables adsorbed to the vacuum pad (13). ), the vacuum pad (13) and the cutter (2
1) A hand for harvesting fruits and vegetables, which is provided with a drive mechanism (B) that moves the fruit and vegetables relative to the fruits and vegetables to be harvested in a distance direction, and in a state where the vacuum pad (13) is located at a capturing position, This hand for harvesting fruits and vegetables is provided with a cover (28) that covers the circumference of the cutter (21) and can be opened and closed.