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Harvesting equipment and harvest method

A harvesting device and load technology, applied in the direction of harvester, picker, manipulator, etc., can solve the problem that continuous harvesting cannot be carried out efficiently, and achieve the effect of efficient harvesting

Inactive Publication Date: 2018-09-07
PANASONIC CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0016] But the fruit picking shear 82 is pulled out from the vegetation after being inserted into the vegetation in each harvest action, so the probability of hooking the main stem 13 due to the state of the vegetation is higher, if the device 80 is stopped every time make continuous harvesting impossible to perform efficiently

Method used

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  • Harvesting equipment and harvest method

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Embodiment Construction

[0073] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In addition, the same code|symbol is attached|subjected to the same component, and the description may be abbreviate|omitted.

[0074] First, the harvesting apparatus used for the harvesting method in embodiment of this invention is demonstrated. figure 1 It is a figure which shows an example of the schematic structure of the harvesting apparatus 100 which concerns on embodiment of this invention. figure 2 It is a figure which shows the state which arrange|positioned the harvesting apparatus 100 on the rail 11 laid in the road.

[0075] This harvesting device 100 is a device for harvesting fruits such as tomatoes. Of course, it can also be applied to fruits of fruit, fruits of fruit vegetables such as eggplants and cucumbers randomly planted on a ridge, and the like.

[0076] Tomatoes are grown on paths or in facilities, and in this embodiment, the descriptio...

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Abstract

The invention provides harvesting equipment and a harvest method. The harvesting equipment is used for continuously harvesting fruits and vegetables in a high efficiency manner. Harvesting equipment includes: a fruit-picking hand (1); an arm (4) that moves the fruit-picking hand (1) into a vegetation; a torque sensor (23) that detects a magnitude and a direction of a load exerted on the fruit-picking hand (1) or the arm (4); and a control section that detects occurrence of an interference between the fruit-picking hand (1) or the arm (4) and the vegetation and a direction of the interference based on the magnitude and the direction of the load detected by the detection section, and performs a control for eliminating the interference.

Description

technical field [0001] The present invention relates to a harvesting device and a harvesting method for harvesting fruit and vegetables. Background technique [0002] In recent years, automation of crop harvesting has been expected. As an example which performs such automatic harvesting, the harvesting apparatus described in patent document 1 is known, for example. [0003] Figure 10 It is a schematic diagram of the fruiting state of a general tomato. Figure 11 It is a schematic structural diagram of the main part of the conventional harvesting apparatus 80 described in patent document 1. [0004] Existing harvesting device 80 when harvesting fruit 13 from the fruit bunch 16 hanging on the main stem 12 in the cultivation ridge, the mechanical arm 81 is stretched in the fruit bunch 16, and the fruit picking shears 82 arranged at the front end of the mechanical arm 81 will Small fruit stalk 15 is cut off. Therefore, there is a possibility that the robot arm 81 or the fru...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A01D45/00
CPCA01D45/00A01D45/006A01D45/008A01D46/30B25J9/1676
Inventor 金田正明川野肇冈本球夫
Owner PANASONIC CORP
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