JP7284956B2 - Acquisition device and acquisition system - Google Patents

Description

The present invention relates to acquisition devices and acquisition systems.

In recent years, for example, in agriculture, labor shortage has become a serious problem. For this reason, automation of the harvesting work of agricultural products is desired.

Therefore, Patent Literature 1 proposes a harvesting device that moves on a track between ridges and harvests fruits with a fruit thinning hand.
According to such a harvesting device, fruits can be harvested automatically while the harvesting device moves on the track.

JP 2018-134059 A

However, depending on the field in which agricultural products are grown, the space between ridges is relatively narrow, and the track may not be installed. In addition, as in the acquisition device 100 of Patent Document 1, when moving on the ground surface, four or more wheels of tires are required, and the size of the harvesting device becomes large. In addition, when the harvesting device becomes large, the introduction cost tends to increase.

Therefore, in view of the above problems, it is an object of the present invention to provide an acquisition device that can be installed in a relatively narrow space and that can reduce installation costs.

The present invention provides the following first solutions (i) to (iii) and second solutions (1) to (4) .
(i) A first solution is a harvesting device for harvesting crops, comprising:
a pair of acquiring members for sandwiching the harvested product or the vicinity of the harvested product between the belts facing each other and moving the harvested product from the distal end side to the proximal end side by rotation of the belts facing each other;
a first cutting section disposed on the tip side of the pair of obtaining members for cutting the crop from the crop;
and an acquisition device.
(ii) The acquisition device according to the above solution includes a camera that captures an image of the harvested product, and an analysis means that determines whether the crop contains the harvested product based on the image, When it is determined that the harvested product has grown, the harvested product may be obtained by separating from the crop.
(iii) The retrieving device according to the above means for solving the problem is a second cutting section that is disposed on the base end side of the pair of retrieving members and cuts off the portion of the pair of retrieving members sandwiched between the opposing belts from the harvested material. and may be provided.

(1) An acquisition device capable of acquiring objects arranged along a predetermined direction, arranged at a position higher than the objects, and supported by a support portion extending along the predetermined direction,
Suspended from the support,
An acquisition device that is movable along the support section and vertically movable and that includes an acquisition section that acquires the target object.

According to the above configuration, the acquisition device can acquire objects arranged along a predetermined direction, is arranged at a position higher than the objects, and is supported by the support portion extending along the predetermined direction.
The acquisition device is suspended from the support section, is movable along the support section, is movable in the vertical direction, and includes an acquisition section that acquires the target object.

In this way, the acquisition device including the acquisition section can be suspended from the support section, move along the support section, and acquire an object. As a result, there is no need to provide the acquisition device with wheels such as tires for self-running, and the acquisition device moves in a suspended state to acquire the target object, so the overall size can be relatively reduced. becomes.
Therefore, it is possible to provide an acquisition device that can be installed in a relatively narrow space and that can reduce installation costs.

(2) The acquisition unit
The object is an agricultural product, and a grasping part that grasps the vicinity of the harvested product of the agricultural product or the harvested product itself;
The obtaining device according to (1), further comprising: a cutting section that cuts the vicinity of the harvested material while being gripped by the gripping section.

According to the above configuration, the obtaining section includes the grasping section and the cutting section.
The grasping part grasps the vicinity of the harvested crops or the harvested crops themselves, which are the target objects.
The cutting section cuts the vicinity of the harvested material while being gripped by the gripping section.

As a result, when the acquiring unit acquires harvested fruits, fruits, vegetables, etc. (hereinafter referred to as “fruits”) from agricultural Fruit stems, etc.) or peripheral stems (hereinafter referred to as "fruit stems") are grasped by the grasping part, and then the fruit stems are cut by the cutting part. Alternatively, the fruit itself, which is a harvested product, is gripped by the gripping portion, and the fruit stem is cut by the cutting portion. As a result, it is possible to prevent the fruit from falling and colliding with the ground surface or the like and being damaged after the fruit is obtained from the crop.
Peeling off fruited stems places a burden on the crops, but since the stems or the harvested product is cut by the cutting part while the stems or the harvested product is being gripped by the gripping part, the crops are burdened unnecessarily. can prevent

(3) The acquisition unit
an obtaining member capable of moving from the distal end side to the proximal end side, wherein the object is a crop, and the harvested crop of the crop or the harvested crop itself is sandwiched therebetween;
a first cutting section disposed on the tip side of the obtaining member for cutting off the crop from the crop;
The obtaining device according to (1), further comprising: a portion disposed on the base end side of the obtaining member and sandwiched by the obtaining member; and a second cutting portion for cutting off the harvested material.

According to the above configuration, the obtaining section includes the obtaining member, the first cutting section, and the second cutting section.
The target object is an agricultural product, and the acquisition member can move from the distal end side to the proximal end side while pinching the harvested product of the agricultural product or the harvested product itself.
The first cutting portion is disposed on the distal end side of the obtaining member and separates the crop from the crop.
The second cutting part is arranged on the base end side of the acquiring member and cuts off the part sandwiched by the acquiring member and the harvested product.

Here, when shipping harvested crops (for example, fruits), if the stems extending from the fruits are long, other fruits may be damaged and cannot be shipped in this state.
According to the invention of (3), after the harvested material is separated from the crop by the first cutting section, the vicinity of the harvested material (for example, fruit stalks, etc.) held by the obtaining member is cut by the second cutting section. detach from (e.g. fruit).
As a result, since it is possible to remove the stems from the harvested fruits, the fruits can be shipped without removing the stems after harvesting, so that the burden of agricultural work can be reduced.

(4) An acquisition system comprising the acquisition device according to any one of (1) to (3) and the support section,
When the objects are arranged in multiple rows, the support extends along a first row, curves at the end of the first row, and bends at the row next to the first row. An acquisition system extending in and along a second row.

Accordingly, the acquisition device having the acquisition unit that acquires the object moves to the second row, which is the row next to the first row, after acquiring the object in the first row. It becomes possible to acquire the target object. Therefore, even when the objects are arranged in a plurality of rows, it is possible to acquire the objects continuously over the plurality of rows, and the work efficiency of acquisition can be improved.

According to the acquisition device according to the first solution means of the present invention, it is possible to prevent an extra burden from being applied to crops when harvesting crops from the crops. In addition, it is possible to reduce the burden of farm work for harvesting crops.
According to the acquisition device according to the second solution , it can be introduced even in a relatively narrow place, and introduction costs can be reduced.

FIG. 1 is a diagram explaining an overview of an acquisition system according to a preferred embodiment of the present invention. FIG. 2 is a schematic top view of a field to which an acquisition system according to a preferred embodiment of the present invention is applied. FIG. 3 is a diagram illustrating the main body of the acquisition device according to the preferred embodiment of the present invention. FIG. 4 is a diagram illustrating the acquisition unit of the acquisition device according to the preferred embodiment of the present invention. FIG. 5 is a diagram illustrating a modification of the acquisition unit of the acquisition device according to the preferred embodiment of the present invention. FIG. 6 is a diagram illustrating a modification of the acquisition unit of the acquisition device according to the preferred embodiment of the present invention. FIG. 7 is a diagram illustrating a housing member of an acquisition device according to a preferred embodiment of the present invention. FIG. 8 is a diagram illustrating a housing member of an acquisition device according to a preferred embodiment of the present invention. FIG. 9 is a diagram illustrating a housing member of an acquisition device according to a preferred embodiment of the present invention; FIG. 10 is a functional block diagram of the controller according to the preferred embodiment of the present invention.

Preferred embodiments for carrying out the present invention will be described below with reference to the drawings. This is just an example, and the technical scope of the present invention is not limited to this.
For example, in the following description of the embodiments, as an object to be acquired, crops such as fruits harvested from agricultural crops will be described as an example. However, in a situation where a plurality of objects are arranged along a predetermined direction, such as medicines used in medical care, packages for distribution, etc., and a desired object is acquired from the arranged plurality of objects. can be used.

FIG. 1 is a diagram explaining an overview of an acquisition system according to a preferred embodiment of the present invention.
FIG. 2 is a schematic top view of a field to which an acquisition system according to a preferred embodiment of the present invention is applied.

Acquisition system 1 acquires crops F of crops C planted along a predetermined direction.
Here, as shown in FIG. 2, in the field, crops C are planted at regular intervals and rows S are planted along a specified direction in a plurality of rows at specified intervals. In addition, the acquisition system 1 is used to acquire vegetables and fruits such as green peppers, tomatoes, mandarin oranges, strawberries, eggplants, cucumbers, etc., which extend above the ground surface and are harvested above the ground surface. be done.
The acquisition system 1 includes a support 5 and an acquisition device 10 .

The support part 5 is supported by a support erected from the ground surface, a structure of the vinyl house or a member attached to this structure, and is composed of a wire arranged at a position higher than the harvested crops. It extends along a predetermined extending direction.

In addition, as shown in FIG. 2, the support portion 5 is arranged in the first row (for example, row S1 ), bends at the end of the first row, extends into a second row (e.g., row S2) that is adjacent to the first row, and along the second row extended.

Returning to FIG. 1 , the acquisition device 10 is suspended from the support section 5 and includes a main body 20 and a cover 30 that covers at least a portion of the main body 20 .

FIG. 3 is a diagram illustrating the main body of the acquisition device according to the preferred embodiment of the present invention.
The main body 20 includes a vertical member 21, a suspension member 22, an acquisition member 23, and an accommodation member 24. As shown in FIG. Although not shown in FIG. 3 , the main body 20 includes a control unit 50 (see FIG. 10 described later) and a battery that serves as a power source for driving the acquisition device 10 .

The vertical member 21 is formed of an elongated body extending in the vertical direction, and is attached with a cover 30 (see FIG. 1).

The hanging member 22 includes an engaging portion 221 that engages with the support portion 5, and is provided under the engaging portion 221, is connected to the upper end of the vertical member 21, and suspends the vertical member 21 around an axis extending in the vertical direction. and a rotating portion 222 that rotates.

The engaging portion 221 includes a roller that engages with the support portion 5, a wire moving motor 221a that is controlled by the control portion 50 and rotates the roller around an axis extending in a direction orthogonal to the direction in which the support portion 5 extends, and a support member that supports these members.
In the example shown in FIG. 3, the engaging portion 221 has two rollers arranged on the support portion 5, but is not limited to this. A roller may also be arranged below the support portion 5 so that the support portion 5 is sandwiched between the rollers.

The rotating part 222 is fixed to the base part connected to the support member of the engaging part 221, and is controlled by the control part 50. A rotating motor rotates the vertical member 21 around the axis extending in the vertical direction. 222 a , and a transmission portion to which the upper end of the vertical member 21 is connected and which transmits the rotation of the rotary motor 222 a to the vertical member 21 .

The acquisition member 23 includes a moving section 230 and an acquisition section 40 .
The moving section 230 includes a vertical moving section 231 and a front-rear moving section 232 .
The vertical movement part 231 is rotatably attached to a vertical movement base that engages with the vertical member 21 so as to be movable along the vertical direction (the direction in which the vertical member 21 extends), and the outer surface of the vertical movement part 231 is It is provided with a roller that is in contact with the vertical member 21 and rotates around an axis perpendicular to the direction in which the vertical member 21 extends, and a vertical movement motor 231a that is controlled by the control unit 50 and rotates the roller.

The front-rear movement part 232 is a longitudinal movement base fixed to the vertical movement base of the vertical movement part 231, and a horizontal member 232a which is an elongated body engaged with the front-rear movement base so as to be movable in the front-rear direction. A roller is rotatably attached to the back-and-forth moving base, has an outer surface in contact with the lateral member 232a, and rotates around an axis perpendicular to the direction in which the lateral member 232a extends. and a forward/backward moving motor 232b for rotating.

FIG. 4 is a diagram illustrating the acquisition unit of the acquisition device according to the preferred embodiment of the present invention.
The acquisition section 40 includes an acquisition base 41 , a grip section 42 , a cutting section 43 and a camera 60 .
The acquisition base 41 is fixed to the front end of the horizontal member 232a (the end in the direction in which the crop C shown in FIG. 1 is planted).

The grasping part 42 grasps the fruit stem FS near the harvest F of the crop C or the harvest F itself. Specifically, the gripping section 42 includes a pair of gripping members 420 and a gripping section motor 420 a that is controlled by the control section 50 to drive the gripping members 420 .

The gripping member 420 includes a gear 421 having teeth formed on the outer periphery of a substantially cylindrical shape, and a shaft 422 in which a portion of the outer periphery of the gear 421 protrudes forward.
The teeth of the gears 421 of the pair of gripping members 420 are engaged with each other, and the gripping portion 42 rotates in opposite directions about the vertically extending shafts by the gripping portion motor 420a. can be displaced from an open state in which the shafts 422 are separated from each other to a grasped state (state shown in FIG. 4) in which the pair of shafts 422 are close to each other. With such a configuration, the grasping part 42 can grasp the fruit stem FS in the vicinity of the harvested product F or the harvested product F itself by displacing from the open state to the grasped state.

The cutting unit 43 cuts the fruit stem FS (near the harvested product F) gripped by the gripping unit 42 . Specifically, the cutting section 43 includes a rotating section 431, a blade 432 detachably attached to the rotating section 431, and a cutting section motor 431a controlled by the control section 50 to drive the rotating section 431. Prepare.
The rotating portion 431 is rotated about a vertically extending shaft by a cutting portion motor 431a.
The blades 432 extend in the direction in which the shafts 422 extend in the vicinity of the shafts 422 of the pair of gripping members 420 , and blades are formed in the rotation direction of the rotating portion 431 .
The cutting part 43 is arranged so that the blade of the blade 432 passes near the pair of shafts 422 in the gripped state by rotating the rotating part 431 . With such a configuration, the cutting part 43 cuts the fruit stem FS gripped by the gripping part 42 .

5 and 6 are diagrams illustrating modifications of the acquisition unit of the acquisition device according to the preferred embodiment of the present invention. FIG. 5 is a diagram of the acquisition unit 70 according to the modification as viewed obliquely from above. FIG. 5 is a diagram of the acquisition unit 70 according to the modification as viewed obliquely from below.
The acquisition unit 70 according to the modification includes a pair of acquisition members 70R and 70L. The pair of acquisition members 70R, 70L respectively have facing surfaces 70r, 70l facing each other. The obtaining unit 70 moves the harvested material F from the distal end side to the proximal end side while sandwiching the fruit stem FS of the harvested material F (near the harvested material F) between the facing surfaces 70r and 70l of the pair of obtaining members 70R and 70L. draw in.

Each of the pair of acquisition members 70R and 70L includes an acquisition base 71, multiple main rollers 72, multiple auxiliary rollers 73, and an endless belt 74. As shown in FIG.
The acquisition base 71 has its base end fixed to the front end of the horizontal member 232a (the end in the direction in which the crop C is planted shown in FIG. 1). The acquisition base 71 is formed in a shape (for example, a substantially triangular shape or the like) in which the width when viewed from the top surface becomes narrower from the proximal side to the distal side. As a result, it becomes easier to get close to the harvested product F by slipping under the leaves of the agricultural product C.

A plurality of main rollers 72 are rotatably provided at vertex positions on the outer circumference of the acquisition base 71 . The main roller 72 is arranged so that its outer edge protrudes from the outer circumference of the acquisition base 71 . One of the plurality of main rollers 72 is rotated by driving the gripper motor 420a (see FIG. 10). Further, one of the plurality of main rollers 72 may be rotated by a gear member that transmits the drive of the gripper motor 420a. The main roller 72 of the acquisition member 70R and the main roller 72 of the acquisition member 70L are rotated in opposite directions by the control of the gripper motor 420a by the controller 50. FIG.

A plurality of auxiliary rollers 73 are provided on the facing surfaces 70 r and 70 l of the acquisition base 71 . Here, the acquiring unit 70 pulls the harvested material F from the distal end side to the proximal end side while sandwiching the fruit stem FS of the harvested material F between the facing surfaces 70r and 70l. By arranging a plurality of auxiliary rollers 73 on the opposing surfaces 70r and 70l, respectively, it is possible to maintain the holding force between the opposing surfaces 70r and 70l.

The endless belt 74 is wound around a plurality of main rollers 72 and a plurality of auxiliary rollers 73 . The endless belt 74 is made of a material such as rubber whose surface friction coefficient is relatively high. Moreover, unevenness may be formed on the outer surface of the endless belt 74 . In this case, it is desirable that the unevenness of the acquisition member 70R and the unevenness of the acquisition member 70L mesh with each other at the facing surfaces 70r and 70l. Further, the dimensions of the unevenness of the endless belt 74 can be arbitrarily determined according to the harvested product F.

In addition, the acquisition section 70 includes a first cutting section 75 and a second cutting section 76 spanning between the facing surfaces 70r and 70l.
As shown in FIG. 5, the first cutting section 75 is fixed to the acquisition base 71 of the pair of acquisition members 70R and 70L on the tip side of the upper surface of the acquisition section 70. As shown in FIG. The first cutting portion 75 has a blade on the distal end side that is inclined from the distal end side to the proximal end side.
As shown in FIG. 6, the second cutting section 76 is fixed to the acquisition base 71 of the pair of acquisition members 70R and 70L on the base end side of the lower surface of the acquisition section 70. As shown in FIG. The second cutting part 76 has a blade on the distal end side that is inclined from the distal end side to the proximal end side. It is desirable that the directions in which the blade of the first cutting portion 75 and the blade of the second cutting portion 76 are inclined are opposite to each other.

With the above configuration, the acquisition unit 70 operates as follows.
The acquisition unit 70 rotates the plurality of auxiliary rollers 73 of the pair of acquisition members 70R and 70L toward each other by the control of the gripping unit motor 420a by the control unit 50, thereby forming the endless belt of the pair of acquisition members 70R and 70L. 74 rotates on the distal end side in a direction from the outside toward the facing surfaces 70r and 70l (the direction of the arrow shown in FIG. 5).
In this state, the acquisition unit 70 is arranged at a position where the stem FS of the harvested product F is between the facing surfaces 70r and 70l. Then, the fruit stem FS of the harvested product F is pulled in by the endless belts 74 of the pair of obtaining members 70R and 70L, and the base end side is moved. As a result, the fruit stem FS is pressed against the blade of the first cutting part 75 and cut, resulting in the state shown in FIG.
After that, the harvested material F is further moved to the base end side while being sandwiched between the endless belts 74 of the pair of obtaining members 70R and 70L, and as shown in FIG. The infarct FS is pressed, cut and falls downwards.

Returning to FIG. 4, the camera 60 is fixed to the acquisition base 41, is controlled by the control unit 50, and images the rows S, the crops C, and the crops F. As shown in FIG. Note that the camera 60 may be fixed to, for example, the hanging member 22 instead of the acquisition unit 40 as long as the row S, the crop C, and the harvested product F can be imaged.

Returning to FIG. 3 , the accommodation member 24 is provided at the lower end of the vertical member 21 and accommodates the harvest F acquired by the acquisition section 40 .
7, 8 and 9 are diagrams illustrating the housing member of the acquisition device according to the preferred embodiment of the present invention. FIG. 7 is a diagram of the housing member 24 as seen obliquely from above. 8 and 9 are diagrams of the housing member 24 viewed obliquely from below. 8 shows a state in which the containing member 24 is closed, and FIG. 9 shows a state in which the containing member 24 is opened.

The housing member 24 includes a container portion 241 , a fixed bottom 242 , a movable bottom 243 and a driving portion 244 .
The container part 241 is formed in a box shape with at least an upper side open, and is attached to the lower end of the vertical member 21 via a support member, as shown in FIG.

The fixed bottom 242 forms the bottom of the container portion 241 with an opening 24 a penetrating therethrough in the vertical direction, and is fixed to the container portion 241 so as to be inclined downward from the vicinity of the upper end of the container portion 241 .

The movable bottom 243 is slidably provided on the lower surface of the fixed bottom 242 by a driving portion 244 and is provided substantially parallel to the fixed bottom 242 .

The drive section 244 includes a guide section 244a, a rail section 244b, a roller 244c, and a housing member motor 244d.

The guide portion 244a is provided on the lower surface of the fixed bottom 242, extends in the tilt direction of the fixed bottom 242, and supports the movable bottom 243 so as to be slidable.

The rail portion 244b is provided on the inner side surface of the container portion 241 and extends along the guide portion 244a.

The roller 244c has its shaft fixed to the lower surface of the moving bottom 243, its outer peripheral surface engages with the rail portion 244b, and is rotated by the drive of the storage member motor 244d controlled by the control unit 50 (see FIG. 10). As a result, the storage member motor 244d is driven under the control of the control section 50 (see FIG. 10), and the roller 244c rotates, thereby moving the moving bottom 243 along the rail section 244b.

With the above configuration, the housing member 24 operates as follows.
In the closed state shown in FIG. 8, the containing member 24 contains the harvested material F obtained by the obtaining part 40 inside the container part 241 . Then, for example, when the inside of the container portion 241 is full, the containing member motor 244d is driven under the control of the control portion 50 (see FIG. 10), and the roller 244c rotates and moves along the rail portion 244b. As a result, the movable bottom 243 moves below the fixed bottom 242, the opening 24a is opened, and the state shown in FIG.

Returning to FIG. 1, the cover 30 covers at least the control unit 50 (see FIG. 10) and the battery, and includes a body 31 formed with an insertion hole 30a through which a horizontal member 232a can move up and down, and a body 31 formed at the bottom. , and a bucket 32 which is formed into a vessel shape with an open top and is capable of storing the harvested material F obtained. A lower part of the bucket 32 is provided with an openable and closable discharge port for discharging the harvested material F stored in the bucket 32 downward.

FIG. 10 is a functional block diagram of the controller according to the preferred embodiment of the present invention.
The control unit 50 includes an analysis unit 51 , a movement position specifying unit 52 , a front-back position specifying unit 53 , an acquisition unit control unit 54 , and a transmission/reception unit 55 , and controls the operation of the acquisition device 10 . The control unit 50 includes a camera 60, a wire moving motor 221a, a rotating motor 222a, a vertical moving motor 231a, a forward and backward moving motor 232b, a gripping portion motor 420a, a cutting portion motor 431a, and a housing member motor. 244d and are communicably connected.

The analysis means 51 analyzes the images of the rows S, the crops C, and the crops F captured by the camera 60, and determines whether the crops F are present. Specifically, the analysis means 51 uses, for example, well-known techniques of deep learning and pattern matching on the image captured by the camera 60, and determines whether or not the detection accuracy exceeds a predetermined threshold. It is determined whether or not the object F is present.

When the analysis means 51 determines that the harvested product F is present, the movement position specifying unit 52 targets the harvested product F within a predetermined angle of view that can be captured by the camera 60. , the acquisition unit 40 is moved so that the target is included. Specifically, the movement position specifying means 52 controls the drive of the wire movement motor 221a to move the acquisition device 10 in the direction in which the support portion 5 extends (the direction in which the ridge S shown in FIG. 2 extends) to move the target. The position of the acquisition unit 40 in the Y direction (see FIG. 3) is aligned with the . In addition, the movement position specifying means 52 moves the acquisition member 23 in the vertical direction by controlling the drive of the vertical movement motor 231a, and aligns the position of the acquisition unit 40 in the Z direction (see FIG. 3) with respect to the target.

After the position of the acquisition unit 40 is aligned with the target in the Y direction (see FIG. 3) and the Z direction (see FIG. 3) by the movement position specifying means 52, the front and rear position specifying means 53 moves the crop F with the camera 60. An image of the crop F is acquired as point cloud data, and the size of the target crop F and the distance to the crop F are measured.

Then, the front and rear position specifying means 53 determines that the size of the harvested product F measured is a preset size (for example, S size, M size, L size, etc. preset according to the type of the harvested product F). Then, by controlling the drive of the forward/backward movement motor 232b, the position of the acquisition unit 40 in the X direction (see FIG. 3) is aligned with the target based on the measured distance.

Further, the front-rear position specifying means 53 acquires an image of the tips of the shafts 422 of the pair of gripping members 420 together with the harvested product F by the camera 60, and detects the difference between the tips of the shafts 422 and the positions of the harvested product F. , the wire movement motor 221a, the rotation motor 222a, the vertical movement motor 231a, or the front and rear movement motor 232b, so that the fruit stem FS near the harvested product F enters between the pair of shafts 422. 40 position corrections are made.

After correcting the position of the obtaining unit 40 by the front-rear position specifying unit 53 so that the fruit stem FS near the harvest F is between the pair of shafts 422, the obtaining unit control unit 54 adjusts the position of the gripping unit motor 420a. By controlling the drive, the pair of shafts 422 is displaced from the open state to the gripping state, and the fruit stem FS near the harvested product F is gripped by the pair of shafts 422 .

Then, when the fruit stem FS in the vicinity of the harvested product F is gripped by the pair of shafts 422, the acquisition unit control means 54 rotates the blade 432 of the cutting unit 43 by controlling the driving of the cutting unit motor 431a. The stem FS gripped by the pair of shafts 422 is cut. As a result, the state shown in FIG. 4 is obtained.

Further, when the obtaining unit control unit 54 rotates the blade 432 of the cutting unit 43, the front-rear position specifying unit 53 controls the drive of the front-rear moving motor 232b, thereby moving the obtaining unit 40 that has grasped the harvested material F. In the X direction (see FIG. 3), it is moved in a direction away from the crop C (a direction approaching the vertical member 21) and placed above the bucket 32 of the cover 30. As shown in FIG.

Then, when the front-rear position specifying means 53 has positioned the obtaining part 40 that has gripped the harvested material F above the bucket 32, the obtaining part control means 54 controls the driving of the gripping part motor 420a, thereby causing the pair of shafts to move. 422 is displaced from the gripped state to the open state to drop the harvest F into the bucket 32 .

The transmitting/receiving means 55 transmits to an external device (for example, a terminal operated by a user), for example, at a predetermined timing, the number of acquired crops F (the number of times the cutting unit motor 431a is driven), the position of the acquisition device 10 Information (for example, position information calculated from the moving distance based on the driving of the wire moving motor 221a with respect to the initial position) or the like may be transmitted. Further, the transmitting/receiving means 55 receives settings indicating the size of the harvest F to be obtained from an external device, information indicating the driving timing of the obtaining device 10, and information that is referred to when the analysis means 51 and the front/rear position specifying means 53 make determinations. Reference data or the like may be received.

The control unit 50 includes a processor, memory, storage, and communication unit (not shown), which are connected by a bus. The processor is configured by, for example, a CPU (Central Processing Unit), and performs various processes by reading and executing various programs stored in a memory. The memory stores programs executed by the CPU, and is composed of, for example, ROM (Read Only Memory) and RAM (Random Access Memory).

Although the embodiments and modifications of the present invention have been described above, the present invention is not limited to these embodiments described above. In addition, the effects described in the embodiments and modifications of the present invention are merely enumerations of the most suitable effects produced from the present invention, and the effects of the present invention are those described in the embodiments and modifications of the present invention. It is not limited to

1 Acquisition System 5 Support Part 10 Acquisition Device 20 Main Body 21 Vertical Member 22 Suspension Member 23 Acquisition Member 24 Accommodating Member 24a Opening 30 Cover 30a Insertion Hole 31 Body 32 Bucket 40 Acquisition Part 41 Acquisition Base 42 Grasping Part 43 Cutting Part 50 Control Part 51 analysis means 52 movement position identification means 53 front-back position identification means 54 acquisition unit control means 55 transmission/reception means 60 camera 70 acquisition unit 70L acquisition member 70R acquisition member 70l facing surface 70r facing surface 71 acquisition base 72 main roller 73 auxiliary roller 74 endless belt 75 First cutting section 76 Second cutting section 100 Acquisition device 221 Engagement section 221a Wire movement motor 222 Rotating section 222a Rotation motor 230 Moving section 231 Vertical movement section 231a Vertical movement motor 232 Front-back movement section 232a Horizontal member 232b Front-back movement motor 241 Container portion 242 Fixed bottom 243 Moving bottom 244 Driving portion 244a Guide portion 244b Rail portion 244c Roller 244d Storage member motor 420a Gripping portion motor 420 Gripping member 420a Gripping portion motor 421 Gear 422 Shaft 431 Rotating portion 431a Cutting portion motor 432 Blade C Crop F Harvest FS Stem S Row

Claims (3)

An acquisition device for acquiring crops from agricultural crops,
a pair of acquiring members for sandwiching the harvested product or the vicinity of the harvested product between the belts facing each other and moving the harvested product from the distal end side to the proximal end side by rotation of the belts facing each other;
a first cutting section disposed on the tip side of the pair of obtaining members for cutting the crop from the crop;
a camera that captures an image of the harvest;
an analysis means for determining whether or not the crop contains the harvested product based on the image;
When it is determined that the harvested product has grown, the harvested product is separated from the crop and acquired;
Acquisition device. An acquisition device for acquiring crops from agricultural crops,
a pair of acquiring members for sandwiching the harvested product or the vicinity of the harvested product between the belts facing each other and moving the harvested product from the distal end side to the proximal end side by rotation of the belts facing each other;
a first cutting section disposed on the tip side of the pair of obtaining members for cutting the crop from the crop;
a second cutting part disposed on the base end side of the pair of obtaining members and cutting off the portion sandwiched between the facing belts of the pair of obtaining members from the harvested material;
an acquisition device. 2. The acquiring device according to claim 1 , further comprising: a second cutting section disposed on the base end side of the pair of acquiring members and cutting off the portion sandwiched between the opposing belts of the pair of acquiring members from the harvested material. .

Images