Harvesting device

Abstract

To provide a harvesting device which harvests a fruit by surely removing a peduncle thereof.SOLUTION: A harvesting device 100 includes a cutting part 1, a movement mechanism 2, a first detection part 3, and a drive part 14. The cutting part 1 is a component for cutting a fruit Fs. The movement mechanism 2 moves the cutting part 1 in a front-rear direction D1 that moves closer to and away from the fruit Fs. The first detection part 3 is a component for detecting that the fruit Fs is within a cuttable range P1. When the first detection part 3 detects that the fruit Fs is within the cuttable range P1, the drive part 14 moves the cutting part 1 toward the cuttable range P1.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a harvesting device.

Background Art

[0002] Conventionally, a harvesting device that harvests fruits with a robotic arm has been known. For example, the fruit and vegetable harvesting device of Patent Document 1 advances the finger portion of the harvesting hand toward the fruit stalk and rotates it around the axis of the holding portion while holding the fruit and vegetable (that is, the fruit) with the suction pad of the holding portion. When the contact portion of the finger portion contacts the fruit stalk, the detection lever of the contact portion rotates under the pressing force. By this rotation, the fruit and vegetable harvesting device detects the contact of the contact portion with the fruit stalk. Further, when the fruit and vegetable harvesting device detects the contact, it further rotates the holding portion and the finger portion around the axis of the holding portion. As a result, the fruit stalk breaks due to the pressing of the contact portion, and the fruit and vegetable are separated from the branch and harvested.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in Patent Document 1, by rotating the holding portion that holds the fruit and vegetable around the axis, the fruit and vegetable with the broken fruit stalk are separated from the branch. Therefore, when it is difficult to cut off the fruit stalk at the pressing portion with the contact portion, it becomes difficult to harvest the fruit. Further, if the fruit stalk cannot be cut off at the pressing portion, there is a risk that the fruit cannot be harvested due to the release of the holding. There is also a risk of damaging the fruit tree. Alternatively, there is a risk that the stalk is separated from the fruit, and the commercial value of the harvested fruit decreases or disappears.

[0005] In view of the above situation, an object of the present invention is to provide a harvesting device that reliably cuts off the fruit stalk and harvests the fruit.

Means for Solving the Problems

[0006] To achieve the above object, a harvesting device according to one aspect of the present invention includes a cutting unit, a moving mechanism, a first detection unit, and a driving unit. The cutting unit is a component for cutting fruit stalks. The moving mechanism moves the cutting unit in the front-rear direction approaching and separating from the fruit stalks. The first detection unit is a component for detecting that there is a fruit stalk within the cuttable range. The driving unit moves the cutting unit toward the cuttable range when the first detection unit detects that there is a fruit stalk within the cuttable range.

[0007] Further features and advantages of the present invention will be further clarified by the embodiments shown below.

Effects of the Invention

[0008] According to the present invention, it is possible to provide a harvesting device that reliably separates fruit stalks and harvests fruits.

Brief Description of the Drawings

[0009]

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Embodiments for Carrying Out the Invention

[0010] Embodiments of the present invention will be described below with reference to the drawings. Hereinafter, the direction in which the cutting portion 1 advances and approaches and separates from the fruit stalk Fs will be referred to as the "front-rear direction D1". Among the front-rear direction D1, the direction in which the cutting portion 1 advances and approaches the fruit stalk Fs is referred to as "front D1a", and the direction in which the cutting portion 1 retreats and moves away from the fruit stalk Fs is referred to as "rear D1b". That is, the front-rear direction D1 has a front D1a and a rear D1b. Note that the front D1a is an example of the "one of the front-rear directions" of the present invention, and the rear D1b is an example of the "other of the front-rear directions" of the present invention.

[0011] Also, a direction that is perpendicular to the front-rear direction D1 and, for example, runs from one side to the other side of the paper surface of FIG. 1 is called the “left-right direction D2”. One of the directions of the left-right direction D2, for example, the direction from the left side to the right side of the paper surface of FIG. 1 is called “left D2a”. The other direction of the left-right direction D2, for example, the direction from the right side to the left side of the paper surface of FIG. 1 is called “right D2b”. Note that the left-right direction D2 is an example of the “width direction” of the present invention, the left D2a is an example of the “one side of the width direction” of the present invention, and the right D2b is an example of the “other side of the width direction” of the present invention.

[0012] Also, a direction that is perpendicular to both the front-rear direction D1 and the left-right direction D2 and runs from one of the cutting part 1 and the holding part 4 to the other is called the “up-down direction D3”. Among the up-down direction D3, the direction from the holding part 4 to the cutting part 1 is called “upward D3a”, and the direction from the cutting part 1 to the holding part 4 is called “downward D3b”. Note that the upward D3a is an example of the “one side of the up-down direction” of the present invention, and the downward D3b is an example of the “other side of the up-down direction” of the present invention.

[0013] <1. First Embodiment> The harvesting device 100 is mounted on, for example, the arm of a robot device that picks fruits F from fruit trees, cuts the fruit stalk Fs that supports the fruit F, and separates and harvests the fruit F from the branch B of the fruit tree. FIG. 1 is an external view showing a configuration example of the harvesting device 100 according to the first embodiment. FIG. 2 is a block diagram showing a configuration example of the control system of the harvesting device 100 according to the first embodiment.

[0014] As shown in FIG. 1, the harvesting device 100 includes an attachment 101, an imaging unit 102, and a support column 103.

[0015] The attachment 101 is connected to the tip of the arm of the robot device and is rotatable about a predetermined axis parallel to the front-rear direction D1 with respect to the arm. The attachment 101 has a plate portion 1011, a holder 1012, and a bracket 1013. The plate portion 1011 is rotatably connected to the arm and extends in the vertical direction D3. The holder 1012 extends forward D1a from the upper end portion of the plate portion 1011 and supports the imaging unit 102. The bracket 1013 is disposed on the side surface of the central portion of the plate portion 1011 in the vertical direction D3.

[0016] The imaging unit 102 is disposed at the front end portion of the holder 1012 and images the front D1a of the harvesting device 100. The imaging data of the imaging unit 102 is transmitted to the control unit 300 described later. For example, the control unit 300 recognizes the position and posture of the fruit F, the position of the stalk (het) of the fruit F, etc. based on the imaging data of the imaging unit 102.

[0017] The support column 103 extends forward D1a from the lower portion of the plate portion 1011. A holding portion 4 described later is disposed at the front end portion of the support column 103. In this embodiment, the support column 103 includes two support columns 103a arranged in the left-right direction D2 and two support columns 103b arranged below D3b the support columns 103a and arranged in the left-right direction D2. However, it is not limited to this example, and the support column 103 may be singular or plural other than four.

[0018] Also, as shown in FIG. 1, the harvesting device 100 further includes a cutting portion 1, a moving mechanism 2, a first detection unit 3, a holding portion 4, and a driving unit 14.

[0019] The cutting part 1 is a component for cutting the fruit stalk Fs. The moving mechanism 2 moves at least a part of the cutting part 1 and the first detection part 3 (for example, the antenna part 31 described later) in the front-rear direction D1. Note that the front-rear direction D1 is the direction of approaching and separating from the fruit stalk Fs. The first detection part 3 is a component for detecting that there is a fruit stalk Fs within the cuttable range P1. Note that the cuttable range P1 is the position range in the front-rear direction D1 where the fruit stalk Fs can be cut by the cutting part 1. When the first detection part 3 detects that there is a fruit stalk Fs within the cuttable range P1, the drive part 14 moves the cutting part 1 (particularly, the blade part 10 described later) toward the cuttable range P1. Note that the drive part 14 is a component of the cutting part 1 in the present embodiment, but is not limited to this example and may be a component separate from the cutting part 1.

[0020] When the harvesting device 100 detects that there is a fruit stalk Fs within the cuttable range P1 where cutting by the cutting part 1 is possible in the front-rear direction D1, the harvesting device 100 moves the cutting part 1 toward the cuttable range P1. That is, the cutting part 1 moves toward the fruit stalk Fs. Thereby, the harvesting device 100 can surely cut the fruit stalk Fs and separate the fruit F supported by the fruit stalk Fs from the branch B of the fruit tree. Therefore, the harvesting device 100 can harvest the fruit F in a beautiful state without removing the pedicel.

[0021] The holding part 4 holds the fruit F supported by the fruit stalk Fs. The harvesting device 100 can bring the cutting part 1 closer to the fruit stalk Fs while the fruit F is held by the holding part 4. Therefore, the harvesting device 100 can suppress the movement of the fruit stalk Fs and the like, and thus can easily position the fruit stalk Fs within the cuttable range P1. Furthermore, it becomes easier to cut the fruit stalk Fs.

[0022] The holding part 4 includes a pump holder 41, a pad holder 43, a suction pad 44, and a suction pump 42. The pump holder 41 is fixed to the front end of the support column 103 and supports the suction pump 42. The pad holder 43 has a disk shape with an opening in the center connected to the intake port of the suction pump 42 and is connected to the intake port of the suction pump 42. The suction pad 44 is a lid-shaped cylindrical member extending in the front-rear direction D1 and is fixed to the front surface of the pad holder 43. Suction holes 441 are arranged on the front surface (i.e., the lid part) of the suction pad 44. The suction holes 441 are openings for sucking the fruit F by the suction of the suction pump 42 and holding it with the suction pad 44. The suction port of the suction pump 42 is connected to the outside of the suction pad 44 through the opening of the pad holder 43, the inside of the suction pad 44, and the suction holes 441.

[0023] When holding the fruit F, the holding part 4 sucks air from the internal space surrounded by the pad holder 43 and the suction pad 44 by the suction pump 42 to decompress the internal space. Thereby, the fruit F is adsorbed to the suction holes 441 and held thereby.

[0024] Note that the present invention is not limited to the above examples, and the holding part 4 may hold the fruit F by means other than suction. For example, the holding part 4 may grip the fruit F with a plurality of gripping members.

[0025] Also, as shown in FIG. 2, the harvesting device 100 further includes a storage part 200 and a control part 300. The storage part 200 is a non-transitory storage medium that maintains storage even when the power supply is stopped, and stores, for example, information and programs used by the control part 300. The control part 300 controls the components of the harvesting device 100 that require control using the information and programs stored in the storage part 200.

[0026] For example, the control unit 300 controls the imaging unit 102, the drive unit 14, the drive unit 23 of the moving mechanism 2, the suction pump 42 of the holding unit 4, the storage unit 200, and the like. Further, the control unit 300 receives the output signal of the first detection unit 3 and the output signal of the second detection unit 5. Further, the control unit 300 receives the imaging data of the imaging unit 102, determines the position of the harvesting device 100 based on the imaging data, and moves it.

[0027] Note that the exemplification of this embodiment does not exclude a configuration in which the harvesting device 100 does not include at least either the storage unit 200 or the control unit 300. That is, at least either the storage unit 200 or the control unit 300 may be an external device connected to the harvesting device 100, and may be mounted on, for example, a robot device including the harvesting device 100.

[0028] <1-1. Cutting part 1> Next, with reference to FIGS. 3 to 6, a configuration example of the cutting unit 1 will be described. FIG. 3 is an enlarged top view of the vicinity of the cutting unit 1 in the first embodiment. FIG. 4 is an enlarged bottom view of the vicinity of the cutting unit 1 in the first embodiment. FIG. 5 is a side view of the vicinity of the cutting unit 1 and the holding unit 4 as viewed from the left D2a in the first embodiment. FIG. 6 is a schematic view showing a configuration of a modified example of the blade portion of the cutting unit 1.

[0029] In the present embodiment, the cutting unit 1 includes a right cutting member 11, a left cutting member 12, and a blade cover member 13. Further, the right cutting member 11 has a right blade portion 111 and a right handle portion 112. The left cutting member 12 has a left blade portion 121 opposite to the right blade portion 111 and a left handle portion 122 opposite to the right handle portion 112. Hereinafter, the right blade portion 111 and the left blade portion 121 may be collectively referred to as "(a pair of) blade portions 10". Further, the right handle portion 112 and the left handle portion 122 may be collectively referred to as "(a pair of) handle portions 112, 122". Each of the pair of handle portions 112, 122 extends rearward D1b (in a direction away from the fruit stalk Fs) from each blade portion 10 and faces each other.

[0030] Note that although the right handle portion 112 is located on the left side D2a with respect to the left handle portion 122, since it is a component of the right cutting member 11, it is herein referred to as the right handle portion 112 for convenience. Similarly, although the left handle portion 122 is located on the right side D2b with respect to the right handle portion 112, since it is a component of the left cutting member 12, it is herein referred to as the left handle portion 122 for convenience.

[0031] The right cutting member 11 and the left cutting member 12 constitute scissors for cutting the fruit stalk Fs. For example, in the right cutting member 11, the front end portion of the right handle portion 112 is connected to the rear end portion of the right blade portion 111 and supports the right blade portion 111. In the left cutting member 12, the front end portion of the left handle portion 122 is connected to the rear end portion of the left blade portion 121 and supports the left blade portion 121. The right blade portion 111 and the left blade portion 121 constitute the blade portion 10 of the cutting portion 1. That is, the cutting portion 1 has the blade portion 10. The blade portion 10 is a scissor portion. The right blade portion 111 (particularly its blade line) and the left blade portion 121 (particularly its blade line) extend at least in the front-rear direction D1 and face each other in the left-right direction D2.

[0032] Further, the front end portion of the right handle portion 112 and the front end portion of the left handle portion 122 are overlapped in the up-down direction D3 and are rotatably connected to each other. That is, one of them is rotatable with respect to the other about the support shaft Js. Note that the support shaft Js extends parallel to the up-down direction D3 through the connecting portion between the front end portion of the right handle portion 112 and the front end portion of the left handle portion 122. Thereby, the right blade portion 111 (particularly its blade line) and the left blade portion 121 (particularly its blade line) can approach each other and separate from each other by the rotation of the right handle portion 112 and the left handle portion 122 about the support shaft Js.

[0033] A torsion coil spring (not shown) is disposed at the connecting portion between the front end portion of the right handle portion 112 and the front end portion of the left handle portion 122. One end of the torsion coil spring is connected to the right handle portion 112. The other end of the torsion coil spring is connected to the left handle portion 122. The torsion coil spring separates the right handle portion 112 and the left handle portion 122 in the circumferential direction about the support shaft Js. Thereby, the right blade portion 111 and the left blade portion 121 are separated in the circumferential direction about the support shaft Js in the normal state (for example, the state where the fruit stalk Fs is not cut).

[0034] The blade cover member 13 covers the lower surface of the blade portion 10 and the side surfaces other than the region where the blade line is disposed, and particularly covers the front end portion of the blade portion 10. Due to the arrangement of the blade cover member 13, when the blade portion 10 is advanced toward the fruit stalk Fs, even if the front end of the cutting portion 1 abuts against the surface of the fruit F, the front end of the cutting portion 1 advances while moving upward D3a following the surface of the fruit F. Therefore, the fruit stalk Fs can be positioned within the cuttable range P1 without the blade portion 10 piercing the fruit F or splitting the surface of the fruit F.

[0035] The drive unit 14 rotates the right handle portion 112 and the left handle portion 122 around the support shaft Js in accordance with the control of the control unit 300. Thereby, the drive unit 14 brings the blade lines of the right blade portion 111 and the left blade portion 121 closer to each other in the left - right direction D2. For example, when cutting the fruit stalk Fs, the drive unit 14 brings the two (blade lines) closer to each other in the left - right direction D2 to close the space therebetween. At this time, the blade line of the right blade portion 111 and the blade line of the left blade portion 121 bite into the fruit stalk Fs in a state where they are displaced in the up - down direction D3. Thereby, a shearing force is generated in the fruit stalk Fs at the portion between the two blade lines in the up - down direction D3. Due to this shearing force, the fruit stalk Fs is cut.

[0036] Further, after cutting the fruit stalk Fs, the drive unit 14 makes the right handle portion 112 and the left handle portion 122 rotatable freely. At this time, due to the elastic force that the torsion coil spring twisted at the time of cutting the fruit stalk Fs returns to its original state, the right blade portion 111 and the left blade portion 121 are separated from each other in the circumferential direction centered on the support shaft Js regardless of the drive unit 14. Thereby, in the left - right direction D2, the right blade portion 111 and the left blade portion 121 each return to their original fixed positions.

[0037] For example, in the present embodiment, the cutting edges of the right cutting portion 111 and the left cutting portion 121 are each linear. However, the present invention is not limited to this example, and at least one of them may be a curve such as an arc or a wave. For example, by forming both of them into an arc protruding inward in the left-right direction D2 (the direction toward the cuttable range P1), the cutting portion 1 can cut the fruit stalk Fs located in the cuttable range P1 with a smaller force without allowing it to escape forward D1a. Alternatively, by forming both of them into an arc protruding outward in the left-right direction D2 (the direction toward the side opposite to the cuttable range P1), the cutting portion 1 can place the fruit stalk Fs inside the closed curve formed by the cutting edges of both when viewed from the up-down direction D3. Therefore, the cutting portion 1 can surely cut the fruit stalk Fs.

[0038] Also, the scissors portion of the cutting portion 1 is composed of a blade body and its opposing body. A cutting edge is disposed at an end portion of the blade body on the cuttable range P1 side in the left-right direction D2. The end portion of the opposing body on the blade body side in the left-right direction D2 faces the cutting edge of the blade body. That is, of the right cutting portion 111 and the left cutting portion 121, one is the blade body and the other is the opposing body. Note that the pair of handle portions 112 and 122 extend rearward D1b away from the fruit stalk Fs from each of the blade body and the opposing body and face each other in the left-right direction D2.

[0039] In the present embodiment, the opposing body is also a blade body. That is, a cutting edge 10a is disposed at an end portion of the opposing body on the blade body side in the left-right direction D2. In other words, the right cutting portion 111 and the left cutting portion 121 are each a blade body.

[0040] However, without being limited to this example, as shown in FIG. 6, the opposing body does not have to be a blade body. That is, a cutting edge line 10a does not have to be arranged at the end of the opposing body on the blade body side in the left-right direction D2. In other words, of the right blade portion 111 and the left blade portion 121, one is a blade body on which the cutting edge line 10a is arranged and may have a sharp cutting edge. The other is an opposing body on which the cutting edge line 10a is not arranged, that is, it does not have to have a sharp cutting edge. In FIG. 6, the left blade portion 121 is a blade body having the cutting edge line 10a arranged at the end on its right D2b side. On the other hand, the right blade portion 111 is an opposing body on which the cutting edge line 10a is not arranged at the end on its left D2a side. Thus, even in a configuration where the cutting edge line 10a is arranged only on one of the right blade portion 111 and the left blade portion 121, the cutting portion 1 can cut the fruit stalk Fs.

[0041] Also, without being limited to the above example, the right cutting member 11 and the left cutting member 12 do not have to form scissors. For example, the cutting edge lines of the right blade portion 111 and the left blade portion 121 may both extend in the front-rear direction D1 and be arranged parallel to each other. Further, as the right cutting member 11 and the left cutting member 12 move in the left-right direction D2 respectively, the right blade portion 111 (its cutting edge line) and the left blade portion 121 (its cutting edge line) may approach and separate from each other.

[0042] Also, without being limited to the above example, the blade portion 10 of the cutting portion 1 may be configured to have one of the right blade portion 111 and the left blade portion 121 and not have the other. That is, the blade portion 10 may be a single-edge blade. Even in this case, the cutting portion 1 can cut the fruit stalk Fs. For example, a cut is formed in the fruit stalk Fs by the penetration of the sharp cutting edge line of one of the blade portions 10. The drive portion 14 moves the single-edge blade portion 10 toward the fruit stalk Fs. As a result, in response to the movement of one of the blade portions 10 in the left-right direction D2 toward the fruit stalk Fs, the opening of the cut in the up-down direction D3 widens. Then, the fruit stalk Fs is separated in the up-down direction D3.

[0043] <1-2. Moving mechanism> Next, with reference to FIG. 1, a configuration example of the moving mechanism 2 will be described. The moving mechanism 2 is arranged above D3a the support column 103 and the holding portion 4 and is connected to the plate portion 1011 of the attachment 101 by a bracket 1013.

[0044] The moving mechanism 2 includes a rod 21, a guide member 22, a drive unit 23, a bracket 24, an arm hinge 25, and a hinge 26.

[0045] The rod 21 is rod-shaped and extends in the front-rear direction D1, and is movable forward and backward in the front-rear direction D1. The guide member 22 houses at least the rear end portion of the rod 21 and guides the movement of the rod 21 in the front-rear direction D1. The drive unit 23 moves the rod 21 in the front-rear direction D1 according to the control of the control unit 300.

[0046] The bracket 24 extends in the vertical direction D3 and connects the guide member 22 and the support column 103a. The lower end portion of the bracket 24 is connected to the support column 103a. The upper end portion of the bracket 24 is connected to the guide member 22 so as to be rotatable about an axis J1. Note that the axis J1 extends in the left-right direction D2 through the connection portion between the guide member 22 and the bracket 24. Thereby, the moving mechanism 2 other than the drive unit 23, and the cutting unit 1 and the first detection unit 3 disposed at the front end of the moving mechanism 2 can swing in the vertical direction D3 about the axis J1.

[0047] The arm hinge 25 is connected to the rod 21 and is movable in the front-rear direction D1 together with the rod 21. The arm hinge 25 includes a bar 251 and a pair of left and right arms 252. The bar 251 is fixed to the front end portion of the rod 21 and extends in the left-right direction D2. The pair of left and right arms 252 extend forward D1a from the end portions of the bar 251 in the left-right direction D2, respectively.

[0048] The hinge 26 holds the cutting part 1 and the first detection part 3. For example, the right cutting member 11 and the left cutting member 12 are held at the lower end of the hinge 26. The hinge 26 is disposed between the front ends of a pair of left and right arms 252, and is rotatably connected to the front end of each arm 252 about the axis J2. The axis J2 extends in the left-right direction D2 through the connection part between the front end of each arm 252 and the hinge 26. Thereby, the cutting part 1 and the first detection part 3 can swing in the up-down direction D3 about the axis J2. In this way, even when the cutting part 1 abuts against the fruit F when moving forward to D1a, the hinge 26 rotates together with the cutting part 1, so that the tip of the cutting part 1 can be moved in the up-down direction D3 along the surface of the fruit F. A guide hole 261 is disposed in the hinge 26. The guide hole 261 penetrates the hinge 26 in the front-rear direction D1.

[0049] <1-3. First detection part 3> Next, with reference to FIGS. 1 and 3 to 5, a configuration example of the first detection part 3 will be described. The first detection part 3 includes an antenna part 31, a rod 32, a biasing member 33, and a sensor 34.

[0050] The antenna part 31 is movable forward and backward in the front-rear direction D1 and is a component for contacting the fruit stalk Fs. The antenna part 31 remains stationary at a fixed relative position with respect to the blade part 10 in the front-rear direction D1 if there is no contact with an object such as the fruit stalk Fs. On the other hand, the antenna part 31 is relatively movable in the front-rear direction D1 when it is located rearward D1b of the blade part 10 in the front-rear direction D1 with respect to the relative position. For example, when there is contact or pressing against an object such as the fruit stalk Fs, the antenna part 31 can relatively retreat rearward D1b with respect to the blade part 10 in the front-rear direction D1.

[0051] The rod 32 is disposed rearward D1b of the antenna part 31 and supports the antenna part 31. The rod 32 extends in the front-rear direction D1 and is inserted into the guide hole 261 of the hinge 26. Thereby, the rod 32 is movably supported in the front-rear direction D1 by the hinge 26.

[0052] The biasing member 33 is disposed behind the rod 32 in the direction D1b, and biases the antenna unit 31 together with the rod 32 toward the front side D1a. In this embodiment, the biasing member 33 is a coil spring, but it is not limited to this example, and any member that applies a predetermined force toward the front D1a to the antenna unit 31 may be used. Note that the magnitude of the force only needs to be such that the forward movement of the antenna unit 31 can be stopped by contact with an object such as the fruit stalk Fs. Further, the magnitude of the force only needs to be such that the antenna unit 31, which is behind the above-described fixed position with respect to the blade portion 10 in the direction D1b, can move relatively forward in the direction D1a when there is no contact with an object such as the fruit stalk Fs.

[0053] The sensor 34 detects the relative backward movement amount of the antenna unit 31 in the direction D1b with respect to the cutting portion 1 (particularly the blade portion 10). In this embodiment, the sensor 34 is an optical element, but it is not limited to this example, and other types of elements may be adopted.

[0054] In the harvesting device 100, based on the detection result of the sensor 34, the control unit 300 determines whether or not there is a fruit stalk Fs within the cuttable range P1 in the front-rear direction D1. Based on the determination result, the control unit 300 determines whether or not the blade portion 10 moves.

[0055] For example, when the blade portion 10 and the antenna unit 31 move toward the front D1a approaching the fruit stalk Fs, if the antenna unit 31 is not in contact with the fruit stalk Fs, it moves forward in the direction D1a together with the blade portion 10 without relative movement. That is, the relative backward movement amount of the antenna unit 31 detected by the sensor 34 is 0. In this case, it is determined that there is no fruit stalk Fs within the cuttable range P1 in the front-rear direction D1, and the blade portion 10 and the antenna unit 31 move forward in the direction D1a as they are.

[0056] On the one hand, when the antenna unit 31 contacts the fruit stalk Fs, while the blade part 10 moves, the forward movement of the antenna unit 31 stops. That is, the antenna unit 31 moves relative to the blade part 10 in the rearward direction D1b. In this case, the relative backward movement amount of the antenna unit 31 detected by the sensor 34 increases according to the movement of the blade part 10. In this case, it is determined that there is a fruit stalk Fs within the cuttable range P1 in the front-rear direction D1, and the blade part 10 moves toward the cuttable range P1. Therefore, the fruit stalk Fs is cut by the blade part 10. Thus, the harvesting device 100 can separate the fruit F from the branch B of the fruit tree without applying a load to the fruit F and its stalk and the like.

[0057] Note that after the fruit stalk Fs is cut, the antenna unit 31 is not stopped by the fruit stalk Fs and can move relatively forward in the forward direction D1a. Also, the moving mechanism 2 moves the blade part 10 and the antenna unit 31 in the rearward direction D1b under the control of the control unit 300. Therefore, the antenna unit 31 is biased by the biasing member 33 and moves relatively forward in the forward direction D1a to return to the original relative position with respect to the blade part 10.

[0058] Also, when the antenna unit 31 is non-contact with an object such as the fruit stalk Fs, it is located on the base end side rather than the tip end of the cutting part 1. Specifically, at this time, the antenna unit 31 is located rearward D1b of the front end part of the blade part 10 and forward D1a of the rear end part of the blade part 10. By doing so, the harvesting device 100 can accurately detect whether the fruit stalk Fs is within the cuttable range P1. For example, if the antenna unit 31 does not move relatively backward, it is determined that the fruit stalk Fs is in front of the cuttable range P1 in the forward direction D1a, and the blade part 10 moves further forward. On the other hand, if the antenna unit 31 moves relatively backward, the control unit 300 determines that the fruit stalk Fs is within the cuttable range P1 and moves the blade part 10 toward the cuttable range P1. Thereby, the fruit stalk Fs is cut.

[0059] Preferably, the cutting of the fruit stalk Fs by the cutting portion 1 is performed based on the relative retraction amount of the antenna portion 31. That is, if the relative movement amount of the antenna portion 31 toward the rear D1b with respect to the blade portion 10 of the cutting portion 1 is equal to or greater than the threshold value, the drive portion 14 moves the blade portion 10 of the cutting portion 1 toward the cutting possible range P1 under the control of the control portion 300.

[0060] In this way, for example, even if the antenna portion 31 comes into contact with the fruit stalk Fs and relatively retracts, if the retraction amount is less than the threshold value, the blade portion 10 continues to move forward D1a without performing the cutting operation. Thereby, the fruit stalk Fs can be relatively moved with respect to the blade portion 10 to a position behind D1b the front end portion of the blade portion 10. When the relative retraction amount of the antenna portion 31 becomes equal to or greater than the threshold value, it can be determined that in the front-rear direction D1, the fruit stalk Fs is at a position where the fruit stalk Fs can be more surely cut within the cutting possible range P1. Therefore, the harvesting device 100 can more surely cut the fruit stalk Fs with the blade portion 10 and separate the fruit F from the branch B of the fruit tree.

[0061] However, the above example does not exclude a configuration in which the cutting of the fruit stalk Fs by the blade portion 10 is not based on the relative retraction amount of the antenna portion 31. For example, when the control portion 300 detects the relative retraction of the antenna portion 31, (even if the retraction amount is less than the threshold value,) the fruit stalk Fs may be cut with the blade portion 10.

[0062] Next, the antenna portion 31 has a support member 311 and a contact portion 312. The support member 311 extends in the vertical direction D3 and supports the contact portion 312. The contact portion 312 is disposed forward D1a of the support member 311 and, for example, protrudes forward D1a from the front surface of the support member 311. Further, the contact portion 312 extends in the left-right direction D2 and can come into contact with the fruit stalk Fs. In the present embodiment, the position of the fruit stalk Fs is detected by the contact between the contact portion 312 and the fruit stalk Fs. That is, when the blade portion 10 and the antenna portion 31 move forward, the contact portion 312 comes into contact with an object such as the fruit stalk Fs. Thereby, the antenna portion 31 stops and relatively retracts with respect to the blade portion 10. Note that the contact portion 312 is integral with the support member 311 in the present embodiment, but is not limited to this example and may be separate from the support member 311.

[0063] Preferably, in the left - right direction D2, the length of the contact portion 312 is wider than the length of the support member 311. For example, in the present embodiment, when viewed from the up - down direction D3, the contact portion 312 widens in the left - right direction D2 as it goes toward the front D1a. That is, in the left - right direction D2, the length of the front end portion of the contact portion 312 is wider than the length of the rear end portion (i.e., the base end portion). By doing so, while the antenna portion 31 can sufficiently widen the length of the contact portion 312 in the left - right direction D2, the length of the support member 311 in the left - right direction D2 can be made narrower to be slim. Therefore, the first detection unit 3 can make the antenna portion 31 compact. However, this example does not exclude a configuration in which the length of the contact portion 312 in the left - right direction D2 is less than or equal to the length of the support member 311.

[0064] The antenna portion 31 (particularly the contact portion 312) is disposed on one side of the cutting portion 1 (particularly the blade portion 10) in the up - down direction D3. For example, in the present embodiment, the antenna portion 31 (particularly the contact portion 312) is disposed above D3a the cutting portion 1, but is not limited to this example and may be disposed below D3b the cutting portion 1. By doing so, the harvesting device 100 can prevent contact between the cutting portion 1 (particularly the blade portion 10) and the antenna portion 31. That is, the harvesting device 100 can dispose the antenna portion 31 at a position that does not affect the cutting operation of the fruit stalk Fs by the cutting portion 1.

[0065] Preferably, the antenna portion 31 (particularly the contact portion 312) faces the cutting portion 1 (particularly the blade portion 10) with a gap in the up - down direction D3. By doing so, the harvesting device 100 can more reliably prevent contact between the cutting portion 1 (particularly the blade portion 10) and the antenna portion 31. However, this example does not exclude a configuration in which the antenna portion 31 (particularly the contact portion 312) does not face the cutting portion 1 with a gap in the up - down direction D3. For example, in the up - down direction D3, the antenna portion 31 (particularly the contact portion 312) may contact the cutting portion 1 (particularly the blade portion 10) to such an extent that it does not affect the cutting operation of the cutting portion 1.

[0066] Also, the length (i.e., thickness) of the contact portion 312 in the vertical direction D3 is shorter than the length of the support member 311 in the vertical direction D3 and shorter than the length of the contact portion 312 in the left-right direction D2. For example, the contact portion 312 is thinned to about 1 mm. In this way, the antenna portion 31 can contact the fruit stalk Fs in a narrow area in the vertical direction D3. Even if the fruit stalk Fs contacts the end portion (the upper end portion in this embodiment) on the side opposite to the blade portion 10 in the vertical direction D3 of the contact portion 312, the probability that the fruit stalk Fs in contact with the contact portion 312 in the front-rear direction D1 is within the cuttable range P1 is high. Therefore, the harvesting device 100 can improve the cutting success rate of the fruit stalk Fs.

[0067] Preferably, in the vertical direction D3, the contact portion 312 is disposed on the side of the blade portion 10 on the front surface of the antenna portion 31. More preferably, the contact portion 312 is disposed at the end portion (the lower end portion in this embodiment) on the side of the blade portion 10 in the vertical direction D3 on the front surface of the antenna portion 31. In this way, the contact portion 312 can contact the fruit stalk Fs at a position closer to the blade portion 10 in the vertical direction D3. Therefore, the probability that the fruit stalk Fs in contact with the contact portion 312 in the front-rear direction D1 is within the cuttable range P1 is even higher. Thus, the harvesting device 100 can further improve the cutting success rate of the fruit stalk Fs. However, this example does not exclude a configuration in which the contact portion 312 is disposed at a position away from the blade portion 10 in the vertical direction D3. For example, the contact portion 312 may be disposed at the central portion in the vertical direction D3 on the front surface of the antenna portion 31, or may be disposed at the end portion (for example, the upper end portion in this embodiment) on the side opposite to the blade portion 10 on the front surface of the antenna portion 31.

[0068] Further, at least a part of the antenna unit 31 (particularly the contact portion 312) is disposed at a position overlapping the scissor portion (e.g., the blade portion 10 of the cutting portion 1) in a top view, and is disposed, for example, between the right blade portion 111 and the left blade portion 121 when viewed from the vertical direction D3. In this way, if the fruit stalk Fs is between the right blade portion 111 and the left blade portion 121 in the left-right direction D2, the antenna unit 31 relatively retreats due to contact with the fruit stalk Fs. Therefore, the control unit 300 can accurately detect that the fruit stalk Fs is in the cuttable range P1 between the right blade portion 111 and the left blade portion 121 by detecting the relative retreat amount of the antenna unit 31.

[0069] Preferably, the right end portion of the antenna unit 31 (particularly the contact portion 312) is disposed to the left D2a of the right cutting member 11. Also preferably, the left end portion of the antenna unit 31 (particularly the contact portion 312) is disposed to the right D2b of the left cutting member 12. That is, the right end portion of the antenna unit 31 (the contact portion 312 thereof) does not protrude outside the right cutting member 11 in the left-right direction D2 (i.e., the non-cuttable range P2b on the right D2b side). Also, the left end portion of the antenna unit 31 (the contact portion 312 thereof) does not protrude outside the left cutting member 12 in the left-right direction D2 (i.e., the non-cuttable range P2a on the left D2a side).

[0070] Note that the non-cutting ranges P2a and P2b are position ranges where cutting by the blade part 10 is not possible, and are located on the opposite side of the cutting possible range P1 in the left-right direction D2 of the cutting part 1. For example, the non-cutting range P2a on the left side D2a is located on the left side D2a of the left blade part 121 (specifically, the part covering the left side surface of the left blade part 121 among the blade cover members 13). In other words, it is located on the opposite side of the cutting possible range P1 in the left-right direction D2 with the left blade part 121 (specifically, the part covering the left side surface of the left blade part 121 among the blade cover members 13) in between. Also, the non-cutting range P2b on the right side D2b is located on the right side D2b of the right blade part 111 (specifically, the part covering the right side surface of the right blade part 111 among the blade cover members 13). In other words, it is located on the opposite side of the cutting possible range P1 in the left-right direction D2 with the right blade part 111 (specifically, the part covering the right side surface of the right blade part 111 among the blade cover members 13) in between. Hereinafter, the non-cutting range P2a on the left side D2a and the non-cutting range P2b on the right side D2b may be collectively referred to as the "non-cutting range P2".

[0071] For example, even if the blade part 10 approaches the fruit stalk Fs, if the fruit stalk Fs is in the above-described non-cutting ranges P2a and P2b, the antenna part 31 does not come into contact with the fruit stalk Fs, and thus does not move backward relatively. Therefore, even if the blade part 10 and the antenna part 31 are advanced sufficiently, if no relative backward movement of the antenna part 31 is detected, the control part 300 can determine that the fruit stalk Fs is not between the right blade part 111 and the left blade part 121. Therefore, the harvesting device 100 can, under the control of the control part 300, after returning the blade part 10 and the first detection part 3 backward to D1b, change the position of the blade part 10 in the left-right direction D2 and perform cutting of the fruit stalk Fs again.

[0072] However, the above examples do not exclude a configuration in which the right end part of the antenna part 31 (particularly the contact part 312) is not arranged on the left side D2a of the right cutting member 11, nor do they exclude a configuration in which the left end part of the antenna part 31 (particularly the contact part 312) is not arranged on the right side D2b of the left cutting member 12. For example, the right end part may be arranged on the right side D2b of the right cutting member 11. The left end part may be arranged on the left side D2a of the left cutting member 12.

[0073] Also, the exemplification of this embodiment does not exclude the configuration in which the antenna unit 31 does not have the contact portion 312. That is, the contact portion 312 may be omitted. In this case, the position of the fruit stalk Fs is detected by the contact between the support member 311 and the fruit stalk Fs. That is, when the blade unit 10 and the antenna unit 31 move forward, the support member 311 contacts an object such as the fruit stalk Fs, so that the antenna unit 31 stops and moves backward relative to the blade unit 10.

[0074] <1-4. Operating Example of Harvesting Device 100> Next, an operating example of the harvesting device 100 will be described.

[0075] First, the control unit 300 determines the fruit F to be harvested from the imaging data of the imaging unit 102, and moves the robot device on which the harvesting device 100 is mounted to the front of the fruit F.

[0076] Next, the control unit 300 calculates the rough three-dimensional positions of the fruit F and the fruit stalk Fs that supports the fruit F based on the imaging data in which the fruit F to be harvested and the fruit stalk Fs are reflected. Then, the control unit 300 moves the harvesting device 100 based on the calculation result. As a result, the control unit 300 positions the fruit stalk Fs in front of and in the vicinity of the cutting unit 1 (D1a in front), and positions the fruit F in front of and in the vicinity of the holding unit 4 (particularly the suction holes 441) (D1a in front). Then, the control unit 300 drives the suction pump 42 to suck and hold the fruit F with the holding unit 4. Here, the vicinity means that the blade unit 10 and the antenna unit 31 moving forward to D1a can reach the fruit stalk Fs sufficiently, and is close enough to hold the fruit F with the holding unit 4.

[0077] Next, the control unit 300 moves the blade part 10 of the cutting part 1 and the antenna part 31 of the first detection part 3 forward by D1a using the moving mechanism 2. As described above, the cutting part 1 and the first detection part 3 can swing in the vertical direction D3 around the axis J1 and can also swing in the vertical direction D3 around the axis J2. Therefore, even if the front end of the advancing cutting part 1 abuts against the fruit F, it can advance following the surface of the fruit F. The control unit 300 detects the presence or absence of relative retraction of the antenna part 31 and the amount of such retraction based on the detection result of the sensor 34, and thereby determines whether the fruit stalk Fs is within the cuttable range P1.

[0078] Here, if the control unit 300 determines that the fruit stalk Fs is not within the cuttable range P1 even when the forward movement amounts of the blade part 10 and the antenna part 31 reach a preset distance or more, the control unit 300 retracts the blade part 10 and the antenna part 31. Further, the control unit 300 captures the fruit stalk Fs again with the imaging unit 102, and calculates the rough three-dimensional position of the fruit stalk Fs again based on the captured data. Thereafter, the control unit 300 moves the harvesting device 100 based on the calculation result so that the fruit stalk Fs is more accurately positioned in front of and in the vicinity of the cutting part 1. Then, the control unit 300 moves the blade part 10 and the antenna part 31 forward by D1a again, and re-determines whether the fruit stalk Fs is within the cuttable range P1. The above-described operations are repeatedly executed until it is determined that the fruit stalk Fs is within the cuttable range P1. Alternatively, when the number of repetitions reaches a preset number, the control unit 300 may change the harvesting target to another fruit F, or may stop the harvesting process by notifying an error by a warning sound or a warning display. Also, during the above-described operations, the fruit F may remain held by the holding part 4, or the holding may be temporarily stopped.

[0079] On the other hand, when the control unit 300 determines that the fruit stalk Fs is within the cuttable range P1, it cuts the fruit stalk Fs with the blade part 10. The robot device, for example, moves the harvesting device 100 directly above the harvesting basket and accommodates the fruit F separated from the branch B of the fruit tree in the harvesting basket. Then, the robot device changes the harvesting target to another fruit F and continues the harvesting operation.

[0080] Note that the above harvesting process ends, for example, when all the fruits F have been harvested or when the control unit 300 receives a harvesting end command.

[0081] <2. Second Embodiment> Next, referring to FIGS. 7 and 8, the second embodiment will be described. FIG. 7 is an enlarged top view of the vicinity of the cutting unit 1 in the second embodiment. FIG. 8 is a block diagram showing a configuration example of the control system of the harvesting device 100 according to the second embodiment. In the second embodiment, a configuration different from that of the first embodiment will be described. Also, the same reference numerals are given to the same components as those in the first embodiment, and the description thereof may be omitted. Further, the second embodiment can be arbitrarily combined with at least a part of the configuration of the first embodiment as long as there is no particular contradiction.

[0082] In the second embodiment, the harvesting device 100 further includes a second detection unit 5. The second detection unit 5 is a component for detecting that there is a fruit stalk Fs in the non-cuttable range P2, and transmits an output signal indicating the detection result to the control unit 300. The second detection unit 5 includes a right detection unit 51 and a left detection unit 52. The right detection unit 51 is a component for detecting that there is a fruit stalk Fs in the non-cuttable range P2b on the right D2b side. The left detection unit 52 is a component for detecting that there is a fruit stalk Fs in the non-cuttable range P2a on the left D2a side. The right detection unit 51 and the left detection unit 52 each output an output signal indicating the detection result to the control unit 300.

[0083] In the harvesting device 100 according to the second embodiment, if there is a fruit stalk Fs in the non-cuttable range P2, the second detection unit 5 can detect the fruit stalk Fs. For example, if there is a fruit stalk Fs in the non-cuttable range P2b on the right D2b side, the right detection unit 51 can detect the fruit stalk Fs. Also, if there is a fruit stalk Fs in the non-cuttable range P2a on the left D2a side, the left detection unit 52 can detect the fruit stalk Fs. Therefore, if there is no fruit stalk Fs in the cuttable range P1, the harvesting device 100 can quickly change the position of the blade portion 10 in the left-right direction D2 and perform the cutting of the fruit stalk Fs again.

[0084] In the second embodiment, the configurations of the right detection unit 51 and the left detection unit 52 are the same as those of the first detection unit 3, respectively. However, the present invention is not limited to this example, and the configuration of at least one of the right detection unit 51 and the left detection unit 52 may be different from that of the first detection unit 3 as long as it can detect that the fruit stalk Fs is in the non-cuttable range P2.

[0085] Also, in the harvesting device 100 according to the second embodiment, the second detection unit 5 includes both the right detection unit 51 and the left detection unit 52. However, the present invention is not limited to this example, and the second detection unit 5 may be configured to include either the right detection unit 51 or the left detection unit 52, that is, it may be configured not to include the other.

[0086] <3. Third Embodiment> Next, the third embodiment will be described with reference to FIGS. 9 to 13 and the like. FIG. 9 is a perspective view showing a configuration example of the cutting unit 1 and the tip of the moving mechanism 2 in the third embodiment. FIG. 10 is a cross-sectional view showing a connection structure example of the hinge 26 and the arm 252 in the third embodiment. FIG. 11 is an enlarged top view of the vicinity of the cutting unit 1 in the third embodiment. FIG. 12 is an enlarged bottom view of the vicinity of the cutting unit 1 in the third embodiment. FIG. 13 is a block diagram showing a configuration example of the control system of the harvesting device 100 according to the third embodiment. Note that FIG. 10 shows a cross-sectional structure when the harvesting device 100 is cut along a virtual cross-section including the two-dot chain line X-X and the axis J2 in FIG. 9.

[0087] In the third embodiment, a configuration different from that of the first and second embodiments will be described. Also, the same reference numerals are given to the same components as those in the first and second embodiments, and the description thereof may be omitted. Further, the third embodiment can be arbitrarily combined with at least a part of the configurations of the first and second embodiments as long as there is no particular contradiction.

[0088] In the third embodiment, the cutting unit 1 and the first detection unit 3 are movable in the left - right direction D2 in response to an external force acting on at least one of the right blade portion 111 and the left blade portion 121. Further, the control unit 300 of the harvesting device 100 detects whether the shearing portion (that is, between the right blade portion 111 and the left blade portion 121) is closed based on the detection result of the third detection unit 6. Thereby, the control unit 300 detects whether the fruit stalk Fs has been cut by the cutting unit 1.

[0089] <3 - 1. Movement of the cutting unit 1 in the left - right direction D2> As shown in FIGS. 9 to 12, in the harvesting device 100 of the third embodiment, the cutting unit 1 is movable in the left - right direction D2 (that is, the width direction of the cutting unit 1) with respect to the moving mechanism 2.

[0090] For example, when the fruit stalk Fs within the cut - able range P1 is located on the end - side in the left - right direction D2 of the cut - able range P1, it may abut against the tip - side (front D1a - side) of the blade portion 10 and bite in. When the moving mechanism 2 moves the cutting unit 1 forward in the D1a direction in this state, the fruit stalk Fs may move forward in the D1a direction together with the blade portion 10 while biting into the tip of the blade portion 10 and may not abut against the antenna portion 31 of the first detection unit 3.

[0091] To avoid such a state, in the third embodiment, when the fruit stalk Fs located on the end - side in the left - right direction D2 of the cut - able range P1 abuts against the inner - side in the left - right direction D2 of the blade portion 10, the cutting unit 1 moves outward in the left - right direction D2 in response to the external force acting on the blade portion 10 from the fruit stalk Fs. In this way, when the harvesting device 100 moves the cutting unit 1 forward in the D1a direction, it can prevent the fruit stalk Fs from biting into the blade portion 10 and can surely bring the fruit stalk Fs into contact with the antenna portion 31 of the first detection unit 3.

[0092] At this time, preferably, the cutting unit 1 and the first detection unit 3 (especially the antenna portion 31) are both movable in the left - right direction D2 (that is, the width direction of the cutting unit 1). Thereby, the fruit stalk Fs can be brought into contact with the antenna portion 31 more surely.

[0093] For example, the moving mechanism 2 of the third embodiment has a movable mechanism 27 in addition to the rod 21, the guide member 22, the drive unit 23, the bracket 24, and the arm hinge 25, and preferably further has a restoring mechanism 28.

[0094] <3-1-1. Movable mechanism 27> The movable mechanism 27 movably connects the cutting portion 1 and the first detection member to the tip of the arm 252 in the left-right direction D2 and rotatably about the rotation axis J3. The movable mechanism 27 has a hinge 271, a shaft member 272, and a cylindrical bush 273.

[0095] The hinge 271 is a holding member that holds the cutting portion 1 and the first detection unit 3 and is aligned with the arm 252 in the left-right direction D2 (the width direction of the cutting portion 1). The arm 252 supports the hinge 271 together with the cutting portion 1 and the first detection unit 3 so as to be movable in the left-right direction D2 (the width direction of the cutting portion 1). In other words, the hinge 271 is rotatable in the up-down direction D3 with respect to the arm 252 together with the cutting portion 1 and the first detection unit 3. Note that the up-down direction D3 is a direction perpendicular to the front-rear direction D1 and the left-right direction D2 (the width direction of the cutting portion 1).

[0096] Further, the hinge 271 is rotatable about the rotation axis J3 together with the cutting portion 1 and the first detection unit 3. The rotation axis J3 extends in the left-right direction D2 through the front end portion of each arm 252 and the inside of a cylindrical portion 2711 (described later) of the hinge 271. That is, the cutting portion 1 and the first detection unit 3 are rotatable about the rotation axis J3 parallel to the left-right direction D2 (the width direction of the cutting portion 1). In this way, even when the cutting portion 1 abuts on the fruit F when moving forward to D1a, the hinge 271 rotates together with the cutting portion 1, so that the tip of the cutting portion 1 can be moved in the up-down direction D3 along the surface of the fruit F.

[0097] The hinge 271 has a cylindrical portion 2711 and a connecting portion 2712. The cylindrical portion 2711 is cylindrical and extends in the left - right direction D2 about the rotation axis J3, and is arranged at a distance from the front - end portions of the pair of left - and - right arms 252 between the front - end portions of the pair of left - and - right arms 252. The connecting portion 2712 projects from the outer surface of the cylindrical portion 2711 toward the cutting portion 1 and is connected to the cutting portion 1. Further, a guide hole 261 is arranged in the connecting portion 2712. The guide hole 2713 penetrates the connecting portion 2712 in its thickness direction (for example, the front - rear direction D1). The rod 32 of the first detection portion 3 is inserted into the guide hole 2713. Thereby, the connecting portion 2712 supports the rod 32 so as to be movable in its thickness direction (for example, the front - rear direction D1).

[0098] The shaft member 272 extends in the left - right direction D2 along the rotation axis J3 and is supported by the front - end portions of the pair of left - and - right arms 252. The shaft member 272 is surrounded by the cylindrical portion 2711 and the bush 273, that is, is inserted into the inside of the cylindrical portion 2711 and the bush 273.

[0099] The bush 273 is cylindrical and extends in the left - right direction D2 about the rotation axis J3, and is arranged between the inner surface of the cylindrical portion 2711 and the outer surface of the shaft member 272. In the present embodiment, the bush 273 is a bearing that supports the cylindrical portion 2711 so as to be rotatable with respect to the shaft member 272.

[0100] <3 - 1 - 2. Restoration mechanism 28> The restoration mechanism 28 returns the cutting portion 1 that has moved from the reference position to the reference position in the left - right direction D2 (the width direction of the cutting portion 1). In the present embodiment, the above - mentioned reference position is the central portion between the front - end portions of the pair of left - and - right arms 252.

[0101] For example, as shown in FIG. 10 etc., the restoration mechanism 28 has an elastic member 281 and a disk - shaped plate portion 282. The elastic member 281 and the plate portion 282 are arranged between the front - end portion of the arm 252 and the cylindrical portion 2711 of the hinge 271 on both sides in the left - right direction D2 of the cylindrical portion 2711.

[0102] The elastic member 281 is a highly elastic member in the left - right direction D2, surrounds the shaft member 272, and extends in the left - right direction D2. The elastic member 281 returns the hinge 271 that has moved from the reference position in the left - right direction D2 (the width direction of the cutting part 1) to the reference position. In this embodiment, the elastic member 281 is a spring coil. However, the elastic member 281 is not limited to this example. The elastic member 281 may be other than a spring coil, for example, a cylindrical rubber.

[0103] For example, due to an external force acting on the cutting part 1, the cylindrical part 2711 of the movable mechanism 27 moves together with the cutting part 1 from the original reference position to one side in the left - right direction D2. At this time, the elastic member 281 on one side of the cylindrical part 2711 in the left - right direction D2 contracts and biases the cylindrical part 2711 towards the other side in the left - right direction D2 by an elastic force. Therefore, when the external force no longer acts on the cutting part 1, due to the elastic force of the above - mentioned elastic member 281, the cylindrical part 2711 is pushed back towards the other side in the left - right direction D2 together with the cutting part 1. That is, the cutting part 1 held by the cylindrical part 2711 can return to the original reference position.

[0104] The plate part 282 is arranged between the end part of the cylindrical part 2711 in the left - right direction D2 and the elastic member 281 and surrounds the shaft member 272. By the arrangement of the plate part 282, it is possible to prevent the cylindrical part 2711 (and the cutting part 1, etc.) from rotating together with the elastic member 281 due to the torque (the circumferential force centered on the rotation axis J3) acting on the elastic member 281.

[0105] Note that the configuration of the restoration mechanism 28 is not limited to the above example. As long as it is possible to return the cutting part 1 that has moved from the reference position in the left - right direction D2 to the reference position, other configurations may be adopted for the restoration mechanism 28. For example, instead of the elastic force of the elastic member 281, a configuration that utilizes the attractive or repulsive force in the left - right direction D2 between a plurality of magnets may be adopted.

[0106] <3 - 2. Detection of the cutting of the fruit stalk Fs> In addition, the harvesting device 100 of the third embodiment further includes a third detection unit 6 for detecting the cutting of the fruit stalk Fs by the cutting unit 1. Then, based on the detection result of the third detection unit 6, it is detected whether the scissor part (a pair of blade parts 10) of the cutting unit 1 is closed. Thereby, the harvesting device 100 can confirm the cutting of the fruit stalk Fs without checking the video of the imaging unit 102 or the like. Therefore, the harvesting device 100 can harvest the fruit F more reliably.

[0107] For example, as shown in FIG. 9 and the like, the harvesting device 100 has a pair of blade parts 10 that constitute the scissor part and face each other. Further, when the first detection unit 3 detects that there is a fruit stalk Fs within the cuttable range P1, the harvesting device 100 closes the pair of blade parts 10 to cut the fruit stalk Fs. In the third embodiment, by utilizing this operation, the cutting of the fruit stalk Fs is confirmed. That is, the third detection unit 6 detects whether the pair of blade parts 10 is closed and outputs the detection result to the control unit 300. Then, based on the detection result of the third detection unit 6, the control unit 300 detects whether the pair of blade parts 10 is closed. Specifically, after the first detection unit 3 detects that there is a fruit stalk Fs within the cuttable range P1, when the control unit 300 detects that the pair of blade parts 10 is closed based on the detection result of the third detection unit 6, it determines that the fruit stalk Fs has been cut. Note that when the control unit 300 does not detect that the pair of blade parts 10 is closed, it determines that the fruit stalk Fs has not been cut.

[0108] Hereinafter, the first to third embodiments of the third detection unit 6 will be described. Note that the first to third embodiments can be arbitrarily combined with at least a part of each other as long as there is no particular contradiction.

[0109] <3-2-1. First Embodiment of the Third Detection Unit 6> In the first embodiment, the third detection unit 6 detects at least one of whether the opposing pair of handle parts 112 and 122 are in contact with each other and whether the opposing blade bodies and opposing bodies (for example, a pair of blade parts 10) of the cutting unit 1 are in contact with each other.

[0110] For example, based on whether or not the space between a pair of handle portions 112 and 122 is closed, it is detected whether or not a pair of blade portions 10 is closed. In configurations such as FIGS. 11 and 12, when the pair of blade portions 10 closes, the pair of handle portions 112 and 122 also closes. That is, the end portion on the right D2b side of the right handle portion 112 contacts the end portion on the left D2a side of the left handle portion 122. In the first embodiment, this operation is utilized to detect whether or not the pair of blade portions 10 is closed (that is, whether or not the fruit stalk Fs is cut).

[0111] For example, as shown in FIGS. 11 and 12, the third detection unit 6 has a pair of electrodes 61 and 62. The electrode 61 is disposed on the right handle portion 112, and in this embodiment, it is disposed at the end portion on the right D2b side of the right handle portion 112. The electrode 62 is disposed on the left handle portion 122 and faces the electrode 62 in the left-right direction D2, and in this embodiment, it is disposed at the end portion on the left D2a side of the left handle portion 122. Note that the arrangement of the electrodes 61 and 62 is not limited to the above example as long as the electrodes 61 and 62 are electrically connected when the pair of handle portions 112 and 122 is closed. For example, the pair of electrodes 61 and 62 may be disposed on the upper D3a side (for example, the upper surface) or the lower D3b side (for example, the lower surface) of the handle portions 112 and 122.

[0112] FIG. 14 is a schematic diagram showing the state of the pair of handle portions 112 and 122 when the pair of blade portions 10 is closed in the first embodiment. When the pair of blade portions 10 closes and the pair of handle portions 112 and 122 closes, the pair of electrodes 61 and 62 contact each other and are electrically connected. That is, the third detection unit 6 detects whether or not the pair of handle portions 112 and 122 are in contact with each other based on the presence or absence of electrical connection between the pair of electrodes 61 and 62, and outputs the detection result to the control unit 300. The control unit 300 detects whether or not the pair of blade portions 10 is closed based on whether or not the pair of handle portions 112 and 122 are in contact with each other (in other words, whether or not the electrodes 61 and 62 are electrically connected).

[0113] Note that, without being limited to the above examples, the electrodes 61 and 62 may be disposed relative to each of the blade portions 10 (see FIG. 15). For example, the electrode 61 may be disposed on the end face of the right blade portion 111 in the vertical direction D3 in a state of being insulated from the right blade portion 111. Further, the electrode 62 facing the electrode 61 may be disposed on the end face of the left blade portion 121 in the vertical direction D3 in a state of being insulated from the left blade portion 121. In this case, the third detection unit 6 detects whether or not the pair of blade portions 10 are in contact with each other, and outputs the detection result to the control unit 300. The control unit 300 detects that the pair of blade portions 10 are closed (that is, the fruit stalk Fs is cut) in response to the detection of the contact between the pair of blade portions 10.

[0114] <3-2-2. Second Embodiment of the Third Detection Unit 6> Note that, without being limited to the examples in the first embodiment, in the cutting unit 1, when the pair of blade portions 10 are closed, the pair of opposing handle portions 112 and 122 may not contact each other. In this case, when the pair of blade portions 10 are closed, the distance between the pair of handle portions 112 and 122 is narrowed to a predetermined value. In the second embodiment, this operation is utilized to detect whether or not the pair of blade portions 10 are closed (that is, whether or not the fruit stalk Fs is cut). For example, the third detection unit 6 detects at least one of the distance between the opposing blade body and the opposing body (for example, the pair of blade portions 10) of the cutting unit 1 and the distance between the pair of handle portions 112 and 122. Note that the above distance may be a linear distance (see FIG. 16) detected by the third detection unit 6, or may be a circumferential angular interval θ (see FIG. 17) centered on the support shaft Js.

[0115] In FIG. 16, the third detection unit 6 of the second embodiment includes a distance measuring sensor 63. The distance measuring sensor 63 is disposed on one of the pair of handle portions 112 and 122, faces a part of the other, detects the distance between the two, and outputs the detection result to the control unit 300. In FIG. 16, the distance measuring sensor 63 is disposed at the left end portion of the left handle portion 122 on the left D2a side, faces a part of the right end portion of the right handle portion 112 on the right D2b side, and detects the linear distance W between the part and the part.

[0116] When the pair of blade portions 10 closes, the linear distance W detected by the distance measuring sensor 63 reaches a predetermined value Ws. That is, in FIG. 16, the third detection unit 6 detects the interval between the pair of handle portions 112 and 122 (that is, the linear distance W), and outputs the detection result to the control unit 300. The control unit 300 detects whether the pair of blade portions 10 has closed based on whether the above-described interval (that is, the linear distance W) has reached the predetermined value Ws. The predetermined value Ws is the linear distance W detected by the distance measuring sensor 63 when the pair of blade portions 10 is sufficiently closed and the fruit stalk Fs is cut.

[0117] Note that the present invention is not limited to the above example. The distance measuring sensor 63 may be disposed on one of the blade portions 10 of the right blade portion 111 and the left blade portion 121, detect the distance between the two relative to a part of the other blade portion 10, and output the detection result to the control unit 300. In this case, the distance measuring sensor 63 of the third detection unit 6 detects the interval between the pair of blade portions 10 (that is, the linear distance), and outputs the detection result to the control unit 300. The control unit 300 detects that the pair of blade portions 10 has closed (that is, the fruit stalk Fs has been cut) in response to detecting that the linear distance detected by the distance measuring sensor 63 has reached a predetermined value (for example, 0).

[0118] Alternatively, the third detection unit 6 of the second embodiment may include an angle sensor 64. For example, the angle sensor 64 detects the circumferential angular interval θ around one of the pivot axes Js between the pair of handle portions 112 and 122 and between the pair of blade portions 10, and outputs the detection result to the control unit 300. Note that the circumferential angular interval θ may be, for example, the difference in the circumferential angle formed by the right end portion on the right D2b side of the right handle portion 112 and the left end portion on the left D2a side of the left handle portion 122 (see FIG. 17), or the difference in the circumferential angle formed by the right end portion on the right D2b side of the right blade portion 111 and the left end portion on the left D2a side of the left blade portion 121. The angle sensor 64 is not particularly limited, and for example, a rotary encoder or the like can be adopted.

[0119] When the pair of blade portions 10 closes, the circumferential angular interval θ detected by the angle sensor 64 reaches a predetermined interval θs. Note that the predetermined interval θs is the circumferential angular interval θ when the pair of blade portions 10 is sufficiently closed and the fruit stalk Fs is cut.

[0120] In FIG. 17, the angle sensor 64 detects the circumferential angular interval θ between a pair of handle portions 112 and 122, and outputs the detection result to the control unit 300. In response to detecting that the circumferential angular interval θ has reached a predetermined interval θs, the control unit 300 detects that the pair of blade portions 10 has closed (that is, the fruit stalk Fs has been cut).

[0121] Note that the present invention is not limited to the above example, and the angle sensor 64 may detect the circumferential angular interval θ between the opposing blade bodies and the opposing body (for example, the pair of blade portions 10) of the cutting portion 1, and output the detection result to the control unit 300. When the angle sensor 64 detects the circumferential angular interval between the pair of blade portions 10, the predetermined interval θs = 0. In this case, in response to detecting that the circumferential angular interval θ has reached a predetermined interval θs (for example, 0 [degree]), the control unit 300 detects that the pair of blade portions 10 has closed (that is, the fruit stalk Fs has been cut).

[0122] Alternatively, the third detection unit 6 may detect the interval between the pair of handle portions 112 and 122 or the interval between the pair of blade portions 10 (linear straight-line distance W, circumferential angular interval θ) from the driving amount of the cutting portion 1 by the driving unit 14. Even in this case, the control unit 300 can detect whether or not the pair of blade portions 10 has closed (that is, whether or not the fruit stalk Fs has been cut) based on the detection result of the third detection unit 6 regarding the above interval.

[0123] <3-2-3. Third Embodiment of the Third Detection Unit 6> Further, whether or not the pair of blade portions 10 has closed may be detected based on an external force acting on at least one of the opposing blade bodies and the opposing body of the cutting portion 1 (for example, at least one of the blade portions 10). For example, when closing the pair of blade portions 10 to cut the fruit stalk Fs, an external force of a predetermined magnitude acts on the blade portion 10 from the fruit stalk Fs. On the other hand, after the fruit stalk Fs has been cut, the external force is significantly and rapidly reduced. Also, when the fruit stalk Fs is not in contact with the blade portion 10, no external force acts on the blade portion 10 from the fruit stalk Fs. In the third embodiment, this operation is utilized to detect whether or not the pair of blade portions 10 has closed (that is, whether or not the fruit stalk Fs has been cut).

[0124] For example, the third detection unit 6 includes a load sensor 65 (see FIG. 13). The load sensor 65 detects an external force directly acting on the blade portion 10 and outputs it to the control unit 300. Alternatively, the load sensor 65 detects the load applied to the drive unit 14 or its increment when driving the blade portion 10 as an external force acting on the blade portion 10 and outputs it to the control unit 300.

[0125] When the external force acting on the blade portion 10 increases to a first predetermined value or more and then changes to a second predetermined value or less that is lower than the first predetermined value, the control unit 300 determines that the fruit stalk Fs has been cut. Normally, since the fruit stalk Fs separates from the blade portion 10 after being cut, no external force acts on the blade portion 10. However, even after the fruit stalk Fs has been cut, a weak external force may act on the blade portion 10 if the end of the cut fruit stalk Fs or the branch B of the fruit tree gets caught on the blade portion 10. Therefore, the second predetermined value may not be zero. However, this example does not exclude a configuration where the second predetermined value is zero.

[0126] Alternatively, the control unit 300 may determine the cutting of the fruit stalk Fs according to the change amount per unit time of the external force detected by the load sensor 65. For example, when a pair of blade portions 10 cut the fruit stalk Fs, the external force acting on the blade portions 10 increases rapidly. On the other hand, after the fruit stalk Fs has been cut, the external force acting on the blade portions 10 decreases rapidly. Therefore, when the external force acting on the blade portions 10 increases to a first predetermined value or more or at a predetermined increase rate or more and then the external force decreases at a predetermined decrease rate or less, the control unit 300 determines that the fruit stalk Fs has been cut.

[0127] <4. Remarks> The embodiments of the present invention have been described above. It should be understood by those skilled in the art that the above-described embodiments are illustrative, and various modifications are possible for the combination of each component and each process, and that they are within the scope of the present invention.

[0128] <5. Summary> Hereinafter, the embodiments described so far will be summarized.

[0129] For example, the harvesting device 100 disclosed in this specification a cutting unit 1 for cutting the fruit stalk Fs, a moving mechanism 2 for moving the cutting unit 1 in the front-rear direction D1 in which the cutting unit 1 approaches and separates from the fruit stalk Fs, a first detection unit 3 for detecting that there is a fruit stalk Fs within the cuttable range P1, a drive unit 14 for moving the cutting unit 1 toward the cuttable range P1 when the first detection unit 3 detects that there is a fruit stalk Fs within the cuttable range P1, and is configured as a first configuration.

[0130] In the harvesting device 100 of the first configuration described above, the first detection unit 3 has an antenna unit 31 that can move forward and backward in the front-rear direction D1 and is brought into contact with the fruit stalk Fs, a biasing member 33 that biases the antenna unit 31 toward one side D1a in the front-rear direction in which it approaches the fruit stalk Fs, and a sensor 34 that detects the amount of backward movement of the antenna unit 31 away from the fruit stalk Fs in the other direction D1b in the front-rear direction with respect to the cutting unit 1, and has the moving mechanism 2 moves the antenna unit 31 in the front-rear direction D1 together with the cutting unit 1, and based on the detection result of the sensor 34, it may be configured to determine whether there is a fruit stalk Fs within the cuttable range P1 in the front-rear direction D1 (second configuration).

[0131] Further, in the harvesting device 100 of the second configuration described above, the antenna unit 31 may be configured to be located on the proximal end side rather than the distal end of the cutting unit 1 when not in contact with the fruit stalk Fs (third configuration).

[0132] Further, in the harvesting device 100 of the second or third configuration, if the amount of movement of the antenna unit 31 in the other direction D1b in the front-rear direction with respect to the cutting unit 1 is equal to or greater than a threshold value, the drive unit 14 may be configured to move the cutting unit 1 toward the cuttable range P1 (fourth configuration).

[0133] Also, the harvesting device 100 having any one of the second to fourth configurations may be configured such that the cutting part 1 has scissor parts 111, 121 (a pair of), at least a part of the antenna part 31 is arranged at a position overlapping the scissor parts 111, 121 in a top view, the drive part 14 may be configured to move the blade part 10 toward the cuttable range P1 (a fifth configuration).

[0134] Also, the harvesting device 100 having any one of the second to fifth configurations may be configured such that the antenna part 31 is configured to face the cutting part 1 with a gap in the vertical direction D3 (a sixth configuration).

[0135] Also, the harvesting device 100 having any one of the second to sixth configurations may be configured such that the antenna part 31 has a contact part 312 extending in the width direction D2 and capable of contacting the fruit stalk Fs, the length of the contact part 312 in the vertical direction D3 may be shorter than the length of the contact part 312 in the width direction D2 (a seventh configuration).

[0136] Also, the harvesting device 100 having any one of the first to seventh configurations may be configured such that the cutting part 1 has a blade part 10, the drive part 14 may be configured to move the blade part 10 toward the cuttable range P1 (an eighth configuration).

[0137] Also, the harvesting device 100 having any one of the first to eighth configurations may be configured such that it further includes a holding part 4 for holding the fruit F supported by the fruit stalk Fs (a ninth configuration).

[0138] Also, the harvesting device 100 having any one of the first to ninth configurations may be configured such that it further includes a second detection part 5 for detecting the presence of the fruit stalk Fs in the non-cuttable range P2, The non-cutting range P2 may be configured (tenth configuration) to be a position range on the opposite side of the cutting range P1 in the width direction D2 of the cutting portion 1.

[0139] Further, the harvesting device 100 having any one of the first to tenth configurations may further include a third detection unit 6 for detecting the cutting of the fruit stalk Fs by the cutting portion 1 (eleventh configuration).

[0140] Further, the harvesting device 100 having the eleventh configuration the cutting portion 1 has scissor portions 111 and 121, and a configuration (twelfth configuration) may be provided in which it is detected whether or not the scissor portions 111 and 121 are closed based on the detection result of the third detection unit 6.

[0141] Further, the harvesting device 100 having the eleventh or twelfth configuration the cutting portion 1 has a blade body with a blade line disposed at an end on the cutting range P1 side in the left-right direction, and an opposing body with ends on the blade body side in the left-right direction facing the blade body, and the third detection unit 6 detects any one of whether or not the end on the cutting range P1 side in the left-right direction of the blade body and the end on the blade body side in the left-right direction of the opposing body are in contact, the distance between the end on the cutting range P1 side in the left-right direction of the blade body and the end on the blade body side in the left-right direction of the opposing body, and an external force acting on at least one of the blade body and the opposing body (thirteenth configuration).

[0142] Further, the harvesting device 100 having any one of the eleventh to thirteenth configurations the cutting portion 1 has a blade body with a blade line disposed at an end on the cutting range P1 side in the left-right direction, and an opposing body with ends on the blade body side in the left-right direction facing the blade line of the blade body From each of the blade body and the opposing body, a pair of handle portions 112, 122 that extend in the other front-rear direction D1b away from the fruit stalk Fs and face each other, have, The third detection unit 6, determines whether or not the pair of handle portions 112, 122 are in contact with each other, the distance between the pair of handle portions 112, 122, and may be configured (14th configuration) to detect either one.

[0143] Further, the harvesting device 100 having any one of the above-described 1st to 14th configurations, the cutting unit 1 may be configured (15th configuration) to be movable in the width direction D2 of the cutting unit 1 with respect to the moving mechanism 2.

[0144] Further, the harvesting device 100 having the 15th configuration, the moving mechanism 2 may further have a restoring mechanism 28 that returns the cutting unit 1 that has moved from the reference position in the width direction D2 of the cutting unit 1 to the reference position (16th configuration).

[0145] Further, the harvesting device 100 having any one of the above-described 1st to 16th configurations, the cutting unit 1 may be configured (17th configuration) to be rotatable about a rotation axis J3 parallel to the width direction D2 of the cutting unit 1.

[0146] Further, the harvesting device 100 having any one of the above-described 1st to 17th configurations, the moving mechanism 2, a holding member 271 that holds the cutting unit 1 and the first detection unit 3, and an arm 252 that is aligned with the holding member 271 in the width direction D2 of the cutting unit 1, have, the arm 252 may be configured (18th configuration) to movably support the holding member 271 in the width direction D2 of the cutting unit 1.

[0147] Further, the harvesting device 100 having the 18th configuration, The moving mechanism 2 may further include an elastic member 281 disposed between the holding member 271 and the arm 252, and configured to return the cutting part 1 that has moved from the reference position in the width direction D2 of the cutting part 1 to the reference position (19th configuration).

[0148] Further, the harvesting device 100 having either the 18th or 19th configuration described above The holding member 271 may be configured to be rotatable with respect to the arm 252 in a direction (for example, the vertical direction D3) perpendicular to the front-rear direction D1 and the width direction D2 of the cutting part 1, together with the cutting part 1 and the first detection part 3 (20th configuration).

Explanation of reference numerals

[0149] 100 ··· Harvesting device, 101 ··· Attachment, 1011 ··· Plate part, 1012 ··· Holder, 1013 ··· Bracket, 102 ··· Imaging part, 103, 103a, 103b ··· Support column, 200 ··· Memory part, 300 ··· Control part, 1 ··· Cutting part, 10 ··· Blade part, 10a ··· Blade line, 11 ··· Right cutting member, 111 ··· Right blade part, 112 ··· Right handle part, 12 ··· Left cutting member, 121 ··· Left blade part, 122 ··· Left handle part, 13 ··· Blade cover member, 14 ··· Driving part, 2 ··· Moving mechanism, 21 ··· Rod, 22 ··· Guide member, 23 ··· Driving part, 24 ··· Bracket, 25 ··· Arm hinge, 251 ··· Bar, 252 ··· Arm, 26 ··· Hinge (holding member), 261 ··· Guide hole, 27 ··· Movable mechanism, 271 ··· Hinge (holding member), 2711 ··· Cylindrical part, 2712 ··· Connection part, 2713 ··· Guide hole, 272 ··· Shaft member, 273 ··· Bush, 28 ··· Restoration mechanism, 281 ··· Elastic member, 282 ··· Plate part, 3 ··· First detection part, 31 ··· Antenna part, 311 ··· Support member, 312 ··· Contact part, 32 ··· Rod, 33 ··· Biasing member, 34 ··· Sensor, 4 ··· Holding part, 41 ··· Pump holder, 42 ··· Suction pump, 43 ··· Pad holder, 44 ··· Adsorbing pad, 441 ··· Adsorbing hole, 5 ··· Second detection part, 51 ··· Right side detection part, 52 ··· Left side detection part, 6 ··· Third detection part, 61 ··· First electrode, 62 ··· Second electrode, 63 ··· Distance measuring sensor, 64 ··· Angle sensor, 65 ··· Load sensor, F ··· Fruit, Fs ··· Fruit stalk, B ··· Branch, Js ··· Support shaft, J1, J2 ··· Shaft, J3 ··· Rotation shaft, P1 ··· Cuttable range, P2, P2a, P2b ··· Uncuttable range, D1 ··· Front-back direction, D1a ··· Front (one side of the front-back direction), D1b ··· Back (the other side of the front-back direction), D2 ··· Left-right direction (width direction of the cutting part 1), D2a ··· Left side (one side of the width direction), D2b ··· Right side (the other side of the width direction), D3 ··· Up-down direction, D3a ··· Upward (one side of the up-down direction), D3b ··· Downward (the other side of the up-down direction)

Claims

1. A cutting part for cutting the stem; A moving mechanism that moves the cutting unit in a front-rear direction toward and away from the stalk; A first detection unit for detecting the presence of a stalk within a cuttable range; A drive unit that moves the cutting unit toward the cutting range when the first detection unit detects that a stalk is present within the cutting range; A harvesting device comprising:

2. The first detection unit is An antenna part that can move forward and backward in the front and rear direction and contacts the stalk; A biasing member biases the antenna part toward one side in the front-rear direction toward the stalk; a sensor for detecting a retreat amount of the antenna part in the other front-rear direction away from the stalk relative to the cutting part; having The moving mechanism moves the antenna unit together with the cutting unit in a front-rear direction, The harvesting device according to claim 1 , wherein it is determined whether or not a stalk is present within the cutting range in the front-rear direction based on the detection result of the sensor.

3. The harvesting device according to claim 2 , wherein the antenna portion is located proximal to the tip of the cutting portion when not in contact with the stalk.

4. The harvesting device according to claim 2 , wherein when a movement amount of the antenna unit in the other of the forward and backward directions relative to the cutting unit is equal to or greater than a threshold value, the drive unit moves the cutting unit toward the cutting range.

5. The cutting unit has a scissors portion, The harvesting device according to claim 2 , wherein at least a portion of the antenna portion is positioned so as to overlap with the scissors portion in a top view.

6. The harvesting device according to claim 2 , wherein the antenna portion faces the cutting portion with a gap therebetween in the vertical direction.

7. The antenna portion has a contact portion extending in the width direction and capable of contacting the stalk, The harvesting device according to claim 2 , wherein a length of the contact portion in a vertical direction is shorter than a length of the contact portion in a width direction.

8. The cutting portion has a blade portion, The harvesting device of claim 1 , wherein the drive unit moves the blade unit toward the cutting range.

9. 10. The harvesting device of claim 1, further comprising a holder for holding a fruit supported by the stem.

10. Further provided is a second detection unit for detecting the presence of a stalk in the non-cuttable range; The harvesting device according to claim 1 , wherein the non-cuttable range is a positional range opposite the cuttable range in the width direction of the cutting portion.

11. The harvesting device according to claim 1 , further comprising a third detector for detecting cutting of the stalk by the cutting section.

12. The cutting unit has a scissors portion, The harvesting device according to claim 11 , wherein whether or not the scissors are closed is detected based on a detection result of the third detection unit.

13. The cutting portion is A blade body having a cutting edge disposed at an end portion on the cutting range side in the left-right direction; an opposing body whose end portion on the blade body side in the left-right direction faces the cutting line of the blade body; having The third detection unit is whether or not an end portion of the blade body on the side of the cutting range in the left-right direction and an end portion of the opposing body on the side of the blade body in the left-right direction come into contact with each other; a distance between an end of the blade body on the cutting range side in the left-right direction and an end of the opposing body on the blade body side in the left-right direction; An external force acting on at least one of the blade body and the opposing body; The harvesting device of claim 11, further comprising:

14. The cutting portion is A blade body having a cutting edge disposed at an end portion on the cutting range side in the left-right direction; an opposing body whose end portion on the blade body side in the left-right direction faces the cutting line of the blade body; A pair of handles extending from the blade body and the opposing body in the other front-rear direction away from the stalk, having The third detection unit is Whether or not the pair of handle portions are in contact with each other; A distance between the pair of handle portions; The harvesting device of claim 11, further comprising:

15. The harvesting device according to claim 1 , wherein the cutting section is movable in a width direction of the cutting section relative to the moving mechanism.

16. The harvesting device according to claim 14 , wherein the movement mechanism further includes a restoring mechanism that returns the cutting portion, which has moved from a reference position in the width direction of the cutting portion, to the reference position.

17. The harvesting device according to claim 1 , wherein the cutting section is rotatable about a rotation axis parallel to a width direction of the cutting section.

18. The moving mechanism includes: a holding member that holds the cutting portion and the first detection portion; an arm aligned with the holding member in the width direction of the cutting portion; having The harvesting device of claim 1 , wherein the arm supports the holding member movably in a width direction of the cutting portion.

19. The harvesting device according to claim 18, wherein the moving mechanism further includes an elastic member disposed between the holding member and the arm, the elastic member returning the cutting portion, which has moved from a reference position in the width direction of the cutting portion, to the reference position.

20. The harvesting device according to claim 18 , wherein the holding member is rotatable, together with the cutting portion and the first detection portion, relative to the arm in a front-rear direction and in a direction perpendicular to a width direction of the cutting portion.

Images