JPS6324815A - Hand for harvesting fruits - Google Patents

Abstract

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

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a hand for harvesting fruits and vegetables such as apples, mandarin oranges, and tomatoes.

[Conventional technology]

Hands for harvesting fruits and vegetables are generally covered with a cover body having a passage port through which the fruits and vegetables can pass, thereby preventing various devices for capturing the fruits and vegetables from colliding with the fruits and vegetables and damaging them. things are being done. .

[Problem that the invention seeks to solve]

When guiding the fruit and vegetable harvesting hand towards the fruits and vegetables to be harvested, if other fruits and vegetables are in close proximity to the fruits and vegetables to be harvested, the cover body will press and move the other fruits and vegetables.
Due to this, there is a possibility that the fruits and vegetables to be harvested may also be moved, and there is a possibility that the fruits and vegetables to be harvested may not be harvested as desired.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to improve the efficiency of harvesting of fruits and vegetables, such as by controlling unnecessary harvesting operations to be stopped. The point is to provide harvesting hands.

[Means for solving problems]

The characteristic configuration of the fruit and vegetable harvesting hand according to the present invention is that it is equipped with a detection means for detecting that another object has come into contact with the outer periphery of the cover body that covers the fruit and vegetable trapping part, and its operation and effect are as follows. It is as follows.

[For production]

That is, if a trouble occurs such as the cover body coming into contact with other fruits and vegetables, the trouble can be detected by the detection means.

Incidentally, it is of course possible to perform control such as stopping the subsequent harvesting operation based on the detection information of the detection means.

〔Effect of the invention〕

Therefore, by detecting that another object is in contact with the cover body and interrupting the harvesting operation based on the detection, the efficiency of the harvesting operation is improved by preventing the operation from continuing in a troubled state. An extremely useful hand for harvesting fruits and vegetables has been obtained.

〔Example〕

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

As shown in Fig. 4, a fruit harvesting device mainly used for harvesting apples and oranges has a boom (1) attached to a vehicle body (2) so as to be able to rise and fall and turn freely, and an auxiliary boom (3) that swings horizontally. It can be freely attached to the boom (1), and the working manipulator (4) can be attached to the tip of the auxiliary boom (3).

However, in the figure, (5) is a cylinder for raising and lowering the boom, (6) is a motor for rotating the boom, and (7) is a motor for swinging the auxiliary boom.

The working manipulator (4) consists of a multi-jointed telescoping arm (8) and a harvesting hand (1) attached to the tip of the arm (8). Said telescopic arm (8)
is rotated around the vertical axis (X) by the electric motor (9a), and rotated around the horizontal axis (Y) by the electric motor (9b).
It is designed to be operated by swinging around it. However, in the figure (
9c) is an electric motor for arm extension/contraction operation.

To explain the harvesting hand (H), as shown in FIGS. 1 and 2, a U-shaped base frame (10) in plan view is bolted to the tip of a telescoping arm (8). , the capture part case (11) is bolted directly to the tip of the base frame (10).

A ventilation pipe (12) is fitted and supported in the cylindrical part (lla) of the catching part case (11) so as to be slidable in the hand front-rear direction, and a soft rubber vacuum pad (13) is attached.
Insert the ventilation pipe (with its suction port facing toward the front of the hand).
12), and the base of the ventilation pipe (12),
Before fitting the branch pipe (14) for ventilation,
) is connected to a flexible bellows-type hose (15), and as shown in Fig. 10, the bellows-type hose (
15) is connected to the suction pump (16) by piping. Further, a negative pressure sensor (S5) is attached to the branch pipe (14) to detect when fruit is adsorbed to the vacuum pad (13).

A photo-type proximity sensor (S2) is provided to detect when the harvesting hand (H) approaches the fruit to be harvested. In other words, the sensor body (17) that houses the light emitting part, light receiving part, etc.
is held in the branch pipe (14), and the optical fiber cable (18) for emitting and receiving light fed out from the sensor main body (17) is passed through the inside of the branch pipe (14) to the inside of the vacuum band (13). extended to, and
Use the holder (19) to attach the extended end to the vacuum band (
13).

A stalk cutting device is provided for cutting the stalk, or so-called stalk, of the fruit captured while being attracted to the vacuum pad (13).

In other words, a strip-shaped and semicircular arc-shaped clipper-type cutter (
21) and a strip-shaped and semicircular arc-shaped handle support member (22)
Both ends of each are pivotally connected to the capture part case (11) around the coaxial core, and the cutter (21) and handle support member (22) each protrude to support the handle of the captured fruits and vegetables therebetween. It is designed to be able to swing in and out so as to switch between a state in which it is moved and a state in which it is retracted to form a passage for introducing fruits and vegetables between them. An electric motor (M) for swinging the cutter (21) and the handle support member (22) is provided, and an air cylinder (24) for sliding the cutter (21) is provided, so that the cutter (21) can be moved toward the protruding side. A handle is supported between a cutter (21) and a handle support member (22) as the cutter (21) swings, that is, stands up, and the supported handle is cut by the operation of the cutter (21).

Further, the cutter (21) and the handle support member (22) are interlocked and connected to the electric motor (M') via the differential mechanism (2S), so that either the cutter (21) or the handle support member (22) can be operated. When the handle contacts first, the cutter that contacts first (2
1) Alternatively, in a state where the raising operation of the handle support member (22) is stopped, the handle support member (22) or the cutter (21) on the other side can continue to operate in the upright position. That is, the protruding positions of the cutter (21) and the handle support member (22) are automatically changed in accordance with the position of the captured fruit handle.

In addition, a limit switch (S5) for detecting the completion of the standing operation,
And a limit switch (S4) for detecting the completion of retirement operation.
is provided to be operated by a protrusion (27) attached to the input gear (26) of the differential mechanism (25).

The air cylinder (20) that operates the vacuum pad (13) in and out is connected to the trap case (11) and the ventilation pipe (14).
). That is, the vacuum pad (
13) is protruded toward the target fruit side from the cutter (21) at the retracted position, and the cutter (25) from that position.
It is designed so that it can be switched to the handle cutting position which is moved back to the side.

As shown in FIG. 3, a hemispherical cover body (28) that covers the outer periphery of the hand is provided at the tip of the catch case (11).
is installed. A passage opening (29) large enough to allow one fruit to pass through is formed in a portion of the cover body (28) facing the suction opening of the vacuum pad (13), and A slit groove (30) through which the fruit stalk is inserted is connected to the passage opening (29) in a portion close to the opening (29), and the passage opening (29) is connected to the passage opening (29).
9) are arranged in the circumferential direction, so that when harvesting fruits as described later, only the fruits to be harvested can be taken into the cover body (28). This allows for smooth movement.

To further explain the cover body (28), it is formed using a spring steel material, and has a slit groove (30).
A finger-like member (28A) located between the two is elastically displaced inward. Then, cover body (2
8), a conductive cylindrical body (28B) is placed inside the insulator (b
) is inserted into the interior with the cylindrical body (28B) interposed therebetween.
When the finger-like member (28A) comes into contact with the tip side contact portion (a) of the foreign object detection sensor (S5), the foreign object detection sensor (S5) becomes electrically conductive.
) is configured.

In other words, this foreign object detection sensor (S5) is connected to the cover body (2).
When another object comes into contact with the outer surface of the finger-like member (28A)
) becomes electrically conductive by elastically displacing inward, and functions as a foreign object detection means for detecting that another object has come into contact with the outer surface of the cover body (28). .

The tip of the finger member (28A) is bent inward to prevent damage to the fruit.

As shown in FIG. 4, the telescopic arm (8
) is provided inside the base end side 7-m (8a).

By the way, the imaging range of this television camera (So) is determined by the movement of the vehicle body (2), the rotation and elevation of the boom (1), the horizontal swing of the auxiliary boom (3), and the auxiliary boom (
3) can be set by turning or rocking back and forth.

As shown in FIG. 6, the television camera (So
), detection information of the negative pressure sensor (S5), detection information of the proximity sensor (S2), detection information of the limit switch (S3) for detecting the completion of the standing operation, and detection information of the glue shift tip (S4) for detecting the completion of the retiring operation. The detection information and the detection information of the foreign object detection sensor (S5) are inputted, and the control valve of the lifting cylinder (5) of the boom (1) is controlled based on the information and the information stored in advance. (32), controller for driving the swinging motor (6) of the boom (1) (33), controller for driving the swinging motor (7) of the auxiliary boom (3) (34), swinging of the telescopic arm (8) controller (35) for driving the motor (9a), controller (36a) for driving the electric motor (9b) for swinging the telescopic arm (8), and driving the electric motor (9c) for retracting the telescopic arm (8). controller (36b),
Controller (37) for driving the electric motor (M) for raising and lowering the cutter (21) and handle support member (22), air cylinder (20) for moving the vacuum pad (13) in and out
The control valve (38) for the operation of the cutter (21), the control valve (39a) for the air cylinder (24) for operating the cutter (21), and the control valve (39b) for controlling the suction operation of the vacuum pad (13). is output to automatically guide the harvesting hand (H) to the fruit to be harvested and to harvest the fruit.

That is, in the control device (31), a hand guide means for guiding the harvesting hand (H) toward the target fruit while the suction port of the vacuum pad (13) is directed toward the target fruit; Each of the hand driving means is configured to automatically operate the guided harvesting hand (11) to cut and harvest the stem of the fruit to be harvested.

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

First, a video camera (So) captures an image of the area where the fruit to be harvested is located, and then captures the image.Then, the background such as leaves and leaves is removed to extract image information that corresponds only to the fruit. Perform processing.

The presence or absence of fruits is checked based on the extracted image information, and if there are no fruits, the control operation is stopped because the next range of fruit harvesting is to proceed.

In cases where there are fruits, if only one is extracted,
When it is determined that the fruit is to be harvested and a plurality of fruits are extracted, a harvesting order setting process is performed in which it is determined that the fruit with the largest area among those fruits is to be harvested.

After determining the fruit to be harvested, the direction in which the fruit is located is calculated from the above image information, and after the calculation, the vacuum pad 7 (13) is expanded and contracted while maintaining the suction port facing toward the fruit to be harvested. The arm (8) is extended and the harvesting hand (I) is made to approach the target fruit.

After this approach operation, when the proximity sensor (S2) determines that the hand (H) has approached the target fruit within the set distance, the detection state of the foreign object detection sensor (S5) is checked. If no other object is in contact with the cover body (28), the suction operation of the vacuum pad (13) is started, and the harvesting hand (H) is moved a set distance (for example, 30 to 50) to the harvesting target. Move forward to the fruit side.

However, if the proximity sensor (S2) does not operate even if the approach distance described above exceeds the set value, it is determined that harvesting is not possible, the telescoping arm (8) is shortened, and the harvesting hand ( ) Return I) to the approach starting position. In addition, the foreign object detection sensor (S5) detects that a foreign object is detected by the cover body (28).
) is also detected, it is determined that harvesting is impossible, and the harvesting hand ()l) is returned to the approach starting position.

After moving the harvesting hand (H) forward, check the detection information of the foreign object detection sensor (S5), and if a foreign object is detected, move the harvesting hand (H) to the approach start position as described above. If no other object is detected, check the detection state of the negative pressure sensor (Sl).

If it is determined based on the detection information of the negative pressure sensor (S5) that the target fruit has been suctioned as desired, the vacuum pad (13) is operated backward, and at the same time, the harvesting hand (+1) is moved forward along the direction of egress and retraction of the vacuum pad (13), and the fruits to be harvested are taken into the cover body (28) and moved to the operating range of the force lid (21).

However, if the negative pressure sensor (Sl) does not operate, it is determined that harvesting is not possible, and the vacuum pad (13) is protruded, its suction operation is stopped, and the telescopic arm (8) is subsequently moved. Shorten to Harvesting Hand (H
) back to the approach start position.

Retraction of vacuum pad (13) and harvesting hand (H)
) is completed, the detection state of the negative pressure sensor (S+) is checked again to confirm whether or not it is adsorbing the fruit to be harvested. If it is not adsorbing, as described above,
Return the harvesting hand (H) to the approach starting position.

If the fruit adsorption is maintained even after the fruit to be harvested is taken into the cover body (28), the cutter (21) and the handle support member (22) are erected toward the front side, and The switch for detecting the completion of the standing operation (
Based on the detection information in S5), it is determined whether or not the standing operation is completed.

When this raising operation is completed, the suction operation of the vacuum pad (13) is stopped, and in this state, the harvesting hand (11) is moved backward to position the cutter (21) on the base side of the handle. After this, the cutter (21) is operated to cut the handle.

However, if the stand-up operation completion detection switch (S3) does not operate and the stand-up operation is not completed, it will be determined that a problem has occurred such as another object being caught, and the cutter (21
) and handle support member (22) are operated to fall down until the retirement operation completion detection switch (S4) is activated, and the telescopic arm (8) is shortened in the same manner as the suction of the vacuum pad (13) is stopped. Return the harvesting hand (H) to the approach starting position.

Immediately after cutting the handle, use the vacuum pad (13).
``The suction operation is started to suck the fruit after cutting the handle again, and then the cutter (21) and the handle support member (22) are operated to fall down until the retraction operation completion detection switch (S4) is activated. Thereafter, the telescopic arm (
8) is shortened to return the harvesting hand (H) to the approach start position, project the vacuum pad (13), and stop its suction operation to complete the harvesting operation for one fruit. .

When the harvesting hand (H) is returned to the approach starting position, check whether the current harvesting operation was performed as desired. If the harvesting operation was performed as desired, the harvesting of the fruit will change the position of other fruits. In view of the fact that the amount of harvest is likely to fluctuate, the harvesting operation is continued while the above-described imaging process is executed again.

Also, if the current harvesting operation is a failure, check whether the number of approaches has reached the number of extracted fruits, and if it has, return to execution of the above-mentioned imaging process. At the same time, if the harvesting order setting process has not been reached, the harvesting order setting process is resumed to continue the harvesting work.

To further explain the vehicle body (2), as shown in FIGS. 4 and 5, there is a control box (4) for control.
0), the engine (E), the air tank (41), etc. are arranged so as to have a small width (for example, 50 cm), and
The wheels (42) have a small diameter (for example, 50 cm) so that the vehicle can run smoothly even between trees.

In addition, the base side of the mounting base (43) of the boom (1) is formed into a cylindrical shape, and the mounting base (43) is rotatably fitted onto the cylindrical support frame (44) on the vehicle body side. The electric wire (45) paid out from the box (40) is made to extend into the boom (1) through the inside of the support frame (44).

In addition, the boom rotation motor (6) is attached to the boom mounting base (43).
) is engaged with a gear (43A) provided at the base end of the shaft.

[Another example]

In carrying out the present invention, the specific configuration of the harvesting hand (H),
The configuration of each part, such as the specific configuration of the telescoping arm (8) provided for guiding the harvesting hand (H), can be changed in various ways.

In the above embodiment, the case of harvesting fruits was illustrated, but the present invention can also be applied to harvesting vegetables such as tomatoes.

As the foreign object detection means, in addition to using the foreign object detection sensor (S5) as in the above-described embodiment, various modifications can be made, such as a configuration in which a strain gauge is attached to the outer surface of the cover body (28). Also, when using the foreign object detection sensor (S5), as shown in FIG.
) may be provided with a soft material (46) attached to the tip thereof. Furthermore, although not illustrated, the inward displacement of each finger-like member (28A) can be detected separately, and a control operation is performed to correct the position of the harvesting hand (H) in the detected direction. It's okay.

[Brief explanation of the drawing]

The drawings show an embodiment of the hand for pasturing fruit and vegetables according to the present invention, and FIG. 1 is a cutout side view of the harvesting hand, FIG. 2 is a cutout bottom view of the hand, and FIG. 3 is a cutout side view of the harvesting hand. Front view, 4th
The figure is a partially cutaway side view of the fruit harvesting machine, Figure 5 is a schematic rear view of the machine, Figure 6 is a block diagram showing the control configuration, Figure 7 is a flowchart showing the control operation, and Figure 8 is another It is a notch side view of an Example. (28)...Cover body, (29)...
Passage port, (30)...Slit groove, (S5)
...Means for detecting other objects.

Claims (1)

[Scope of Claims] [1] A hand for harvesting fruits and vegetables covered with a cover body (28) having a passage opening (29) through which fruits and vegetables pass, the outer surface of the cover body (28) A hand for harvesting fruits and vegetables, which is equipped with a foreign object detection means (S_5) for detecting that a foreign object has come into contact with the hand. [2] A vacuum pad (13) that is operated in and out through the passage port (29), and a vacuum pad (13)
A cutter (21) for cutting the handle of fruits and vegetables held in
A hand for harvesting fruits and vegetables according to claim 1, comprising: [3] The hand for harvesting fruits and vegetables according to claim 1 or 2, wherein the cover body (28) is provided with a slit groove (30) for inserting the handle.