Harvesting method
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO LTD
- Filing Date
- 2025-07-23
- Publication Date
- 2026-06-29
AI Technical Summary
Existing harvesting methods cause damage to fruits due to variations in size and maturity, and fail to stabilize the harvesting process.
A harvesting method using a device equipped with a harvesting mechanism that adjusts to the vertical tilt of the fruit, brings the mechanism closer, and separates the fruit at the abscission layer using retractable members and harvesting rings to minimize damage.
The method allows for stable harvesting while reducing damage to fruits by ensuring separation at the abscission layer, avoiding contact with the calyx and minimizing branch damage.
Smart Images
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Abstract
Description
[Technical Field]
[0001] The present disclosure relates to a harvesting method for harvesting objects such as fruit. [Background technology]
[0002] There is a demand for automation of harvesting of agricultural crops. Conventionally, a harvesting device described in Patent Document 1, for example, is known as an automatic harvesting device.
[0003] FIG. 1 is a schematic diagram of the harvesting device disclosed in Patent Document 1. The harvesting device disclosed in Patent Document 1 is connected to a vacuum pad 95 that adsorbs fruit, and includes a connecting pipe 94 that leads to a vacuum suction device (not shown), and a motor 93 that rotates and vibrates the vacuum pad 95. This harvesting device adsorbs fruit 90 with the vacuum pad 95 and rotates and vibrates the vacuum pad 95 to separate the fruit 90, which has become a branch 92, from the branch 92 at the abscission layer 91. The harvesting device disclosed in Patent Document 1 vacuum-suctions only a portion of the surface of the fruit, which can cause damage such as suction marks remaining on the fruit.
[0004] Therefore, there is a harvesting method using a harvesting device disclosed in Patent Document 2 and the like, which harvests target fruit while suppressing damage to the fruit. [Prior art documents] [Patent documents]
[0005] [Patent Document 1] Japanese Patent Application Publication No. 63-141517 [Patent Document 2] Japanese Patent Application Laid-Open No. 2017-51103 Summary of the Invention [Problem to be solved by the invention]
[0006] However, in the harvesting method disclosed in Patent Document 2, harvesting is carried out uniformly, whereas there is variation in fruit size and maturity, making it impossible to harvest stably.
[0007] The present disclosure aims to provide a harvesting method that suppresses damage and stably harvests target objects. [Means for solving the problem]
[0008] The harvesting method disclosed herein is a harvesting method using a harvesting device equipped with a harvesting mechanism that harvests plants as harvest targets, and includes the steps of determining the vertical tilt of the harvest target relative to the vertical direction from an acquired image of the harvest target, adjusting the angle of the harvesting mechanism relative to the vertical tilt, bringing the harvesting mechanism closer to the harvest target, and separating the harvest target from the plant using the harvesting mechanism. [Effects of the Invention]
[0009] According to the harvesting method of the present disclosure, the target object can be harvested stably while suppressing the occurrence of damage. [Brief explanation of the drawings]
[0010] [Figure 1] Schematic diagram of the harvesting device disclosed in Patent Document 1 [Figure 2] FIG. 1 is a perspective view showing an appearance of a harvesting device according to an embodiment of the present disclosure. [Figure 3] FIG. 3 is a perspective view showing the appearance of only the retraction member shown in FIG. 2; [Figure 4] FIG. 3 is a perspective view showing the harvesting device when the retraction member drive unit shown in FIG. 2 is fully retracted; [Figure 5] FIG. 3 is a perspective view showing the appearance of the upper harvesting ring shown in FIG. [Figure 6] FIG. 3 is a perspective view showing the appearance of the lower harvesting ring shown in FIG. [Figure 7] FIG. 3 is a perspective view showing the appearance of the harvesting device shown in FIG. 2 as seen from the opposite side. [Figure 8] A diagram showing the fruit clusters that are the target of harvesting [Figure 9] Flow diagram showing the operation procedure of the harvesting device to more reliably separate the fruit at the abscission layer. [Figure 10] FIG. 1 is a diagram illustrating the operation of a harvesting device. [Figure 11] FIG. 1 is a diagram illustrating the operation of a harvesting device. [Figure 12] FIG. 1 is a diagram illustrating the operation of a harvesting device. [Figure 13] FIG. 1 is a diagram illustrating the operation of a harvesting device. [Figure 14] FIG. 1 is a diagram illustrating the operation of a harvesting device. [Figure 15] FIG. 1 is a diagram illustrating the operation of a harvesting device. [Figure 16] FIG. 1 is a diagram illustrating the operation of a harvesting device. [Figure 17] FIG. 1 is a diagram illustrating the operation of a harvesting device. [Figure 18] FIG. 1 is a diagram illustrating the operation of a harvesting device. [Figure 19] Flow diagram showing the procedure for realizing rotational vibration of the harvesting mechanism [Figure 20] A diagram showing the phases of vertical and longitudinal vibrations, which are components of rotational vibration. [Figure 21] FIG. 1 is a rear perspective view showing an appearance of a harvesting device according to an embodiment of the present disclosure. [Figure 22A] FIG. 1 is a diagram illustrating the operation of a harvesting device. [Figure 22B] FIG. 1 is a diagram illustrating the operation of a harvesting device. [Figure 23] A flow chart showing the operation procedure of the harvesting device, including a process for detecting the size of the fruit, etc. [Figure 24] A diagram for explaining detection of fruit size [Figure 25] A diagram for explaining detection of fruit inclination [Figure 26] FIG. 10 is a perspective view showing the appearance of a retraction member according to a modified example; DETAILED DESCRIPTION OF THE INVENTION
[0011] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings.
[0012] In the technology disclosed in Patent Document 1, the pulling, twisting, bending, and other forces exerted by the harvesting device act not only on the abscission layer 91 but also on the entire area from the fruit 90 to the support portion of the branch 92. Therefore, when the fruit 90 has a calyx, such as a tomato, the fruit 90 does not necessarily separate at the abscission layer 91, and there is a possibility that the fruit 90 may separate at the calyx. Fruit 90 such as a tomato with a separated calyx may have reduced commercial value from the standpoint of aesthetic color and difficulty in confirming freshness. Furthermore, when the fruit 90 is difficult to separate at the abscission layer 91, excessive force acts on the branch 92, etc., causing damage to the branch 92, etc. and its support portion. Hereinafter, a harvesting device that can solve these problems will be described.
[0013] Fig. 2 is a perspective view showing the appearance of a harvesting apparatus 100 according to an embodiment of the present disclosure. In Fig. 2, the harvesting apparatus 100 includes a retraction mechanism (i.e., retraction members 1, 2, etc.) for retracting fruits such as tomatoes into the harvesting apparatus 100, harvesting mechanisms (upper harvesting ring 8, lower harvesting ring 9, etc.) for separating the fruits at the abscission layer rather than at the calyx, and a control device (not shown). The control device controls various operations of the harvesting apparatus 100.
[0014] In the following description, the up-down direction is the direction parallel to gravity, the down direction is the direction in which the Earth's gravity pulls on the fruit, and the up direction is the direction opposite to the down direction. Furthermore, the front-to-rear direction is the direction in which the fruit approaches or moves away from the harvester 100, with the front direction being the direction in which the harvester 100 approaches the fruit and the rear direction being the direction in which the harvester 100 moves away from the fruit.
[0015] The harvesting target of the harvesting device 100 is fruit or the like growing on a branch. More specifically, it is fruit having a peduncle and an abscission layer. Examples of such fruit include tomatoes, strawberries, blueberries, raspberries, etc.
[0016] These fruits often grow in clusters on the branches. Therefore, harvesting device 100 is provided with pulling members 1 and 2 as a mechanism for attracting only specific fruits to harvesting device 100 in order to harvest only the desired fruits.
[0017] 3 is a perspective view showing the appearance of only the retraction members 1 and 2 shown in FIG. 2. The retraction members 1 and 2 are elastic members. The retraction members 1 and 2 have rectangular parallelepiped straight portions 1s and 2s, arc portions 1a and 2a provided at one end of the straight portions 1s and 2s, and fixed ends 1b and 2b provided at the other end of the straight portions 1s and 2s, respectively, forming a J shape. The retraction members 1 and 2 are arranged in pairs in a U shape. Note that only the arc portions 1a and 2a of the retraction members 1 and 2 may be elastic members.
[0018] Referring again to Figure 2, the retraction member holder 3 has linear groove structures 3a on both sides. The groove structures 3a slidably hold the retraction members 1 and 2, and allow the arcuate portions 1a and 2a of the retraction members 1 and 2 to retract or protrude by elastic deformation.
[0019] The retracting member driving unit 4 is a mechanism that holds the fixed ends 1b, 2b of the retracting members 1, 2 and drives the retracting members 1, 2. A rack 4a is formed in a central portion of the retracting member driving unit 4. The retracting member driving unit 4 also has a recess 4b.
[0020] The drive unit guide 7 holds the retracting member drive unit 4 so that it can move linearly via the recess 4b of the retracting member drive unit 4. As shown in Figure 4, the retracting member holder 3 is supported on the surface of the drive unit guide 7 by a pin 10, and is linearly movable within the range allowed by the pin groove 3b.
[0021] A retraction motor 5 is mounted on the drive unit guide 7. A pinion 6 is connected to the rotating shaft of the retraction motor 5, and the pinion 6 is engaged with a rack 4a. When the retraction motor 5 rotates, the pinion 6 rotates, and the retraction member drive unit 4 moves linearly relative to the drive unit guide 7. These drive mechanisms drive the retraction member drive unit 4, which enables the arc portions 1a, 2a of the pair of retraction members 1, 2 to retract the desired fruit in a direction away from the branch.
[0022] As shown in Figure 4, when the retraction member drive unit 4 is moved all the way back, the arc sections 1a and 2a of the retraction members 1 and 2 are elastically deformed into a substantially flat plate shape and are housed within the groove structure 3a. Also, as shown in Figure 2, when the retraction member drive unit 4 is moved all the way forward, the arc sections 1a and 2a of the retraction members 1 and 2 elastically recover to their free arc shape, and their tips approach each other.
[0023] The upper harvesting ring 8 (see FIG. 5) and the lower harvesting ring 9 (see FIG. 6) disposed vertically below it are mechanisms for harvesting the desired fruits that have been retracted by the retraction members 1 and 2.
[0024] The upper harvesting ring 8 and the lower harvesting ring 9 each have arc sections 8a, 9a (corresponding to ring sections) formed in a roughly semicircular arc. The arc sections 8a, 9a each accommodate fruit inside. Parts of the arc sections 8a, 9a form V-grooves 8b, 9b. The V-grooves 8b, 9b are recessed sections that are recessed downward, and when the upper harvesting ring 8 is placed above the lower harvesting ring 9, the V-groove 8b fits into the V-groove 9b. As shown in Figure 6, the lower harvesting ring 9 is integrally formed with a guide groove 9c. The lower harvesting ring 9 holds the upper harvesting ring 8 so that it can slide linearly along the guide groove 9c.
[0025] The drive unit guide 7 and the lower harvesting ring 9 are connected by a connecting member 12 so that the central axis passing perpendicular to the center of the circle of which the arc portion 8a of the upper harvesting ring 8 is a part, and the central axis passing perpendicular to the center of the circle of which the arc portion 9a of the lower harvesting ring 9 is a part, are approximately parallel to the central axis passing perpendicular to the center of the circle of which the arc-shaped recess 3c of the retraction member holder 3 is a part.
[0026] 7 is a perspective view showing the appearance of the harvesting device 100 of FIG. 2, seen from the opposite side. A cutting motor 11 is fixed to the lower harvesting ring 9 via a motor holder 13. The rotation shaft of the cutting motor 11 is connected to the upper harvesting ring 8 via an arm 14. When the cutting motor 11 rotates, the arm 14 drives the upper harvesting ring 8 to move along the guide groove 9c (see FIG. 6). In other words, the cutting motor 11 moves the upper harvesting ring 8 and the lower harvesting ring 9 relative to each other.
[0027] The base 16 holds the slide base 15 so that it can move linearly. The slide base 15 has a ring-shaped trap ring 15a at its tip.
[0028] The slide motor 17 has a stator fixed to the base 16 and drives the slide base 15 relative to the base 16 by, for example, an arm (not shown). The stator of the pitch motor 18 is fixed to the slide base 15, and the rotor of the pitch motor 18 is connected to the motor holder 13. The pitch motor 18 drives the motor holder 13 in a so-called pitching direction relative to the slide base 15, thereby driving the tips of the upper harvesting ring 8 and the lower harvesting ring 9 in the vertical direction relative to the base 16. This allows the distance between the upper harvesting ring 8 and the lower harvesting ring 9 and the desired fruit to be adjusted.
[0029] Here, a bunch of fruit to be harvested is shown in Figure 8. Here, tomatoes are used as an example of the fruit. Note that some of the calyxes are not shown in Figure 8.
[0030] A cluster 500 branches off from a main stem 60, which is an example of a branch, and multiple fruits grow around a peduncle 53. The fruit 50 has a calyx 51, which is connected to the peduncle 53 via a peduncle 52. The upper part of the peduncle 53 is further connected to the main stem 60. The cluster 500 hangs down from the main stem 60 due to its own weight, etc.
[0031] The abscission layer 54 is a special cell layer formed between the branch and the fruit axis, located midway along the peduncle 52, and is a portion that can be separated relatively easily by pulling force, etc. In addition to the abscission layer 54, there is also an easily separable portion between the fruit 50 and the peduncle 53, the boundary between the calyx 51 and the fruit 50. Therefore, when the fruit 50 is simply pulled, it may separate at the abscission layer 54 or at the calyx 51.
[0032] Next, the operation of the harvesting device 100 for more reliably separating the fruits 50 at the separation layer 54 will be described with reference to Figure 9. Figures 10 to 18 are also diagrams for explaining the operation of the harvesting device 100, and these diagrams will be referred to as appropriate in the description. The desired fruits are the fruits 50.
[0033] First, before the step of harvesting the fruits 50, the harvesting device 100 performs steps S1 to S3, which are processes for enabling only the fruits 50 to be harvested from the densely packed fruit bunches 500.
[0034] In step S1 of Figure 9, as shown in Figure 10, the harvesting device 100 is positioned so that the harvesting mechanism (i.e., the upper harvesting ring 8 and the lower harvesting ring 9) of the harvesting device 100, with the part above the slide base 15 tilted forward, is located between the fruit 50 and the fruit 56 below it. At this time, the arc portions 1a and 2a of the retracting members 1 and 2 shown in Figure 2 etc. are housed in the retracting member holder 3. Then, as shown in Figure 11, the position of the harvesting device 100 is adjusted so that the harvesting mechanism is located between the fruit 50 and the fruit 56 below it.
[0035] In step S2, the harvesting device 100 drives the retraction motor 5 in the forward direction, thereby pushing the retraction member drive unit 4 toward the branch of the fruit 50, as shown in Fig. 12. As a result, the harvesting device 100 causes the retraction members 1 and 2 to protrude toward the branch of the fruit 50, so that the arc portions 1a and 2a surround the fruit 50.
[0036] In step S3, the harvesting device 100 drives the retraction motor 5 in reverse, thereby moving the retraction members 1 and 2 away from the branch of the fruit 50 and retracting the fruit 50 toward the harvesting device 100, as shown in FIG. 13 . More specifically, the harvesting device 100 retracts the fruit 50 by lifting the lower end of the fruit 50 obliquely upward. This creates a gap between the desired fruit 50 and the fruit 56 below. Here, to prevent the sepal 51 from separating from the fruit 50 due to the pulling of the retraction members 1 and 2, the retraction amount is set to, for example, approximately 1 / 4 to 1 / 2 of the diameter of the fruit 50. Note that as the pair of retraction members 1 and 2 continues to retract the fruit 50, the tips of the retraction members 1 and 2 move apart. This is because the arc-shaped portions 1a and 2a of the retraction members 1 and 2 are elastic, as described above.
[0037] The above steps S1 to S3 are the details of the pulling-in process that is carried out before harvesting only the desired fruits 50 from among the densely packed fruit bunches.
[0038] After the pulling step, the harvesting device 100 performs steps S4 to S6, which are the harvesting step.
[0039] In step S4, as shown in Figure 14, the harvesting device 100 drives the pitch motor 18 in reverse rotation to horizontally position the upper part of the forward-tilted slide base 15, thereby inserting the upper harvesting ring 8 and lower harvesting ring 9, which are the harvesting mechanism, between the peduncle 52 and the fruit 50. At this time, as the arc portions 1a and 2a rise, there is a possibility that the arc portions 1a and 2a may come into contact with the peduncle 52 or the peduncle 53 of the fruit 50, but because the arc portions 1a and 2a are made of elastic material and are easily deformed, they will not damage the peduncle 52 or the peduncle 53.
[0040] In step S5, the harvesting device 100 further reverses the rotation of the pitch motor 18 from the state shown in Figure 14, tilting the part above the slide base 15 backward as shown in Figure 15, so that the longitudinal direction of the upper harvesting ring 8 and the longitudinal direction of the lower harvesting ring 9 are approximately parallel to the center line passing through the upper and lower ends of the fruit 50. This causes the harvesting mechanism to reach the peduncle 52 of the fruit 50, and as a result, the V-grooves 8b and 9b are inserted between the peduncle 53 and the calyx 51 as shown in Figure 16.
[0041] In step S6, when the harvesting device 100 drives the severing motor 11, the upper harvesting ring 8 is pulled by the arm 14 along the guide groove 9c (see FIG. 6) as shown in FIG. 17. As a result, the upper harvesting ring 8 pulls the fruit 50, including the caryopsis 51, in a direction (rearward) away from the peduncle 53. As the fruit 50 is pulled, the peduncle 53 is also pulled via the peduncle 52. However, the peduncle 53 comes into contact with the lower harvesting ring 9, and a force pushing the peduncle 53 is generated in the lower harvesting ring 9 in reaction to the pulling force of the upper harvesting ring 8. At this time, because the V-groove 8b is in contact with the caryopsis 51 of the fruit 50, a pulling force acts between the caryopsis 51 and the peduncle 53, pulling them apart. As shown in FIGS. 17 and 18, the peduncle 52 is separated at the abscission layer 54. At this time, no pulling force acts between the fruit 50 and the calyx 51 to separate them, so the calyx 51 does not separate from the fruit 50. Furthermore, during the harvesting process, the harvesting device 100 can avoid direct contact with the fruit 50, thereby preventing damage to the fruit 50.
[0042] Furthermore, by arranging the upper harvesting ring 8 and the lower harvesting ring 9 so that they overlap, and in particular by arranging them so that the V-grooves 8b, 9b fit together, the rotational moment acting on the fruit 50 relative to the stalk 53 in the separation process of step S6 can be reduced, preventing the fruit 50 from rotating away from the lower harvesting ring 9. In addition, it is possible to efficiently apply a pulling force to the abscission layer 54, so separation is almost never occurring anywhere other than the abscission layer 54.
[0043] Furthermore, if the gap between the upper harvesting ring 8 and the lower harvesting ring 9, including the gap between the V-grooves 8b and 9b, is too small, there is a possibility that the petioles of other fruits may become caught, so it is set to, for example, between 0.3 mm and 1 mm.
[0044] The above steps S4 to S6 constitute the harvesting process.
[0045] The harvested fruits 50 with their stems 51 then fall and pass through the trap ring 15a in Figure 2. When the harvesting device 100 is used as a harvesting system, it is desirable to place a container or the like for collecting the harvested fruits 50 below the trap ring 15a.
[0046] In this embodiment, the lower harvesting ring 9 is fixed and the upper harvesting ring 8 is movable. However, the present disclosure is not limited to this configuration. That is, the upper harvesting ring 8 and the lower harvesting ring 9 may be moved relative to each other. For example, the upper harvesting ring 8 may be fixed and the lower harvesting ring 9 may be movable, or both the upper harvesting ring 8 and the lower harvesting ring 9 may be movable. With this configuration, as shown in FIG. 17 , even when another fruit 56 comes into contact with the trap ring 15a, the upper harvesting ring 8 and the lower harvesting ring 9 can be protruded to the right of the paper in FIG. 17 (toward the branches). As a result, the upper harvesting ring 8 and the lower harvesting ring 9 can be easily inserted into the fruit 50. By pulling the upper harvesting ring 8 relative to the lower harvesting ring 9 to the left of the paper in FIG. 17 (away from the branches), the fruit 50 can pass through the trap ring 15a.
[0047] Furthermore, due to the configuration of the upper harvesting ring 8 and the lower harvesting ring 9, a pulling force is more reliably applied to the separation layer 54, making it less likely that the commercial value will be reduced due to factors such as the detachment of the calyx 51 or damage.
[0048] In addition, when the diameter of the target fruit 50 is relatively large, a sufficient pulling force can be applied even without providing the V-grooves 8b and 9b. However, in order to more reliably separate the fruit 50 around the separation layer 54, it is desirable to form the V-grooves 8b and 9b.
[0049] Furthermore, in the harvesting device 100 according to this embodiment, the slide motor 17, pitch motor 18, etc. are provided to set the posture and position relative to the fruit, but an appropriate manipulator arm may also realize these functions.
[0050] In the above embodiment, an example was shown in which the target object, fruit 50, was grown on a branch, but the target object may also be fruit grown on a plant. In this case, the drive mechanism may move lower harvesting ring 9 toward the plant on which the target object is grown, or upper harvesting ring 8 away from the plant on which the target object is grown.
[0051] In the harvesting method of the above embodiment, resistance such as friction can become a problem when inserting the upper harvesting ring 8 and the lower harvesting ring 9 between closely packed fruits. Here, we will explain a method for vibrating the upper harvesting ring 8 and the lower harvesting ring 9 to change the frictional force between them and the fruits 50 to a dynamic frictional state, making insertion easier and reducing the normal force.
[0052] In this case, a specific method for creating a dynamic friction state is to attach an eccentric motor for vibration to a part of the lower harvesting ring 9. By matching the rotation frequency of the eccentric motor to the primary resonance frequency of the mechanical vibration system of the harvesting device 100, it is possible to efficiently obtain amplitude. In addition, depending on the method for attaching the eccentric motor, it is possible to obtain vibration directions such as up and down, front and back, etc.
[0053] The harvester 100 equipped with an eccentric motor selects one of the multiple fruits on a branch as the desired fruit, pulls it away from the branch using the pull-in members 1 and 2, and inserts the harvesting mechanism (i.e., upper harvesting ring 8 and lower harvesting ring 9) below the pulled fruit. At this time, the harvester 100 inserts the harvesting mechanism while vibrating it, thereby solving the above-mentioned friction problem and enabling only the desired fruit to be properly harvested.
[0054] Furthermore, by applying the vibration in a composite wave state, the harvesting device 100 can push up only the desired fruit while smoothly inserting the harvesting mechanism below the desired fruit. For this purpose, the harvesting device 100 introduces rotational vibration that combines vertical and longitudinal vibrations. This rotational vibration has the same vibration frequency in the vertical and longitudinal directions, but is shifted in phase by 90 degrees.
[0055] The harvesting device 100 includes a first step in the step of vibrating the harvesting mechanism, in which the tip of the harvesting mechanism is displaced downward while simultaneously displacing the tip of the harvesting mechanism in a direction toward the branch (i.e., in the opposite direction to the direction away from the branch). The harvesting device 100 also includes a second step in the step of vibrating the harvesting mechanism, in which the tip of the harvesting mechanism is displaced upward while simultaneously displacing the tip of the harvesting mechanism in a direction away from the branch. The harvesting device 100 inserts the harvesting mechanism below the desired fruit in the first step, and then retracts the desired fruit in a direction away from the branch in the second step.
[0056] Figure 19 is a flow diagram showing the procedure for realizing rotational vibration of the harvesting mechanism. Figure 20 is a diagram showing the phases of the vertical and longitudinal vibrations, which are components of the rotational vibration. The thick arrow in the phase diagram of Figure 20 indicates the direction of movement of the tip of the upper harvesting ring 8. The procedure for realizing rotational vibration of the harvesting mechanism will be explained in detail below using Figures 19 and 20. As an initial state before rotational vibration, the positional relationship between the harvesting mechanism of the harvester 100 and the fruits 50 is set to the state shown in Figure 11, and vibration is started from this state. In step S11, the harvester 100 drives the slide base 15 forward by the slide motor 17.
[0057] In step S12, the harvesting device 100 drives the eccentric motor so that the position of the tip of the harvesting mechanism is the maximum forward amplitude position for the forward vibration of the tip of the harvesting mechanism, causing the tip of the harvesting mechanism to start rotational vibration. At this time, for the up-down vibration, the position of the tip of the harvesting mechanism is the intermediate position between the two positions showing the maximum amplitude in the up-down direction.
[0058] In steps S12 and S13, the harvesting device 100 displaces the tip of the harvesting mechanism upward while pulling it back, as shown in Fig. 20(a) and Fig. 20(b), which causes the harvesting mechanism to push up the fruit 50, increasing the frictional force between them and pulling the fruit 50 back.
[0059] In step S13, the position of the tip of the harvesting mechanism in the forward and backward vibrations is the intermediate position between the two positions showing the maximum amplitude in the forward and backward vibrations, and the position of the tip of the harvesting mechanism in the up and down vibrations is the upper position showing the maximum amplitude, which maximizes the frictional force and allows the fruit 50 to be pulled into the device with greater force.
[0060] In step S14, the harvesting mechanism rotates so that the tip of the harvesting mechanism is positioned at the rear position with the maximum amplitude for the forward and backward vibrations, and the tip of the harvesting mechanism is positioned at the intermediate position between the two positions with the maximum amplitude for the up and down vibrations, thereby further drawing the fruit 50 closer to the device.
[0061] In steps S14 and S15, the harvesting device 100 moves the tip of the harvesting mechanism forward and displaces it downward, as shown in Figures 20(c) and 20(d). This displaces the harvesting mechanism downward away from the fruit 50, reducing the friction between the harvesting mechanism and the fruit 50. At the same time, the harvesting mechanism moves forward relative to the fruit 50, causing a relative forward sliding displacement. In other words, the harvesting mechanism is inserted below the fruit 50 by an amount related to the amplitude of vibration while reducing the friction.
[0062] In step S15, the position of the harvesting mechanism tip in the forward / backward vibration direction is the intermediate position between the two positions showing the maximum amplitude in the forward / backward vibration direction, and the position of the harvesting mechanism tip in the upward / downward vibration direction is the downward position showing the maximum amplitude, which makes it easier to insert the harvesting mechanism under the fruit 50.
[0063] In this manner, steps S12 to S15 are repeated until the insertion of the harvesting mechanism is completed (step S16: NO).
[0064] When the insertion of the harvesting mechanism is completed (step S16: YES), in step S17, the harvesting device 100 stops driving the slide motor 17 and the eccentric motor.
[0065] In addition, simultaneously with the vibration, the slide motor 17 drives the slide base 15 forward, so that when the frictional force is large, the fruit 50 is pulled back, and when the frictional force is small, the harvesting mechanism is inserted between the fruit 50 and another fruit 56.
[0066] As mentioned above, it is more efficient to match the frequency of vibrations generated by the eccentric motor with that of the mechanical vibration system, but when the harvesting device 100 has its longitudinal direction in the front-to-rear direction as shown in Figure 2, the vibration frequency in the direction perpendicular to the longitudinal direction tends to decrease. In other words, the vibration frequency in the up-down direction is lower relative to the front-to-rear direction, and the amplitude is larger, which makes it easier to generate vibrations in the up-down direction and pull in the fruit 50.
[0067] As such, since the vibration frequencies in the front-to-back direction and the up-to-down direction generally do not match, when driven by a single motor, the locus of the tip of the thick arrow in the phase diagram of Figure 20 becomes elliptical. On the other hand, the closer the phase diagram is to a perfect circle, the easier it is to pull in the fruit 50. In order to approach a perfect circle, it is effective to match the resonance frequencies in the front-to-back direction and the up-to-down direction. Specifically, by connecting a spring that vibrates in the front-to-back direction behind the eccentric motor in addition to the eccentric motor, the resonance frequencies in the front-to-back direction and the up-to-down direction can be matched.
[0068] The vibrations can be generated by one motor, or two motors can be used to generate vibrations that match the resonant frequencies in each direction, which can produce larger vibrations for each frequency.
[0069] The above-described method discloses a means for harvesting one of multiple plant targets, but in this case, harvesting is carried out uniformly, so it is not possible to stably harvest fruits of different sizes, inclinations, etc.
[0070] Therefore, more stable harvesting can be achieved by performing the following steps before starting the harvesting operation of Fig. 9: detecting the size and inclination of the object; adjusting the angle of the harvesting mechanism relative to the inclination of the object; and adjusting the positional relationship between the harvesting mechanism and the retraction mechanism based on the size of the object. A harvesting device for performing such processing will be described. Fig. 21 is a rear perspective view showing the exterior of harvesting device 200.
[0071] The harvesting device 200 includes an image capturing device and an image processing device (not shown) that detect the size and tilt of an object in addition to the same configuration as the harvesting device 100. The image capturing device captures an image of the object as seen from one of the left and right directions of the harvesting device 200 (directions perpendicular to the up and down directions and the front and back directions).
[0072] The harvesting device 200 includes a drive unit 201 so that the angle of the retraction mechanism, which includes retraction members 1 and 2, a retraction member holder 3, a retraction member drive unit 4, a retraction motor 5, etc., can be changed relative to the vertical direction. The drive unit 201 is equipped with a link bar 202. Link shafts 203 and 204 are inserted into both ends of the link bar 202, respectively. One of the link shafts 204 is inserted into a link drive lever 205. The link drive lever 205 receives power from a drive actuator 207 via a drive shaft 206.
[0073] The other link shaft 203 is fixed to a retraction member mounting portion 208. With this configuration, the retraction mechanism is linked to the retraction member mounting portion 208, which rotates around a swing shaft 209. By utilizing this movement, the relative positional relationship between the retraction mechanism including the retraction members 1 and 2 and the harvesting mechanism including the harvesting rings 8 and 9 can be adjusted.
[0074] Figure 22A shows a state in which the drive actuator 207 of the drive unit 201 is controlled to keep the retraction mechanism and the harvesting mechanism parallel. In contrast, Figure 22B shows a state in which the drive actuator 207 of the drive unit 201 is rotated to rotate the retraction mechanism relative to the harvesting mechanism, thereby reducing the relative distance between the retraction mechanism and the harvesting mechanism. Conversely, it is also possible to increase the relative distance between the retraction mechanism and the harvesting mechanism.
[0075] Next, a harvesting method using the harvesting device 200 will be described in detail with reference to Fig. 23. Fig. 23 is a flow chart showing the operation procedure of the harvesting device, including a step of detecting the size of the fruit and the like.
[0076] First, in step S101 of Fig. 23, the harvesting device 200 uses an image acquisition device and an image processing device to acquire information on the size and inclination of a fruit 50, which is an example of an object to be harvested. Note that the object may be a vegetable other than a fruit. Here, a method for detecting the size and inclination of the fruit 50 will be described with reference to Figs. 24 and 25.
[0077] FIG. 24 shows an example of a method for detecting the size of a fruit 50. The image processing device generates a rectangle 40 in an image of the fruit 50 acquired by an image acquisition device so as to surround the area in which the fruit 50 exists. In this embodiment, the rectangle 40 is configured with left and right sides parallel to the direction of gravity (vertical direction) and top and bottom sides parallel to a horizontal direction perpendicular to the vertical direction, but is not limited to this configuration. The center of the bottom side of the rectangle 40 is regarded as the bottom end 41 of the fruit 50 (hereinafter, sometimes referred to as the "bottom end 41 of the object"). Furthermore, the intersection of the diagonals of the rectangle 40 is regarded as a pseudo-center 42 of the fruit 50 (hereinafter, sometimes referred to as the "center 42 of the object"). In this way, the image processing device acquires information related to the size of the fruit 50.
[0078] FIG. 25 shows an example of a method for detecting the inclination of a fruit 50. The image processing device extracts the area where the fruit 50 exists from an image of the fruit 50 acquired by an image acquisition device, and then obtains a binary image 43 corresponding to the fruit portion based on the color information of the fruit 50. Next, the inclination of the main axis 44 of the binary image 43 is calculated, and this is used as the inclination of the fruit 50 relative to the vertical direction (how the fruit is ripened). At this time, the line connecting the boundary position between the fruit portion and the calyx portion in the binary image 43 and the position corresponding to the center 42 of the fruit 50 is set as the main axis 44. This makes it possible to obtain information on the inclination of the fruit 50 relative to the vertical direction (vertical inclination).
[0079] Returning to the description of Figure 23, next, in step S102, the angle formed by the harvesting mechanism and the retracting mechanism with respect to the vertical tilt of the fruit 50 acquired in step S101 above is adjusted to an angle suitable for harvesting.
[0080] Specifically, the angles of the harvesting mechanism and the retracting mechanism are adjusted so that the upper part of the harvesting mechanism is inserted vertically based on the vertical inclination of the fruit 50 obtained in step S101. This makes it easier to insert the fruit 50 into the harvesting mechanism. In other words, even if the fruit ripens in a variable manner, it can be harvested at an angle appropriate for each fruit, allowing for stable harvesting. The angles of the harvesting mechanism and the retracting mechanism can be adjusted by driving the pitch motor 18 in FIG. 7, as described in the harvesting operation. Note that in this embodiment, the angles of both the harvesting mechanism and the retracting mechanism are adjusted in the same way, but it is also possible to adjust the angle of only the harvesting mechanism without adjusting the angle of the retracting mechanism.
[0081] Ideally, the angle of the harvesting mechanism suitable for harvesting is 90° (i.e., perpendicular) relative to the vertical inclination of the fruit 50 obtained in step S101. However, harvesting is possible even if the angle is not 90°, and stable harvesting is possible by controlling the harvesting device 200 so that the angle of the harvesting mechanism is between 45° and 135° relative to the vertical inclination of the fruit 50. In this embodiment, a state in which the harvesting mechanism is at 90° or between 45° and 135° relative to the vertical inclination of the fruit 50 means a state in which the angle between the vertical inclination of the fruit 50 and the extension direction of the harvesting rings 8 and 9 when viewed from one of the left and right directions is 90° or between 45° and 135°.
[0082] Next, in step S103, the harvesting device 200 adjusts the positional relationship (relative distance) between the harvesting mechanism and the retracting mechanism to a positional relationship suitable for harvesting, based on the size of the fruit 50 acquired in step S101.
[0083] Specifically, based on the information related to the size of the fruit 50 acquired in step S101, namely, the target object lower end 41 and the target object center 42, the positional relationship between the harvesting mechanism and the retracting mechanism is adjusted by rotating the retracting mechanism relative to the harvesting mechanism and adjusting the angle formed between the harvesting mechanism and the retracting mechanism, as shown in Fig. 22B. At this time, the positional relationship is adjusted so that the harvesting mechanism is inserted at a height several millimeters to several tens of millimeters vertically downward from the target object lower end 41, and the retracting mechanism retracts the vicinity of the target object center 42.
[0084] In this embodiment, a mechanism that rotates the retraction mechanism is used as a mechanism for adjusting the positional relationship between the harvesting mechanism and the retraction mechanism, but it is also possible to use, for example, a mechanism that moves the retraction mechanism up and down while maintaining it parallel to the harvesting mechanism.
[0085] By utilizing this mechanism, in the next step S1, the harvesting rings 8, 9 can be inserted at a height several millimeters to several tens of millimeters vertically downward from the bottom end 41 of the fruit 50, and the retracting mechanism can be inserted at the vertical height of the center 42 of the target object. This makes it possible to retract the fruit 50 more stably even if the target objects to be harvested vary in size. In other words, even if the fruit sizes vary, it is possible to insert the retracting mechanism and harvesting mechanism in positions appropriate for each individual fruit, allowing for stable harvesting.
[0086] When inserting harvesting rings 8, 9 below fruit 50, steps S11 to S17 as shown in Fig. 19 may be performed. In this way, harvesting rings 8, 9 can be easily inserted between densely packed objects.
[0087] Thereafter, the processes of steps S2 to S6 are carried out. In this way, objects of various sizes and angles can be harvested continuously and stably.
[0088] <Modification> Here, a modified example of the retraction member will be described.
[0089] Figure 26 is a perspective view showing the appearance of the retraction members 31, 32 according to a modified example. When the arcuate portions 31a, 32a are in their free state (at the start of retraction), a gap δ is provided at the tip of the arcuate portions 31a, 32a. Providing the gap δ has the effect of making it easier to retract only the fruit 50 while avoiding the small pedicels 52 and pedicels 53 shown in Figures 14 to 17. The minimum value of this gap δ is larger than the dimensions of the pedicel, and the maximum value is smaller than the dimensions of the target fruit. Taking a bunch of tomatoes as an example, the gap δ is approximately 5 to 10 mm.
[0090] A harvesting system can also be constructed by mounting the harvesting device 100 on a manipulator arm attached to a mobile carriage. This system allows the mobile carriage to move around the farm and automatically harvest the target crops.
[0091] In the above embodiments, the upper harvesting ring 8 and the lower harvesting ring 9 have been described as having substantially semicircular arc portions 8a and 9a, but the present disclosure is not limited to this. For example, the arc portions of the upper harvesting ring 8 and the lower harvesting ring 9 may not form part of a circle, but may form part of an ellipse or part of a polygon. [Industrial Applicability]
[0092] The harvesting method of the present disclosure can be applied to harvesting various fruits and the like. [Explanation of symbols]
[0093] 1, 2, 31, 32 Retracting members 1a, 2a, 31a, 32a Arc part 1b, 2b fixed end 1s, 2s straight section 3 Retraction member holder 3a groove structure 3b Pin groove 3c Recess 4. Retraction member drive unit 4a Rack 4b Recess 5 Pull-in motor 6 Pinion 7 Drive guide 8 Upper harvesting ring 8a, 9a Arc part 8b, 9b V-groove 9 Lower harvesting ring 9c Guide groove 10 Pin 11 Disconnection motor 12 Coupling member 13 Motor holder 14 Arm 15 Slide base 15a Trap ring 16 Base 17 Slide motor 18 Pitch motor 40 Rectangle 41 Lower end of object (lower end of the object) 42 Center of object (center of the object) 43 Binary image [[ID=*45]]44 Main shaft 50, 56, 90 Fruit 51 Pedicel 52 Stalklet 53 Stalk 54, 91 Abscission layer 60 Main stem 92 Branch 93 Motor 94 Connecting pipe 95 Vacuum pad 100, 200 Harvesting device 201 Drive part 202 Link bar 203, 204 Link shaft 205 Link drive lever 206 Drive shaft 207 Drive actuator 208 Pull-in member mounting part 209 Rocking shaft 500 Cluster Note: There seems to be a formatting issue with the tag [[ID=*45]] in the original text. It's not clear if it's a misprint. I've translated it as it is. If it's an error, please correct it in the original text for a more accurate translation.
Claims
1. In a harvesting method using a harvesting mechanism for harvesting objects that will become plants, A step of adjusting the inclination of the harvesting mechanism based on the inclination of the object, The process of bringing the harvesting mechanism closer to the target object, The process of separating the target object from the plant using the harvesting mechanism, Harvesting methods, including those mentioned above.
2. The harvesting method according to claim 1, wherein the inclination of the object is the inclination of the main axis of the object.
3. The harvesting method according to Claim 1, wherein the manner in which the object is formed is determined from the image of the object obtained.
4. The harvesting method according to claim 1, wherein in the adjustment step, the inclination of the harvesting mechanism with respect to the inclination of the object is adjusted to 45° or more and 135° or less.
5. In the adjustment process described above, the inclination of the harvesting mechanism relative to the inclination of the object is adjusted to 90°. The harvesting method according to claim 4, wherein in the step of bringing the object closer, the harvesting mechanism is inserted into the object in a direction perpendicular to the inclination of the object.
6. The harvesting method according to any one of claims 1 to 5, wherein the object is a tomato.
7. The harvesting method according to claim 6, wherein in the separation step, a pulling force is applied between the calyx and the fruit stalk of the tomato.
8. The harvesting method according to any one of claims 1 to 5, wherein in the step of bringing the object closer, the harvesting mechanism is brought closer to the object based on information about the object determined from the image of the object that was acquired.
9. The harvesting method according to any one of claims 1 to 5, wherein in the adjustment step, the inclination of the harvesting mechanism is adjusted based on information about the object determined from the acquired image of the object.
10. The harvesting method according to claim 8 or 9, wherein the size of the object is recognized by image recognition.
11. A harvesting method for harvesting an object, A step of generating a rectangle that encloses the area where the object exists, A step of harvesting the object based on the rectangle, Harvesting methods, including those mentioned above.
12. Further comprising the step of obtaining the size of the object based on the rectangle, The harvesting method according to claim 11, wherein in the harvesting step, the object is harvested based on the size.
13. Further comprising the step of obtaining the center position of the object based on the rectangle, The harvesting method according to claim 11, wherein in the harvesting step, the object is harvested based on the central position.
14. A step of acquiring an image of the object, A step of generating the rectangle based on the aforementioned image, The harvesting method according to claim 11, further comprising: