JPH0796192B2 - Expansion and contraction control device for articulated arm of harvesting machine - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an expansion and contraction control device for an articulated arm of a harvesting machine for harvesting fruits and the like. A first arm is provided,
The second arm having a working hand at the tip is the first arm.
The arm is pivotally supported by the second actuator so as to be swingable up and down with respect to the tip of the arm, and is provided with an image pickup means for picking up an image of the object to be harvested. A target drive amount per unit time for each of the first actuator and the second actuator is set for a set time so that the work hand moves to approach the harvest target along a linear set trajectory. An expansion / contraction control device for a multi-joint arm of a harvesting machine, which is provided with target drive amount calculation means to be obtained for each and drive means for driving each of the first actuator and the second actuator based on the target drive amount. Regarding

[Conventional technology]

In the expansion / contraction control device for the articulated arm of the harvesting machine of this type, since the maximum driving force of the actuator is limited, the driving force of the actuator should be equal to or less than the maximum driving force at the maximum load. The maximum value that can be set as the driving amount is limited by the maximum driving force.

In order to increase the moving speed of the work hand, a large-sized actuator whose maximum driving force is large may be used, but there is a disadvantage that the device becomes expensive.

By the way, in the expansion / contraction control device for the articulated arm of this type of harvesting machine, a change in speed or a change in the amount of movement per unit time during movement of the work hand often does not pose a problem.

Therefore, in the past, by setting the drive amount of the actuator on the side of the large load as large as possible and controlling the drive amount of the actuator on the side of the small load, the deviation from the set locus can be suppressed and limited. In addition, the maximum drive amount was effectively used so that the device could be moved as fast as possible (see Japanese Patent Application No. 63-222064 previously proposed by the applicant).

[Problems to be Solved by the Invention]

In the above conventional configuration, the target drive amount on the smaller load side is set to a value less than or equal to the maximum drive amount that can be driven excluding the control margin for feedback control that can correct the deviation from the set trajectory. Since both the target drive amounts of the first and second actuators cannot be set to the maximum drive amount that can be driven, there is room for improvement.

By the way, imaging for harvesting work is performed, the object to be harvested is specified based on the imaged information, the set trajectory as an approach route for harvesting the object to be harvested is calculated, and work is accurately performed on the object to be harvested. Since it is necessary to move the manual hand, it is unlikely that the work target is set near the position where the approach starts, and therefore it is not necessary to guide the work hand without deviation from the set trajectory from the start point of the movement. Is.

Therefore, in the vicinity of the position where the approach starts,
Even if both the first and second actuators are driven with the maximum drive amount that can be driven, if the deviation with respect to the set locus can be corrected before reaching the location where the work target is located, the moving speed of the work hand is further increased. You can do it.

In particular, if the drive amount at the start of movement can be increased, the initial acceleration force will be increased, which is advantageous for speeding up.

The present invention has been made in view of the above circumstances, and an object thereof is to provide an expansion / contraction control device for an articulated arm of a harvesting work machine capable of increasing the moving speed of a work hand. It is in.

[Means for Solving the Problems]

In the expansion / contraction control device for an articulated arm of a harvesting machine according to the present invention, a first arm that is vertically swingable by a first actuator is provided, and a second arm having a working hand at its tip is Second with respect to the tip of the first arm
The actuator is pivotally supported so as to be swingable up and down, and is provided with an image pickup means for picking up an image of the harvested object. Target drive amount calculation means for obtaining a target drive amount per unit time for each of the first actuator and the second actuator for each set time so that the work hand moves to approach the harvest target. Drive means for driving each of the first actuator and the second actuator based on the target drive amount are provided, and the characteristic configuration thereof is as follows.

That is, the target drive amount calculation means is a maximum driveable target drive amount for each of the first actuator and the second actuator while the work hand moves a set distance from the approach start position of the harvesting work. It is configured to set the driving amount.

[Work]

As described above, at the start of the approach for harvesting the work hand, it does not matter if the movement trajectory of the work hand deviates slightly from the set trajectory, so while moving the set distance from the approach start position. Is to maximize the acceleration force at the start of movement by setting the target drive amount for each of the first actuator and the second actuator to the maximum drive amount that can be driven.

〔The invention's effect〕

Therefore, the acceleration force at the start of the approach can be maximized, and the time required for the working hand to reach the harvest target can be shortened. Therefore, by rational remodeling, the driving force of the actuator can be effectively utilized to the maximum, the moving speed of the work hand provided for harvesting work can be increased, and the work efficiency in harvesting work can be increased. .

〔Example〕

Hereinafter, an example in the case where the present invention is applied to a working machine for fruit harvesting will be described with reference to the drawings.

As shown in FIG. 6, a boom (2) is attached to a vehicle body (V) provided with a pair of left and right traveling wheels (1) at the front and rear so that the boom (2) can be raised and lowered and turned freely. The auxiliary boom (3) is attached so that it can swing horizontally.
Then, a work manipulator (4) having a work hand (H) for fruit harvesting is attached to the tip end portion of the auxiliary boom (3), and thus a working machine for fruit harvesting is configured. In the figure, (5) is a boom lifting hydraulic cylinder, (6) is a boom turning hydraulic cylinder, and (7) is an auxiliary boom swing hydraulic cylinder.

The working manipulator (4) comprises an articulated arm (8) and a working hand (H) attached to the tip of the arm (8).

As shown in FIGS. 1 and 6, the articulated arm (8) swings around a vertical axis (Y) by a turning electric motor (9a) at the tip of the auxiliary boom (3). The base end base (8a) to be driven and the base end base (8a) are swingably driven around the horizontal axis (X) by the swing electric motor (9b) as the first actuator. A first arm (8b) and a second arm (8c) pivotally supported on the tip end of the first arm (8b) by a telescopic electric motor (9c) as a second actuator so as to be vertically swingable. Consists of. The work hand (H) is rockably driven in association with the rocking of the second arm (8c) by the electric motor (9c) for expansion and contraction.
It is attached to the tip of the.

Then, when the first arm (8b) and the second arm (8c) are substantially overlapped in a side view as an initial position, that is, an approach start position, the working hand (H) is
Target drive of each of the swing electric motor (9b) and the expansion / contraction electric motor (9c) so as to move along a linear set locus (L) connecting the initial position and the fruit to be harvested (F). The amounts (Duty ₁ ) and (Duty ₂ ) are driven while being determined for each set time (Δt) to expand and contract the arm (8).

However, the first arm (8b) and the second arm (8c) are formed to have the same length (A), and the first arm (8b)
Is oscillated directly by the oscillating electric motor (9b). Meanwhile, the second arm (8c)
Is a chain (10a) interlockingly connected to the extension / contraction electric motor (9c) attached to the base end side of the first arm (8b), and the base end of the chain is connected to the first arm (8b).
It is configured to rotate at the tip end of the. Then, the working hand (H) is interlocked with the swing of the second arm (8c) by the telescopic electric motor (9c), and the swing angle (θ ₂ ) of the second arm (8c). The pivot points of the second arm (8c) are interlockingly connected by a chain (10b) so that the second arm (8c) can be swung in the direction opposite to the swinging direction of the second arm (8c).

Therefore, the work hand (H) is moved to the set locus (L).
In order to move the first arm (8b) with respect to the first arm (8b) from the half of the swing angle (θ ₂ ) of the second arm (8c) with respect to the vertical direction (θ ₂ ). The unit time of each of the swing electric motor (9b) and the extension electric motor (9c) is adjusted so that the angle obtained by subtracting θ ₁ ) matches the elevation angle (η) of the set locus (L) with respect to the horizontal direction. The target drive amount per hit (Duty ₁ ) and (Duty ₂ ) are set respectively.

The control configuration for controlling the drive of each of the swing electric motor (9b) and the expansion / contraction electric motor (9c) will be described later.

Explaining the working hand (H), as shown in FIG. 5, a vacuum pad (11) for adsorbing a fruit (F) as a work target is provided at the tip end thereof,
The ventilation pipe (1) of the vacuum pad (11) so as to cover the fruit (F) adsorbed to the vacuum pad (11).
2) A state in which the catch case (13) that is fitted and supported in the front-rear direction so as to be retractable in the front-rear direction and the handle part of the fruit (F) taken in the catch case (13) are vertically sandwiched. And a handle cutting device (14) for cutting with. Although not described in detail, the vacuum pad (11) is sucked by a negative pressure generating device using an ejector pump (not shown) attached to the ventilation pipe (12).

The capturing portion case (13) is a body portion (13a) fitted onto the ventilation pipe (12) and a state in which the body portion (13a) is urged to return toward the inner side of the hand. In addition, a cover (13
b) consists of.

However, although not described in detail, the cover (13b) is vertically and horizontally divided into four parts, and an opening through which the fruit adsorbed to the vacuum pad (11) passes is formed on the front side of the hand. . That is, when the fruit is taken into the catching part case (13) through the opening, if the diameter of the fruit is larger than the opening, each of the four-divided covers opens toward the outer side of the hand. It can be taken into fruit whose diameter is larger than the opening. The cover (13b) divided into four parts, which is located on the lower side, is constructed so as to be opened downward by an actuator (not shown), so that the inside of the capturing part case (13). The fruit (F) whose pattern is cut off can be discharged to the outside.

The handle cutting device (14) presses the handle of the fruit (F) against the blade (14a) of a clipper type for cutting the handle of the fruit (F) against the blade (14a) from below. And a handle support member (14b) for supporting.

However, although not described in detail, the working hand (H) includes
Various harvesting actuators such as an actuator for moving the trap case (13) in and out and an actuator for driving the handle cutting device (14), and a fruit (F) on the vacuum pad (11). Various types of sensors, such as a sensor for detecting that the suction part has been adsorbed, a sensor for detecting the retracted position of the trap case (13), and a sensor for detecting the drive state of the handle cutting device (14). A sensor will be provided.

In FIG. 5, (S ₁ ) is a color type image sensor as an image pickup means for picking up an image of the fruit (F) located in the direction in which the work hand (H) is facing, and (S ₂ ) is the work. Proximity sensors that use infrared light to detect when the harvesting hand (H) has approached the harvested fruit within a set distance. Both of these sensors (S ₁ ) and (S ₂ ) are the approach and the fruit. It is provided inside the vacuum pad (11) so as not to interfere with harvesting. Further, (15) is the work hand (H) in synchronization with the image pickup processing of the image sensor (S ₁ ).
Is an illumination device for illuminating the front side of the vehicle with a set light amount.

Then, while the working hand (H) is oriented in the direction in which the fruit to be harvested is located, the image is processed by the image sensor (S ₁ ) while being illuminated by the illumination device (15),
Based on the captured image information, the working hand (H)
The approach direction, that is, the direction of the set locus (L) for moving the work hand (H) is determined.

After determining the approach direction, the electric motors (9a), (9b), (9c) are operated so that the working hand (H) expands and contracts in the determined approach direction, and When the proximity sensor (S ₂ ) detects the approach to the fruit, the vacuum pad (11) is suction-operated to adsorb the fruit (F) to be harvested, and then inside the capturing part case (13). After capturing the fruit (F),
The handle will be cut and harvested.

However, if there is a plurality of fruit in the imaging field of view of the image sensor (S _1), whether to approach first from any fruit, the brightness information of the image sensor (S ₁₎ by the captured image Based on this, the approach order is automatically determined.

If the image processing is further described, as shown in FIG. 3, the work hand (H) is image-processed in a state where it is set at a preset approach start position, and the image-pickup information is image-processed. The specific color area (F ₁ ) corresponding to the color of the fruit (F) and the specific color area (F ₁ )
Within the setting area where the brightness is above the set value (F ₂ )
And the center of gravity (F ₃ ) of the set area (F ₂ ) are extracted. Then, the work area (F ₂ ) having the largest size is extracted, and the work hand (H) is first approached toward the center of gravity (F ₃ ) of the work area (F ₃ ). ) Will be adjusted to extend the arm (8).

That is, as shown in FIG. 4, the brightness of the image information becomes brighter as it is inversely proportional to the distance, so that the brightness becomes the set value or more in the specific color region (F ₁ ). By taking advantage of the fact that the size of the set area (F ₂ ) becomes larger at closer distances, the easily harvestable fruit (F) located on the front side is approached first. .

The image processing for extracting the specific color region (F ₁ ) will be described. The three primary color signals (R), (G), among the image signals output from the image sensor (S ₁ ),
(B) is used to binarize a signal obtained by subtracting the other color signal (G or B) from the red signal (R) containing the color component of the fruit (F) based on the set threshold value, thereby Original image captured by image sensor (S ₁ )
(See FIG. 3B), a specific color region (F ₁ ) corresponding to the color of the fruit (F) is extracted from the reference image (see FIG. 3B).

Then, based on the value of the luminance signal (Y) of the image signal output from the image sensor (S ₁ ), the brightness within the specific color area (F ₁ ) is set to a setting area ( F ₂ ) is extracted, and the direction in which the center of gravity (F ₃ ) of the set area (F ₂ ) is located on the image is obtained as the position information of the fruit (F) (see FIG. 4).

However, as also shown in FIG. 3 (c), when the plurality of the set area (F ₂₎ is extracted in one of the specific color area (F ₁₎ within, the setting region (F ₂₎ Based on the size of, the approach order will be determined so that the larger size is approached first.

Next, a control configuration for guiding the work hand (H) toward the work target fruit based on the imaging information of the image sensor (S ₁ ) will be described.

As shown in FIG. 2, image pickup image information from the image sensor (S ₁ ) is subjected to image processing to determine the direction in which the fruit (F) to be harvested is located, and to measure each means for determining the approach order. The working hand (H) is used for the harvest target fruit (F) in the configured and determined approach order.
Electric motors for driving the boom lifting hydraulic cylinder (5), the boom turning hydraulic cylinder (6), the auxiliary boom swinging hydraulic cylinder (7), and the arm (8) so as to be guided toward Based on a control device (16) using a microcomputer for controlling the operation of each of (9a), (9b) and (9c), and a command from the control device (16),
Electric motors (9a), (9) for driving the arm (8)
Servo controller (1) that drives each of b) and (9c)
7) and are provided.

That is, using the control device (16), the turning electric motor (9a) and the swinging electric motor are moved so as to move the work hand (H) along a linear set locus (L). A target drive amount calculation means (100) for obtaining a target drive amount per unit time of each of the motor (9b) and the expansion / contraction electric motor (9c) is configured,
Then, the servo controller (17) drives each of the swing electric motor (9b) and the expansion / contraction electric motor (9c) with the target drive amount obtained by the target drive amount calculation means (100). It corresponds to the means (101).

Each of the electric motors (9a), (9c), (9c) has a base (8a) and arms (8b), (8c).
Encoder (e ₀ ) for detecting the swing angle of
(E ₁ ) and (e ₂ ) are attached, and the servo controller (17) basically includes the encoders (e ₀ ),
Based on the detection information of (e ₁ ) and (e ₂ ), the swing angles (θ ₀ ), (θ ₁ ), (θ) of the base end base (8a) and the arms (8b) and (8c) _The drive amount is feedback-controlled so that ₂ ) is located at a position corresponding to the target drive amount.

However, each of the electric motors (9a), (9c), (9c) is configured to adjust the drive amount by PWM-modulating the drive supply voltage, and each target drive amount (Duty
Each of ₀ ), (Duty ₁ ), and (Duty ₂ ) is set as the value of the duty ratio in PWM modulation. That is, the servo controller (17) controls the target drive amount (Dut) calculated by the target drive amount calculation means (100).
y ₀ ), (Duty ₁ ), (Duty ₂ ), the supply voltage (V _B ) is PWM-modulated so that each of the electric motors (9a), (9
c) and (9c) will be driven.

The arm turning electric motor (9a) for changing the horizontal direction of the working hand (H) is similar to the swinging motor (9b) and the extension / contraction electric motor (9c). It suffices that the driving load does not change significantly, and that the direction of the working hand (H) can be adjusted to the direction in which the symmetrical fruit to be harvested is located before the hand (H) reaches the fruit to be harvested. Therefore, the swing motor (9b)
Also, since it is not necessary to drive at high speed like the expansion / contraction electric motor (9c), description of the configuration for obtaining the target drive amount is omitted.

Next, the target drive amount calculating means (100) for obtaining the target drive amounts (Duty ₁ ) and (Duty ₂ ) of the swing electric motor (9b) and the expansion / contraction electric motor (9c) will be described.

The target drive amount of each of the electric motors (9b) and (9c), that is, the duty ratio (Duty) for PWM-modulating the supply voltage (V _B ) is, for example, an electric power that drives the second arm (8c). If the target drive amount (Duty ₂ ) of the motor (9c) is taken as an example, it can be obtained from the following formula (i) based on the torque (τ) and the angular velocity ( ₂ ).

However, K _T is a torque constant, r is an armature resistance of the motor, and R is a reduction ratio.

Further, the torque (τ) and the angular velocity (i) are based on the inertial force (J) and the gravity (G) applied to the pivot points of the first and second arms (8b) and (8c), respectively. Since it can be determined, the torque (τ) of the electric motor (9c) can be rewritten as shown in the following formula (ii).

_{τ = J 21 · 1 + J} 22 · 2 + G 2 + V 2 · 2 ...... (ii) where, V ₂ is the viscous resistance coefficient in the second arm (8c).

On the other hand, the moving distance (σ) from the approach start position of the work hand (H) and the elevation angle (η) are the first,
The length (A) of each of the second arms (8b) and (8c), the length (B) of the working hand (H), and the length of the first arm (8).
b) the vertical swing angle (θ ₁ ) and the second arm (8c) swing angle (θ ₁ ) with respect to the first arm (8b).
₂ ) and can be obtained based on the following equations (iv) and (v).

_{σ = 2A · sin (θ 2} /2) + B ...... (iv) η = θ 2/2-θ 1 ...... (v) where the elevation angle (eta), because the change is small, (v) above by differentiating the equation twice, the acceleration ₍₁₎ may be a _{1 = 2/2.}

Therefore, the target swing angle (θi) of the first and second arms (8a) and (8c) after the set time (Δt) is the angular velocity (
It can be calculated by the following equation (vi) based on each of i) and angular acceleration (i).

θi = θ _i0 + (i + _i0 ) Δt / 2 (vi) Therefore, the predicted angular velocity ( ₂ ) corresponding to the target drive amount (Duty ₂ ) can be calculated based on the following formula (vii). .

However, D ₂ = G ₂ −Duty ₂ C ₂ = V ₂ + motor back electromotive force coefficient ₂₀ = initial value.

That is, the target drive amounts (Duty ₁ ) and (Duty ₂ ) are, respectively. The current position of the arm, that is, the current swing angle (θ _{1 (n)} ) of each of the first arm (8b) and the second arm (8c),
The value of (θ _{2 (n)} ) and the swing angle (θ) after the set time (Δt)
It can be obtained from the difference between _{1 (n + 1)} ) and (θ _{2 (n + 1)} ) by using the above equations (i) to (vii).

By the way, when the arm is extended and the working hand (H) is projected in a direction against gravity against the whole arm (when moving forward), the second arm (8c) is moved to the first arm ( Since the second arm (8c) attached to the tip end of 8b) swings in the direction against gravity, the load on the extension / contraction electric motor (9c) is greater than that of the extension electric motor (9c). The load on the motor (9b) is larger than that on the other hand. On the other hand, when retracting the working hand (H) by retracting the arm from the state where the entire arm is extended (when retracting), the first arm (8b) is gravitated. In order to swing the electric motor (9b) for swinging, the load applied to the electric motor (9b) for swinging is greater than that for the electric motor (9) for stretching.
It is greater than the load on c).

That is, during the expansion / contraction operation, the load on one of the electric motors becomes lighter than the load on the other electric motor, so the target drive amount for the electric motor on the side with the larger load is as large as possible. By controlling the target drive amount for the electric motor having the smaller load in this way, the drive energy can be effectively utilized, and the moving speed of the working hand (H) as a whole can be increased. Become.

Therefore, the target drive amount of the electric motor on the side where the load is large, that is, the duty ratio in the PWM modulation is set to the maximum value corresponding to the maximum drive amount that can be driven, and the electric motor on the side where the load is small is set. The target drive amount is controlled based on the drive result.

However, there is no work target while the working hand (H) moves a set distance (200 mm) from its initial position,
The movement trajectory during that time does not affect the guidance accuracy even if it deviates from the set trajectory (L) to some extent.

Therefore, while the working hand (H) moves a set distance (200 mm) from its initial position, both electric motors (9)
The target drive amounts (Duty ₁ ) and (Duty ₂ ) in (b) and (9c) are set to the maximum drivable values to maximize the acceleration.

In addition, in reality, the servo controller (17) is configured to operate the encoders (e ₁ ),
Since feedback control for correcting the deviation with respect to the set locus (L) is performed from the position information determined based on the information of (e ₂ ), each electric motor (9
In order to drive b) and (9c) at the maximum drive amount (100%) that can be driven, the maximum value of the target drive amounts (Duty ₁ ) and (Duty ₂ ) is the maximum drive amount (100%). Is set to a value obtained by adding the control margin of the feedback control (for example, 120%).

Then, when the both electric motors (9b) and (9c) are driven by the maximum drive amount that can be driven, particularly when the working hand (H) moves forward, the first arm (8b) acts on gravity. Since it is driven to swing downward, the gravity acting on the first arm (8b) can be effectively used to drive at high speed, which is advantageous for increasing the moving speed of the working hand (H) ( (See FIG. 7).

After the work hand (H) has moved the set distance (200 mm) from its initial position, the target drive amount on the side with a large load is set to the maximum value and the set time is set as described above. For each (Δt), the target drive amount for the electric motor with the smaller load is calculated while being corrected for each set time (Δt) based on the current position of the arm.

By the way, when the hand moves backward, the relationship between the magnitudes of the loads on the electric motors (9b) and (9c) is reversed from the middle of the movement path. Therefore, although not described in detail, each of the target drive amounts (Duty ₁ ) and (Duty ₂ ) is switched so that the electric motor on the side that sets the target drive amount to a constant value is switched from the time when the magnitude of the load reverses. Each time is calculated, the magnitudes are compared, and the drive amount on the side having the larger value is set to be larger.

It should be noted that a stop command is given as the proximity sensor (S ₂ ) is turned on when the hand is moved forward, and a stop command is given as the proximity sensor (S ₂ ) is returned to the initial position when retracted. Then, when a stop command is given, each of the target drive amounts (Duty ₁ ) and (Duty ₂ ) is switched to a stop value, and the working hand (H) is stopped.

Although not described in detail, each of the target drive amounts for stopping has the angular velocity (i) set to zero and the angular acceleration (
By setting the value of i) to a value ( _−i0 / Δt) in which the driving directions of the first and second arms (8b) and (8c) are reversed, the above (i) to (vii) are set. Using the formula,
The target drive amounts (Duty ₁ ) and (Duty ₂ ) for the operation can be obtained in the same manner as the case.

By the way, in order to obtain the target drive amount (Duty),
Based on the information of the encoders (e ₀ ), (e ₁ ), and (e ₂ ), the swing angle (θi) of each arm and the value of gravity (Gi) are calculated, for example, in the following (viii), (ix ) It is necessary to calculate based on the formula.

θi = Ki × CNTi (viii) Gi = Mi × g × sin (θi) (ix) where Ki is a constant, Mi is the mass of each arm, and g is gravity.

However, the information output from each encoder is usually a real value. Therefore, in order to obtain the value of the gravity (Gi), a calculation including a trigonometric function is performed, the calculation time becomes long, and the set time (Δt) becomes the calculation interval of the target drive amount (Duty). ) May increase the interval.

If the interval of the set time (Δt) becomes long, the operation of the telescopic arm (8) cannot be controlled at real time intervals, which may reduce the control accuracy.

In order to perform high-speed calculation, for example, a dedicated numerical calculation processor or the like may be mounted, but there is a disadvantage that the device configuration becomes complicated and expensive.

Therefore, although not described in detail, the trigonometric function value (sin (θi)) corresponding to the output value (CNTi) of each encoder is previously described.
Is stored in the control device (16), and a value obtained by adding the leading address value of the table and the value of 1/2 ⁿ of the output value (CNTi) of each encoder is used for table reading. Used as the address value of each trigonometric function from the output value (CNTi) of each encoder (sin
(Θi)) can be read directly.

[Another embodiment]

In the above-described embodiment, the case where the center of gravity (F ₃ ) of the setting area (F ₂ ) in which the brightness in the specific color area (F ₁ ) is equal to or higher than the setting value is used as the position information of the fruit (F) is used. Although illustrated, the and regions brightness is maximized in the specific color area (F ₁₎ in the specific color area (F ₁₎ can also be used centroid itself.

Further, in the above-mentioned embodiment, the case where the present invention is applied to the working machine for fruit harvesting is exemplified, but the specific configuration of each part necessary for carrying out the present invention can be variously changed.

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of drawings]

The drawing is a schematic side view of the expansion / contraction control device for each articulated arm of the harvesting machine according to the present invention, FIG. 2 is a block diagram of the control configuration, and FIGS. 3 (a) to 3 (c) and FIG. 4 are image processing. And Fig. 5 is a sectional view showing a schematic configuration of a working hand,
FIG. 6 is an overall side view of the working machine, and FIG. 7 is an explanatory diagram of the movement trajectory of the working hand. (H) …… Working hand, (8b) …… First arm, (8
c) …… Second arm, (9b) …… First actuator,
(9c) ... second actuator, (100) ... target drive amount computing means, (101) ... driving means, (S ₁ ) ... imaging means.

Claims (1)

[Claims] 1. A first arm (8b) which is vertically swingable by a first actuator (9b) is provided, and a second arm (8c) having a working hand (H) at its tip portion is the first arm (8c). The second actuator (9c) is pivotally supported by the second actuator (9c) so as to be vertically swingable with respect to the tip of the one arm (8b), and is provided with an image pickup means (S ₁ ) for picking up an image of the harvest target. After the image is picked up in ₁ ), the _first hand is moved so that the working hand (H) moves in order to approach the harvest target object along a linear set trajectory calculated based on the imaged information. Target drive amount calculation means (100) for obtaining a target drive amount per unit time for each of the actuator (9b) and the second actuator (9c), and the first actuator (9b) based on the target drive amount. ) And the second An expansion / contraction control device for an articulated arm of a harvesting machine, which is provided with a drive means (101) for driving each of the actuators (9c), wherein the target drive amount calculation means (100) is the work hand. While (H) moves a set distance from the approach start position of the harvesting work, the target drive amount for each of the first actuator (9b) and the second actuator (9c) is set to the maximum drive amount that can be driven. Stretch control device for articulated arms of harvesting machines configured as described above.