Broccoli sorting and harvesting device

Abstract

To cut broccoli surely and transfer it to a conveyance part.SOLUTION: A broccoli sorting and harvesting device 100 for sorting broccoli and harvesting it includes: an imaging part 2 for imaging broccoli from above; a stem cutting part 3 for cutting a stem of the broccoli; a stem cutting control part 4 for controlling the stem cutting part 3 on the basis of an image captured by the imaging part 2; and a conveyance part 5 for conveying the broccoli cut by the stem cutting part 3. The stem cutting control part 4 changes an operation mode of the stem cutting part 3 on the basis of the position of buds of the broccoli in the captured image.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a broccoli sorting and harvesting device. [Background technology]

[0002] Conventionally, an apparatus for automatically selecting and harvesting broccoli has been proposed, as shown in Patent Document 1.

[0003] This broccoli sorting and harvesting device measures the size of broccoli flower buds by image recognition, and when it is determined that the broccoli is a predetermined size or larger, it cuts off the outer leaves and stems of the broccoli and harvests it.

[0004] Specifically, this broccoli sorting and harvesting device is configured to cut the broccoli stems using a stem cutting mechanism, and then have the cut broccoli (flower buds) thrown and transferred to a transport conveyor by a transport mechanism.

[0005] The stem cutting mechanism is a pair of arms that can hold the broccoli by pinching it at the tip, one of which has a cutting blade at the tip for cutting the stem, and the other arm has a contact part that contacts the opposite side of the broccoli stem. The pair of arms operate in unison when the floret detected in front of them reaches near the center of the cutting blade.

[0006] However, because the position of the broccoli varies in the direction perpendicular to the traveling direction of the device, if the cutting blade and the contact part are operated at a uniform timing, the timing at which the cutting blade and the contact part come into contact with the stalk will vary. As a result, the broccoli may fall over unintentionally, and the stalk may not be cut reliably. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Patent No. 7204225 Summary of the Invention [Problem to be solved by the invention]

[0008] Therefore, the present invention has been made in consideration of the above-mentioned problems, and has as its main object to reliably cut broccoli and transfer it to a conveying section. [Means for solving the problem]

[0009] In other words, the broccoli sorting and harvesting device of the present invention is a broccoli sorting and harvesting device that sorts and harvests broccoli, and is equipped with an imaging unit that images the broccoli from above, a stem cutting unit that cuts the stem of the broccoli, a stem cutting control unit that controls the stem cutting unit based on the image captured by the imaging unit, and a transport unit that transports the broccoli cut by the stem cutting unit, and is characterized in that the stem cutting control unit changes the operating mode of the stem cutting unit based on the position of the broccoli flower buds in the captured image.

[0010] In this broccoli sorting and harvesting device, the operation mode of the stem cutting unit is changed based on the position of the broccoli flower buds in the captured image, so the stems can be cut in an appropriate operation mode according to the position of the broccoli flower buds. As a result, the broccoli can be reliably cut and transferred to the transport unit.

[0011] In a specific embodiment of the stem cutting unit, the stem cutting unit includes a cutting blade for cutting the stem, and a pressing member for holding the broccoli by sandwiching the broccoli between the cutting blade and the cutting blade. In this configuration, it is preferable that the stem cutting control unit changes the operation mode of the cutting blade or the operation mode of the pressing member based on the position of the broccoli floret in the captured image. With this configuration, the timing at which the cutting blade hits the stalk, the timing at which the cutting blade cuts, or the timing at which the pressing member hits the stalk can be set appropriately according to the position of the broccoli floret, so that the broccoli can be reliably cut and transferred to the conveying section.

[0012] As a specific control mode for the cutting blade and the pressing member, it is desirable that the stem cutting control unit changes at least one of the operation timing, operation speed or operation stroke of the cutting blade, or at least one of the operation timing, operation speed or operation stroke of the pressing member, based on the position of the broccoli flower bud in the captured image.

[0013] It is desirable that the stem cutting control unit controls the pressing member to come into contact with the broccoli just before or when cutting of the stem by the cutting blade is completed.

[0014] It is desirable that the pressing member contacts the broccoli floret buds, and the stem cutting control unit controls the pressing member to transfer the cut broccoli floret buds to the conveying unit. With this configuration, it is possible to eliminate the need for a mechanism for throwing cut broccoli to a transport section as in the conventional method.

[0015] In order to transfer the broccoli cut by the pressing member to the conveying section, it is desirable for the stem cutting control unit to make the moving speed of the pressing member faster until it contacts the flower bud and is transferred to the conveying section than the moving speed until the pressing member contacts the flower bud.

[0016] In order to transfer the broccoli cut by the pressing member to the conveying section, it is desirable for the stem cutting control unit to decelerate the pressing member just before it comes into contact with the flower bud, then contact the flower bud, and then accelerate the pressing member after it comes into contact with the flower bud.

[0017] In order to improve the broccoli harvesting efficiency, it is preferable that the stem cutting units are provided on both sides of the conveying unit. In this configuration, if the stem cutting units on both sides face each other in a direction perpendicular to the conveying direction, the cut broccoli may collide with each other and overflow from the conveying unit. Therefore, it is preferable that the stem cutting units provided on both sides of the conveying unit are provided at different positions along the conveying direction of the conveying unit. Effect of the Invention

[0018] According to the present invention as described above, the broccoli can be reliably cut and transferred to the conveying section. [Brief description of the drawings]

[0019] [Figure 1] 1 is a schematic front view of a broccoli sorting and harvesting device according to an embodiment of the present invention. FIG. [Diagram 2] FIG. 11 is a schematic diagram showing the operation of the stem cutting unit of the embodiment. [Diagram 3] 10A to 10C are schematic diagrams showing operation timings of the cutting blade and the pressing member when the position of the broccoli is different in the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A broccoli sorting and harvesting device according to an embodiment of the present invention will be described below with reference to the drawings. In addition, in any of the drawings shown below, for the purpose of easy understanding, some parts are omitted or exaggerated in schematic form as appropriate. The same components are denoted by the same reference numerals and the description thereof is omitted as appropriate.

[0021] <Device configuration> The broccoli sorting and harvesting device 100 of this embodiment sorts and automatically harvests broccoli 10. It is mounted on a work vehicle that can travel in a harvesting field, measures the size of the flower buds 11 of the broccoli 10 by image recognition, and if it is determined that the size is above a predetermined size, cuts off the outer leaves and stems 12 of the broccoli 10 and harvests it.

[0022] Specifically, as shown in Figure 1, the broccoli sorting and harvesting device 100 includes an imaging unit 2 that images broccoli 10 from above, a stem cutting unit 3 that cuts the stems 12 of the broccoli 10, a stem cutting control unit 4 that controls the stem cutting unit 3 based on the image captured by the imaging unit 2, and a transport unit 5 that transports the broccoli 10 cut by the stem cutting unit 3. Note that the device may be configured to cut the outer leaves by an outer leaf cutting mechanism (not shown) before the stem cutting unit 3 cuts the stems 12 of the broccoli 10.

[0023] The imaging unit 2 captures images of the flower buds 11 of the broccoli 10 from above. The imaging unit 2 is provided ahead of the stem cutting unit 3 in the traveling direction, and captures images of the flower buds 11 of the broccoli 10 before they are cut by the stem cutting unit 3. The captured images by the imaging unit 2 are transmitted to the stem cutting control unit 4.

[0024] In this embodiment, although not shown, when the imaging unit 2 captures an image of the flower bud 11, an outer leaf turning mechanism is used to prevent the outer leaves of the broccoli 10 from interfering with the imaging of the flower bud 11. The outer leaf turning mechanism may be configured to turn over the outer leaves by injecting air from above or diagonally above the broccoli, for example.

[0025] The stem cutting unit 3 is equipped with a cutting blade 31 that cuts the stems 12 of the broccoli 10, and a pressing member 32 that is disposed to sandwich the broccoli 10 between the cutting blade 31 and the broccoli 10 and presses the broccoli 10 from the opposite side to the cutting blade 31. Here, the cutting blade 31 is disposed on the conveying unit 5 side (inside), and the pressing member 32 is disposed on the opposite side to the conveying unit 5 (outside).

[0026] The cutting blade 31 is plate-shaped and has a straight cutting edge at its tip. The cutting blade 31 is provided on a first arm member 61 that is swingably mounted on a frame 10 mounted on the work vehicle. Specifically, the cutting blade 31 is provided on the lower end of the first arm member 61. The upper end of the first arm member 61 is provided with a cutting blade drive mechanism 71 that moves the cutting blade 31 by swinging the first arm member 61. The cutting blade drive mechanism 71 can be constructed using an actuator such as an air cylinder. The cutting blade drive mechanism 71 is controlled by the stem cutting control unit 4.

[0027] The pressing member 32 is a plate-like member that comes into contact with the flower buds 11 of the broccoli 10, and the face plate portion of the pressing member 32 comes into contact with the flower buds 11. The pressing member 32 pushes the broccoli 10 (flower buds 11) cut by the cutting blade 31 into the conveying section 5 to transfer it. The pressing member 32 is provided on a second arm member 62 that is swingably provided on a frame 10 provided on the work vehicle. Specifically, the pressing member 32 is provided on the lower end of the second arm member 62. The upper end of the second arm member 62 is provided with a pressing drive mechanism 72 that moves the pressing member 32 by swinging the second arm member 62. The pressing drive mechanism 72 can be configured using an actuator such as an air cylinder. The pressing drive mechanism 72 is controlled by the stem cutting control section 4.

[0028] The stem cutting control unit 4 measures the size of the flower bud 11 by image recognition based on the captured image of the flower bud 11 obtained by the imaging unit 2, and if it determines that the size is equal to or larger than a predetermined size, it controls the cutting blade driving mechanism 71 and the presser driving mechanism 72 to cut the stem 12 of the broccoli 10. On the other hand, if the size of the flower bud 11 is less than the predetermined size, the stem cutting control unit 4 allows it to pass between the cutting blade 31 and the presser member 32 without controlling the cutting blade driving mechanism 71 and the presser driving mechanism 72.

[0029] The conveying unit 5 receives the broccoli 10 (flower buds 11) cut by the stem cutting unit 4, and conveys the cut broccoli 10 (flower buds 11) to a storage container (not shown). In this embodiment, the stem cutting units 4 are provided on both sides of the conveying unit 5, and receive the broccoli 10 (flower buds 11) cut by the stem cutting units 4 on both sides and convey them to the storage container. Here, the stem cutting units 4 on both sides are provided at different positions along the conveying direction of the conveying unit 5 so that the broccoli 10 cut by the stem cutting units 4 on both sides do not collide with each other and overflow from the conveying unit 5.

[0030] <Specific control contents of stem cutting unit 4> Thus, the stem cutting control unit 4 of this embodiment changes the operation mode of the stem cutting unit 4 based on the position of the flower bud 11 of the broccoli 10 in the image captured by the imaging unit 2. Here, the stem cutting control unit 4 changes the operation mode of the stem cutting unit 4 based on the center position of the flower bud 11 in the captured image. In other words, the stem cutting control unit 4 presumes that the stem 12 is located near the center position of the flower bud 11, and changes the operation mode of the stem cutting unit 4. Note that the position of the flower bud 11 in the captured image is not limited to the center position of the flower bud 11, and may be, for example, the center of a virtual circumscribing circle or virtual inscribing circle of the flower bud 11.

[0031] Specifically, the stem cutting control unit 4 changes the operation mode of the cutting blade 31 or the operation mode of the pressing member 32 based on the position (left-right position perpendicular to the traveling direction) of the floret 11 of the broccoli 10 in the captured image. Here, changing the operation mode of the cutting blade 31 includes, for example, changing at least one of the operation timing, such as the operation start timing of the cutting blade 31, the operation speed, or the operation stroke. Also, changing the operation mode of the pressing member 32 includes, for example, changing at least one of the operation timing, such as the operation start timing of the pressing member 32, the operation speed, or the operation stroke.

[0032] The stem-cutting control unit 4 may also continuously change the operating mode of the cutting blade 31 or the operating mode of the pressing member 32 based on the position of the floret 11 of the broccoli 10 in the captured image. The stem-cutting control unit 4 may also classify the positions of the floret 11 of the broccoli 10 in the captured image into a plurality of position ranges, such as a central range, a right-side range, a left-side range, etc., and change the operating mode of the cutting blade 31 or the operating mode of the pressing member 32 based on the classified ranges.

[0033] Furthermore, the stem-cutting control unit 4 controls the pressing drive mechanism 72 so that the pressing member 32 comes into contact with the floret bud 11 of the broccoli 10 just before or when the cutting blade 31 completes cutting of the stem. More specifically, the stem-cutting control unit 4 controls the cutting blade drive mechanism 71 and the pressing drive mechanism 72 to complete the stem cutting by the cutting blade 31 and the pressing member 32 comes into contact with the floret bud 11 simultaneously or within a predetermined time (Fig. 2(a)→(b)). Then, when the stem-cutting control unit 4 completes cutting of the stem by the cutting blade 31, the stem-cutting control unit 4 further controls the pressing drive mechanism 72 to move the pressing member 32 toward the conveying unit 5, thereby transferring the floret bud 11 of the cut broccoli 10 to the conveying unit 5 (Fig. 2(c)).

[0034] Specifically, the stem cutting control unit 4 makes the moving speed of the pressing member 32 until it contacts the flower bud 11 and is transferred to the transport unit 5 faster than the moving speed of the pressing member 32 until it contacts the flower bud 11. More specifically, the stem cutting control unit 4 controls the pressing drive mechanism 72 to decelerate the pressing member 32 just before it contacts the flower bud 11, then contact the flower bud 11, and then accelerate the pressing member 32 after it contacts the flower bud 11.

[0035] Next, specific examples of the operation timing and operation speed of the cutting blade 31 and the pressing member 32 at the left and right positions of the flower bud 11 (positions perpendicular to the traveling direction) will be described with reference to Fig. 3. Here, the operation timing and operation speed of the cutting blade 31 and the pressing member 32 are shown for the cases where the position of the flower bud 11 is (1) in the standard position, (2) shifted, for example, 75 mm to the left from the standard position, and (3) shifted, for example, 75 mm to the right from the standard position. Note that Fig. 3 describes the stem cutting part 3 on the right side of the traveling direction, and the operation of the cutting blade 31 is the same in (1) to (3), but may be different.

[0036] In the case of (2) (shifted 75 mm to the left), the distance between the pressing member 32 and the broccoli 10 (flower bud 11) is greater than in the case of (1) (when in the standard position), and the timing at which the cutting blade 31 cuts the stem is earlier, the timing at which the pressing member 32 starts to operate is made earlier, and the timing at which the pressing member 32 comes into contact with the flower bud 11 is made earlier.

[0037] In the case of (3) (shifted 75 mm to the right), the distance between the pressing member 32 and the broccoli 10 (flower bud 11) is smaller than in the case of (1) (when in the standard position), and the timing at which the cutting blade 31 cuts the stem is delayed, so the timing at which the pressing member 32 starts to operate is delayed, and the timing at which the pressing member 32 contacts the flower bud 11 is delayed.

[0038] In all of the cases (1) to (3), the operation of the pressing member 32 for transferring the cut broccoli 10 (flower buds 11) to the conveying section 5 after cutting is the same. Here, in the case of (3), the cut broccoli 10 (flower buds 11) are located at a greater distance from the conveying section 5 than in the case of (2), so the moving speed of the pressing member 32 may be increased.

[0039] <Effects of this embodiment> The broccoli sorting and harvesting device 100 configured in this manner changes the operating mode of the stem cutting unit 3 based on the position of the flower buds 11 of the broccoli 10 in the captured image, so that the stems can be cut in an appropriate operating mode according to the position of the flower buds 11 of the broccoli 10. As a result, the broccoli 10 can be reliably cut and transferred to the transport unit 5.

[0040] Specifically, depending on the position of the flower bud 11 of the broccoli 10, the timing at which the cutting blade 31 hits the stem 12, the timing at which it cuts, or the timing at which the pressing member 32 hits the flower bud 11 can be set to appropriate timing, so that the broccoli 10 can be reliably cut and transferred to the conveying section 5.

[0041] <Other embodiments> For example, the pressing member 32 is in contact with the flower bud 11 in the above embodiment, but it may be in contact with the stem 12 instead, or may be in contact with both the flower bud 11 and the stem 12 .

[0042] A mechanism for adjusting the height position of the stem cutting unit 4 may also be provided. In this case, the imaging unit 2 may be provided with a distance function to the broccoli 10, and the height position of the stem cutting unit 4 may be adjusted based on the distance from the imaging unit 2. Also, a second imaging unit that images the broccoli 10 from the side may be provided separately from the imaging unit 2, and the height position of the flower bud 11 may be obtained based on the image captured by the second imaging unit, and the height position of the stem cutting unit 4 may be adjusted.

[0043] Furthermore, the broccoli sorting and harvesting device of the present invention can also be applied to sort and harvest other cruciferous vegetables such as cauliflower, Romanesco, Chinese cabbage, and cabbage other than broccoli.

[0044] In addition, various modifications and combinations of the embodiments may be made as long as they do not go against the spirit of the present invention. [Explanation of symbols]

[0045] 100 Broccoli sorting and harvesting device 10. Broccoli 11...flower buds 12 Stem 2. Imaging unit 3 ···Stem cutting part 4 Stem cutting control unit 5. Conveyor section 31...cutting blade 32 .... Retaining member

Claims

1. A broccoli sorting and harvesting device for sorting and harvesting broccoli, An imaging unit that images the broccoli from above; A stem cutting unit for cutting the broccoli stem; A stem cutting control unit that controls the stem cutting unit based on the captured image of the imaging unit; a conveying unit that conveys the broccoli cut by the stem cutting unit, The broccoli sorting and harvesting device, wherein the stem cutting control unit changes the operating mode of the stem cutting unit based on the position of the broccoli flower buds in the captured image.

2. The stem cutting unit is A cutting blade for cutting the stem; a pressing member that is provided between the cutting blade and the broccoli and presses the broccoli, The broccoli sorting and harvesting device according to claim 1 , wherein the stem cutting control unit changes an operating mode of the cutting blade or an operating mode of the pressing member based on a position of a flower bud of the broccoli in the captured image.

3. The broccoli sorting and harvesting device of claim 2, wherein the stem cutting control unit changes at least one of the operation timing, operation speed or operation stroke of the cutting blade, or at least one of the operation timing, operation speed or operation stroke of the pressing member, based on the position of the broccoli flower buds in the captured image.

4. 4. The broccoli sorting and harvesting device according to claim 2 or 3, wherein the stem cutting control unit controls the pressing member to come into contact with the broccoli just before or when cutting of the stem by the cutting blade is completed.

5. The pressing member is in contact with the broccoli floret, The broccoli sorting and harvesting device according to claim 4 , wherein the stem cutting control unit controls the pressing member to transfer the cut broccoli florets to the transport unit.

6. The broccoli sorting and harvesting device according to claim 5, wherein the stem cutting control unit makes the moving speed of the pressing member until it contacts the flower bud and is transferred to the conveying unit faster than the moving speed of the pressing member until it contacts the flower bud.

7. The broccoli sorting and harvesting device according to claim 6, wherein the stem cutting control unit decelerates the pressing member immediately before contacting the flower bud, then contacts the pressing member with the flower bud, and accelerates the pressing member after contacting the flower bud.

8. The stem cutting section is provided on both sides of the conveying section, The broccoli sorting and harvesting device according to claim 1 or 2, wherein the stem cutting units provided on both sides of the conveying unit are provided at different positions along a conveying direction of the conveying unit.

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