JPH0822179B2 - Hand cutting device for harvesting fruits and vegetables - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention comprises a cutter for cutting a handle of a captured fruit and vegetables and a handle support member for supporting the handle, and the cutter and the handle support member are provided. The posture is an open state in which the fruit and vegetables are introduced between them, a holding state in which the handle is supported between them, and an intermediate state between the open state and the holding state, in which the fruit and vegetables are between them. The posture switching means is operable to switch freely to a half-open state in which passage through is blocked, and the cutter and the handle support member are in a state of supporting the handle when the posture switching means operates the holding state. The present invention relates to a handle cutting device for a fruit and vegetable harvesting hand, which is provided with a determining means for determining whether or not the cutter and the handle supporting member are moved in a perspective direction with respect to the fruit and vegetable.

[Conventional technology]

Conventionally, the handle cutting device of this kind of fruit and vegetable harvesting hand is
The posture switching means operates the cutter and the handle support member in the open state, introduces the fruit and vegetables between them, and then operates in the half-opened state, and then the drive means moves in a direction away from the fruit and vegetables ( For example, the control means is configured so that the handle is moved backward and the distance between the fruits and the cutter is shortened so that the handle cut by the cutter is shortened, and then the handle is operated in a sandwiched state.

[Problems to be Solved by the Invention]

However, in the handle cutting device for a fruit and vegetable harvesting hand according to the above-mentioned conventional technique, when the cutter and the handle support member are operated from the half-opened state to the sandwiched state, the cutter and the handle support member are determined by the determination means. When it is determined that the handle is not supported, not only the handle of the fruit and vegetables, but also foreign substances such as branches and leaves may be sandwiched between them, making it impossible to cut the handle. Sometimes things happened.

In this case, give up the cutting of the captured fruits and vegetables, operate the cutter and the handle support member in the open state, and once retract the fruits and vegetables to open the captured fruits and vegetables, and then capture another fruits and vegetables by the procedure described above. However, it has to be cut off, and depending on the branching, this situation occurs frequently, resulting in an extremely large time loss.

An object of the present invention is to eliminate the above-mentioned conventional disadvantages.

[Means for solving the problem]

To achieve this object, a characteristic configuration of a handle cutting device for a fruit and vegetable harvesting hand according to the present invention is to operate the cutter and the handle support member from the open state to the held state by the posture switching means. After determining that the cutter and the handle support member are in a state of supporting the handle by the determining means, operate in the half open state, and then shorten the distance between the fruit and vegetables and the cutter. There is provided control means for controlling the posture switching means and the driving means so that the driving means moves the fruits and vegetables in a direction away from the fruit and vegetables, and then the holding means is operated again.

[Action]

That is, the control means first operates the cutter and the handle support member to the open state by the posture switching means, captures the fruit and vegetables, and then once operates the grasping state, whereby the determination means performs the operation. The cutter and the handle support member are in a state of supporting the handle, that is, after determining that there is no foreign object such as a branch or leaf sandwiched between them, they are operated in a half-opened state, and then by the drive means. Move (eg, retract) in a direction away from the fruit and vegetables, and shorten the distance between the fruit and the cutter so that the pattern cut by the cutter becomes shorter,
After that, it is operated to hold it.

〔The invention's effect〕

Therefore, by using the handle cutting device of the fruit and vegetable harvesting hand according to the present invention, before the operation of moving (for example, retracting) the cutter and the handle support member in the direction away from the fruits and vegetables by the driving means. Since it is possible to confirm whether or not a foreign substance such as a branch or a leaf is sandwiched, it is possible to immediately shift to the operation of capturing the next fruit or vegetables when the foreign substance such as a branch or a leaf is sandwiched. , It has become possible to increase the harvest efficiency of fruits and vegetables.

〔Example〕

As shown in FIG. 7, the fruit and vegetable harvester has a boom (1).
Is attached to the vehicle body (2) so as to be able to move up and down and turned, an auxiliary boom (3) is attached to the boom (1) so as to be horizontally swingable, and a manipulator ( 4) is attached to the tip of the auxiliary boom (3). In the figure, (5) is a boom lifting hydraulic cylinder, (6) is a boom turning electric motor,
(7) is an electric motor for swinging the auxiliary boom.

The working manipulator (4) comprises an articulated telescopic arm (8) and a harvesting hand (H) attached to the tip of the telescopic arm (8). The telescopic arm (8) is swung around the vertical axis (X) by the electric motor (9a) and is swung around the horizontal axis (Y) by the electric motor (9b). The electric motor (9
It is configured to be expanded and contracted in c).

Explaining the harvesting hand (H), as shown in FIGS. 2 to 4, a vacuum pad (10) made of a soft rubber is used, with its suction port facing the front side of the hand.
The ventilation pipe (11) is externally fitted to the front end of the ventilation pipe (11), and a ventilation branch pipe (12) is provided at the base of the ventilation pipe (11).
A flexible bellows-type suction hose (13) is connected to 2), and the proximal end of the branch pipe (12) is bolted to the distal end of the expandable arm (8). There is. The suction hose (13) is, as shown in FIG.
The pipe is connected to the intake pump (14) on the vehicle body side.

Further, a handle cutting device for cutting the handle of the fruit and vegetables which is captured while being adsorbed to the vacuum pad (10), and a capturing part case (15) are provided.

Explaining the capturing portion case (15), a base end portion (15a) externally fitted and supported by the ventilation pipe (11) so as to be slidably movable in the front-rear direction of the hand, and an upper portion fixed to an upper end on the tip side thereof. The cover portion (15b) and the base end portion (15a)
And a lower cover part (15c) fixed to the lower part on the tip side of the air cylinder (16) for sliding operation of the capturing part case (15), and the base end part (15a). And the branch pipe (12). Therefore, a state in which the suction port of the vacuum pad (10) is located on the front side of the trap section case (15), and the fruit and vegetables adsorbed on the vacuum pad (10) in the trap section case (15) It is configured so that it can be switched to a state of being taken into the space for trapping formed inside.

The upper cover portion (15b) and the lower cover portion (15
To explain c), they are formed in a hemispherical shape so as to cover the outer circumference of the hand, and a large size that allows one fruit to pass through at the location facing the suction port of the vacuum pad (10). An opening (26) for passage of fruits is formed as an inlet for the fruits and vegetables of Sano.

Also, the opening (26) of the upper cover portion (15b).
A slit-shaped groove (27) through which a fruit handle is inserted is formed in a portion close to the above. Therefore, when harvesting fruits as described later, the fruit vegetables to be harvested adsorbed by the vacuum pad (10). Only the kind is taken into the catching case (15), and the handle can be moved smoothly at the time of taking it in.

Further, a discharge port (B) for discharging the fruit and vegetables whose handle has been cut out to the outside of the catching section case (15) is opened on the lower rear side of the lower cover section (15c).

A shutter (29) as a lid for opening and closing the discharge port (B) is rocked around the axis (Q) so as to be opened and closed downward with respect to the discharge port (B). In a movable state, it is pivotally attached to the lower portion of the base end portion (15a) of the trap case (15) and is configured to be opened and closed by a single-acting air cylinder (30) for opening and closing. There is.

The handle cutting device will be described with reference to FIG.
As shown in (b) and (c), the clipper-type cutter (17) and the handle support member (18) serve as a pair of cutter forming members that constitute cutting means for cutting the caught handle of fruit and vegetables. It is provided.

The clipper-type cutter (17) is a strip-shaped and semi-circular fixed blade body (17a) and a strip-plate-shaped and semi-circular movable blade that slides in the longitudinal direction of the fixed blade body (17a). It consists of a blade (17b).

The handle support member (18) is formed in a strip plate shape and a semicircular arc shape like the clipper type cutter (17).

Both ends of each of the cutter (17) and the handle support member (18) are pivotally supported by the capturing portion case (15) so as to be swingable around an axial center (P) extending in the lateral direction, The cutter (17) and the handle support member (18) have a protruding state in which they support the handle of the fruit and vegetables between them, and a retracted state where the passage for introducing the fruit and vegetables is formed between them. It is possible to swing back and forth in an intermediate state between the opened state and the held state, and a half-open state in which the fruit is prevented from passing between the cutter (17) and the handle support member (18). .

A posture switching means (A) for swinging the cutter (17) and the handle support member (18) back and forth is provided, and a drive means (K) for the cutter (17) is provided.
As the cutter (17) and the handle support member (18) project and swing from the retracted position, the handle of fruit and vegetables is supported, and the supported handle is cut when the cutter (17) is driven. ing.

The posture switching means (A) is configured to change the protruding position of each of the cutter (17) and the handle support member (18) according to the position of the captured handle of the fruit and vegetables. That is,
The attitude switching means (A) is a pair of pinions that rotate integrally with the cutter (17) and the handle support member (18) around the swing axis (P) of the cutter (17) and the handle support member (18). (19
A) and (19B), and a pair of rack-equipped members (20A) and (20B) that are separately engaged with the pinions (19A) and (19B) and are slidably supported in parallel postures.
And a drive pinion (21) that engages with each of the rack-equipped members (20A) and (20B), and the drive pinion (21)
And an air cylinder (22) for rotatably supporting the drive pinion (21) while moving the pair of rack-equipped members (20A), (20B) in the sliding direction.

Therefore, the attitude switching means (A) is provided with the air cylinder (22).
Driven by moving the pinion (21),
By slidingly moving the pair of rack-equipped members (20A) and (20B), the cutter (17) and the handle support member (1
If the movement of one of the pair of rack-equipped members (20A) and (20B) is blocked during the movement operation of the drive pinion (21), the drive will be driven. By changing the protruding position of the cutter (17) and the handle support member (18) according to the position of the captured fruit and vegetable handle, by the action of the pinion (21) rotating and continuously sliding the other racked member. become.

In the figure, (23A) and (23B) are stoppers that restrict the moving range of the pair of rack-equipped members (20A) and (20B), respectively, and the stroke restricting action by these stoppers (23A) and (23B). Depending on the cutter (17) and handle support member (18)
The retreat position corresponding to the open state of is restricted.

The air cylinder (22) is the first on the pinion support side.
A first piston (22a), and a second piston (22b) that can be brought into contact with the first piston (22a).
When the piston (22a) contracts, the cutter (17) and the handle support member (18) are maximally protruded (see Fig. 1 (c)), and in that state the second piston (22b) expands and contracts. It is possible to operate in a half-open state (see FIG. 1B) in which the maximum protrusion is made halfway.

A photoelectric sensor (S ₆ ) for detecting the expansion / contraction operation state of the second piston (22b) is installed in the cylinder case (22c).
It is provided in.

That is, the sensor (S ₆ ) and the control device described later constitute a discriminating means for discriminating the entrapment of foreign matter such as branches or leaves between the cutter (17) and the handle support member (18). In addition, in the open state shown in FIG. 1 (a), the first piston (22a) is expanded and contracted by the air supply from the second port (P ₂ ) and at the same time, the third port (P ₃ ) is operated. The second piston (22b) is expanded and contracted by supplying air. Then, when switching to the holding state shown in FIG.
By exhausting the second port (P ₂ ) and the third port (P ₃ ) and supplying air from the first port (P ₁ ),
The first piston (22a) is contracted. At this time, if there is no foreign matter such as branches or leaves between the cutter (17) and the handle support member (18), the first piston (22a) causes the second
The piston (22b) is largely moved to the contraction side, and the sensor (S ₆ ) is turned off. On the other hand, when the foreign matter is present, the sensor (S ₆ ) is kept on. In short, the discriminating means discriminates based on the information of the sensor (S ₆ ) whether or not the handle properly supports the handle in the held state.

By the way, as shown in FIG. 1 (b), the gripping state can be changed to the half-open state by expanding and contracting the second piston (22b) by the air supply from the third port (P ₃ ).

The drive means (K) of the cutter (17) is the cutter (17).
Of the cutter (17) is allowed, and the cutter (17) can be driven regardless of fluctuations in the swing position. When the drive means (K) is further described, as shown in FIG. 5, the pinion (32) for driving the cutter is the same as the cutter (1).
7) and the handle support member (18) are rotatably provided around the swing axis (P), and the end of the movable blade body (17b) can be engaged with the pinion (32) and the blade body length. A face gear (33) having teeth arranged in a direction is attached, a rack (34) that engages with the pinion (32) is provided, and an air cylinder (35) that slides the rack (34) is provided. Therefore, the movable blade (17b) can be reciprocally operated by expanding and contracting the air cylinder (35).
Moreover, the face gear (33) moves the outer periphery of the drive pinion (32) while changing the occlusal position, thereby allowing the cutter (17) to swing.

Next, the control configuration of the harvesting operation will be described. A negative pressure sensor (S ₁ ) for detecting the adsorption of fruits and vegetables on the vacuum pad (10) is attached to the branch pipe (12).

A light-reflecting proximity sensor (S ₂ ) for detecting that the harvesting hand (H), that is, the vacuum pad (10) is within a set distance from the harvested fruit and vegetables, and the harvested fruit and vegetables. An image sensor (S ₃ ) for detecting the position is provided inside the vacuum pad (10) with the detection direction thereof facing the suction port front side of the vacuum pad (10), and the upper cover is provided. At the rear of the portion (15b), a strobe device (2 that emits light with a set light amount in synchronization with the image pickup processing by the image sensor (S ₃ )
8) is provided so that the image can be processed with an appropriate amount of light regardless of the brightness of the surroundings.

In addition, a switch-type cutting completion detecting sensor (S ₅ ) for detecting completion of cutting when the cut vegetables are dropped onto the shutter (29) and comes into contact with the shutter (2).
9), the opening / closing of the shutter (29) is controlled based on the detection information of the disconnection completion detection sensor (S ₅ ).

As shown in FIG. 6, the image processing means for obtaining the direction in which the harvested fruit and vegetables are located based on the imaging information from the image sensor (S ₃ ) and the harvesting hand (H) are used as the harvested fruit and vegetables. In order to position the cutter (17) and the handle support member (18) on the root side of the handle of the fruit and vegetable in a half-open state of the guide means for guiding the cutter (17) and the handle support member (18) to the cutter. (17) and moving means for moving the handle support member (18), a control device constituting a harvesting operation control means for controlling the operation of each part for cutting the handle by the cutter (17) and harvesting fruit and vegetables (25) is provided. That is, the image pickup information from the image sensor (S ₃ ) and the detection information of the negative pressure sensor (S ₁ ) and the proximity sensor (S ₂ ) are input to the control device (25).

Then, the control device (25) drives the boom control cylinder (5) control valve (36) and the boom rotation motor (6) based on the information and the information stored in advance. A controller (37), a drive controller (38) for driving the auxiliary boom swing motor (7), and electric motors (9a), (9b), (9c) for the telescopic arm (8).
Drive controllers (39a), (39b), (39c), and an air cylinder (16) for operating the trapping case (15)
Control valve (40) for the cutter (17), a control valve (41) for the driving air cylinder (35) of the cutter (17), and a control valve (4) for the opening and closing air cylinder (30) of the shutter (29).
2), the control valve (43) of the air cylinder (22) for the withdrawal operation of the cutter (17) and the handle support member (18), the control valve (44) for the suction operation control of the vacuum pad (10), Also, the image sensor (S ₃ ) and strobe device (28)
To each of, to detect the direction in which the harvested fruit and vegetables are located, to cause the harvesting hand (H) to approach the harvested fruit and vegetables, and to harvest the fruit and vegetables, Also, the harvested fruit and vegetables are discharged at a predetermined position, and each is automatically performed.

Next, the operation of the control device (25) will be described based on the flowcharts shown in FIGS.

First, as shown in FIG. 8 (a), the vacuum pad (10) is positioned at a preset approach start position and is oriented in a predetermined range in which the fruit to be harvested is located. After the setting, the strobe device (28) is caused to emit light and the image sensor (S ₃ ) performs an image pickup process.

However, the imaging field of view of the image sensor (S ₃ ) is
The movement of the vehicle body (2), the swinging and lifting of the boom (1), the horizontal swinging of the auxiliary boom (3), and the swinging and back-and-forth swinging of the telescopic arm (8) with respect to the auxiliary boom (3), The direction of the harvesting hand (H), that is, the vacuum pad (10) is changed and set.

Next, the picked-up image information is taken in, image processing is performed in which the background such as branches and leaves is removed, and image information corresponding to only the fruits to be harvested is extracted to obtain the direction in which the fruits to be harvested are located.

While maintaining the state where the suction port of the vacuum pad (10) is directed to the fruit to be harvested, move the harvesting hand (H) horizontally toward the direction in which the fruit to be harvested is located or at a high speed along a direction close thereto. The telescopic arm (8) is extended so that the telescopic arm (8) is approached.

Then, after the approach is started, while the first set distance (in this embodiment, it is set to half the maximum extendable approach distance of the telescopic arm (8)) is extended, the proximity sensor (S ₂ ) Detects that the target fruit has approached within a set distance, the suction operation of the vacuum pad (10) is started and the moving speed of the harvesting hand (H) is switched to a low speed, To move forward.

On the other hand, if the proximity sensor (S ₂ ) does not turn ON even when the telescopic arm (8) is extended by the first set distance,
With the approach of the harvesting hand (H) temporarily stopped, re-imaging processing is performed while the strobe device (28) is re-emitted, and the direction in which the fruit to be harvested is located is extracted again based on the captured image information. At the same time, the approach is restarted in the extracted direction until the proximity sensor (S ₂ ) is turned on.

However, if the proximity sensor (S ₂ ) does not turn on even when the approach distance reaches the second set distance corresponding to the position where the telescopic arm (8) protrudes to its maximum extension position,
When it is judged that harvesting is impossible, the telescopic arm (8) is shortened, and the harvesting hand (H) is returned to the approach start position.

After the suction operation of the vacuum pad (10) is started, it is determined whether or not fruit and vegetables are adsorbed based on the detection information of the negative pressure sensor (S ₁ ) (see FIG. 8 (b)), If it is adsorbed as above, the movement of the harvesting hand (H) is stopped, and then the catching case (15) is projected forward to collect the fruit vegetables to be harvested from the catching case (15). ) So that the fruits and vegetables are located within the operating range of the handle cutting device (Fig. 8 (c)).
reference).

However, even if the harvesting hand (H) is moved forward by a set distance (for example, the distance corresponding to the working distance of the proximity sensor (S ₂ )) to the harvested fruit and vegetables side, the negative pressure sensor (S ₁ )
If it does not work, it is judged that harvesting is impossible, the suction operation of the vacuum pad (10) is stopped, the telescopic arm (8) is shortened, and the harvesting hand (H) is moved to the approach start position. return.

After the fruits and vegetables are taken into the catching part case (15), the first part of the air cylinder (22) is operated so as to project the cutter (17) and the handle support member (18) into a held state.
After the piston (22a) is contracted, the second sensor (22b) contracts and the sensor (S
₆ ) is off (that is, it is in a holding state)
To detect.

If the sensor (S ₆ ) is still on, it is judged that foreign matters such as branches other than the handle are sandwiched between the cutter (17) and the handle support member (18), and the harvesting hand is approached. Return to the starting position and perform the operation from the beginning again.

On the other hand, when the sensor (S ₆ ) is off, the second piston (22b) is extended and the semi-open state is projected.

Then, the suction operation of the vacuum pad (10) is stopped.

After that, based on the information of the negative pressure sensor (S ₁ ), the vacuum pad (10) is made to wait until the suction is released, and when the release of the suction is detected, as shown in FIG. Move the hand (H) to the front lower side,
7) and the handle support member (18) are located on the base side of the handle.

Next, in order to operate the cutter (17) and the handle support member (18) in the fully throttled state, the first and second air cylinders (22) are operated.
The pistons (22a), (22b) are shortened, and then the cutter-driving air cylinder (35) is reciprocated once,
Cut the handle. (See FIG. 8 (e)) Next, the cutting completion is determined based on the detection information of the cutting completion detecting sensor (S ₅ ) provided on the shutter (29), and the cutting completion detecting sensor (S ₅ ) If is ON,
While returning the harvested hand (H) to the approach start position while maintaining the state that the cut vegetables are stored in the capturing part case (15), the shutter (29) is rocked. Then, the discharge port (B) is opened, and the harvested fruit and vegetables are discharged into a storage box placed beside the vehicle body (2).

After discharging the harvested fruits and vegetables, the first and second pistons (22a) and (22b) of the air cylinder (22) are extended to operate the cutter (17) and the handle support member (18).
The trapping case (15) is retracted to the rear side of the hand so that the suction port of the vacuum pad (10) is located in front of the opening (26) of the trapping case (15). After returning to the initial position in which the fruit protrudes, the shutter (29) is closed to end the harvesting operation for one fruit.

However, if the cutting completion detection sensor (S ₅ ) does not detect the cutting completion, the cutter (17) and the handle support member (18)
Is immediately retracted to the open state and the catch case (15) is retracted to the rear side of the hand, and then the harvesting hand (H) is returned to the approach start position.

After completing the harvesting operation for one fruit, for example, by determining whether or not there is a fruit to be harvested based on the image information captured at the approach start position, whether or not the harvesting work is completed. Whether or not to continue the work is checked by determining whether or not.

[Another embodiment]

In the above embodiment, the cutting means is constituted by the combination of the hair clipper type cutter (17) and the handle support member (18), but the concrete constitution of the cutting means can be variously changed.

In practicing the present invention, the specific configuration of each part of the harvesting hand (H) can be variously changed according to the harvest target such as apple, mandarin orange, and tomato.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

[Brief description of drawings]

The drawings show an embodiment of a handle cutting device for a fruit and vegetable harvesting hand according to the present invention. Figs. 1 (a), (b) and (c) are schematic side views of the handle cutting device, and Fig. 2 is for harvesting. A partially cutaway side view of the hand, FIG. 3 is a plan view of the same, FIG. 4 is a front view of the harvesting hand with part thereof omitted, FIG. 5 is a schematic side view of the cutter driving means, and FIG. 6 is a control configuration. Block diagram of Fig. 7, Fig. 7 is a side view of the fruit and vegetable harvester, and Fig. 8 (a), (b), (c),
(D) and (e) are schematic diagrams of the harvesting operation state, and FIGS. 9 (a) and (b) are flowcharts of the control operation. (17) …… Cutter, (18) …… Handle support member, (25) ……
Control means.

Front page continuation (72) Inventor Hiroshi Suzuki 64 Ishizukita-machi, Sakai City, Osaka Prefecture Kubota Sakai Plant (56) References JP-A-1-160421 (JP, A) JP-A-1-165306 (JP , A)

Claims (1)

[Claims] 1. A posture comprising a cutter (17) for cutting a trap of a picked fruit and vegetables and a handle support member (18) for supporting the handle, the postures of the cutter (17) and the handle support member (18). An open state in which the fruit and vegetables are introduced between them, a holding state in which the handle is supported between them, and an intermediate state between the open state and the holding state, in which the fruit and vegetables are between them. Posture switching means for freely switching to a half-open state in which passage of the handle is blocked, and the cutter (17) and the handle support member (18) move the handle when the posture switching means operates to hold the handle. For harvesting fruits and vegetables, which is provided with a discriminating means for discriminating whether or not it is in a supporting state, and a driving means for moving the cutter (17) and the handle support member (18) in a perspective direction with respect to the fruits and vegetables. A handle handle cutting device for a hand, comprising: ) And the handle support member (18) are operated by the posture switching means from the open state to the held state, and the discriminating means causes the cutter (17) and the handle support member (18) to move to the handle. After determining that the fruit and vegetables are in a state of supporting, the operation is performed in the half-opened state, and then, in order to shorten the distance between the fruit and the cutter (17), the driving means moves in a direction away from the fruit and vegetables. Then, the handle cutting device for the fruit and vegetable harvesting hand is provided with a control means (25) for controlling the posture switching means and the driving means so that the holding state is again manipulated.