Fruit and vegetable harvesting device

Abstract

To provide a fruit and vegetable harvesting device capable of efficiently harvesting multiple fruits and vegetables while suppressing damage and deformation thereof.SOLUTION: A passage route for fruits and vegetables is formed on the inner side of a cylindrical section 10 with a cylindrical shape. A rotating section 20 extends inward toward the passage route from an inner circumferential surface or a tip end portion of the cylindrical section 10. Inside the rotating section 20, a through section 24 which allows fruits and vegetables to pass from a tip side toward a rear end side is formed. A rotation drive section rotates at least the rotating section 20 about a virtual axis O extending in the direction along the passage route. When the rotating section 20 contacts a fruit or vegetable while rotating, it twists the fruit or vegetable supported by its stem relative to the stem. When the rotating section 20 contacts a fruit or vegetable moving toward the rear end side, it deforms toward the rear end side, thereby enlarging the area of the through section 24. The rotating section 20 restores its deformed shape to its original form, thereby reducing the area of the through section 24.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a fruit and vegetable harvesting device used to harvest fruit and vegetables. [Background technology]

[0002] Harvesting of various fruits and vegetables, such as tomatoes, is still often done manually. Therefore, it is desirable to establish a useful technique for improving the harvesting efficiency of fruits and vegetables.

[0003] For example, the fruit harvesting end effector described in Patent Document 1 hooks and tears off the pedicels of fruit taken into a U-shaped metal fitting while the pedicel holder holds down the pedicel of the fruit. Furthermore, the harvesting robot described in Patent Document 2 plucks the fruit by twisting and pulling the harvesting ring as it pushes up along the side of the fruit. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2010-207288 [Patent Document 2] Patent Publication No. 2021-036821 Summary of the Invention [Problem to be solved by the invention]

[0005] As described in Patent Documents 1 and 2, it is difficult to improve harvesting efficiency when picking fruits and vegetables by bringing metal fittings, rings, or the like into contact with the fruits and vegetables. Furthermore, there is a high possibility that the fruits and vegetables will be damaged or deformed when picked with metal fittings, rings, or the like.

[0006] The inventors of the present invention believed that harvesting fruits and vegetables using the suction force of gas could improve harvesting efficiency and reduce damage. However, after repeated trials and careful consideration, the inventors found that if the suction force of gas is too weak, fruits and vegetables cannot be properly suctioned, potentially reducing harvesting accuracy. Furthermore, if the suction force of gas is too strong, although harvesting efficiency improves, fruits and vegetables may be damaged or deformed due to collisions with objects in the suction path. Because fruits and vegetables vary in shape, size, hardness, etc., it is difficult to uniquely determine the appropriate suction force. Furthermore, when plucking individual fruits and vegetables from their supporting stalks (also known as stems, stalks, branches, or stalks), they may not be properly plucked from the stalks unless they are twisted appropriately relative to the stalks. Therefore, a technology is desired that can efficiently harvest multiple fruits and vegetables with individual differences in shape while reducing damage and deformation.

[0007] A typical object of the present disclosure is to provide a fruit and vegetable harvesting device that can efficiently harvest multiple fruits and vegetables while suppressing damage, deformation, and the like. [Means for solving the problem]

[0008] A fruit and vegetable harvesting device provided by a typical embodiment of the present disclosure comprises a tubular member having a passage formed inside for passing fruit and vegetables toward the rear end, the passage being connected to the tip end of a hose which serves as a gas suction path, thereby guiding fruit and vegetables that have passed through the passage to the hose; a rotating unit that extends from the inner surface or tip end of the tubular member toward the inside of the passage and forms a penetration portion on the inside that allows fruit and vegetables to pass from the tip end to the rear end; and a rotation drive unit that rotates at least the rotating unit around an imaginary axis extending in a direction along the passage path, wherein when the rotating unit comes into contact with fruit and vegetables while rotating, it twists the fruit and vegetables supported by a handle relative to the handle, and when it comes into contact with fruit and vegetables moving toward the rear end, it deforms toward the rear end, thereby expanding the area of ​​the penetration portion when the rotating unit is viewed from the direction of the imaginary axis, and by restoring the deformed shape, the area of ​​the penetration portion is reduced.

[0009] According to the fruit and vegetable harvesting device of the present disclosure, multiple fruit and vegetable items can be efficiently harvested while preventing damage, deformation, and the like from occurring. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a perspective view of the fruit and vegetable harvesting device 1 as seen from diagonally above to the right. [Figure 2] FIG. 5 is a perspective view of the take-in mechanism 2 with the cover member 11 (see FIG. 4) removed, as viewed from diagonally above right. [Figure 3] 10 is a front view (viewed from the direction along the imaginary axis O) of the take-in mechanism 2 with the cover member 11 (see FIG. 4) removed. [Figure 4] 4 is a cross-sectional view taken along the line AA in FIG. 3 (a view showing a state in which the cover member 11 is attached). [Figure 5] 1 is a front view of a rotating part 20 (viewed from a direction along an imaginary axis O). [Figure 6] FIG. 2 is a cross-sectional view of the hose 7 taken along a cross section intersecting the path. [Figure 7]10 is a front view (viewed from a direction along an imaginary axis O) of a rotating portion 20A of a first modified example. FIG. [Figure 8] 10 is a front view (viewed from the direction along the imaginary axis O) of a rotating portion 20B of a second modified example. FIG. [Figure 9] 10 is a front view (viewed from the direction along the imaginary axis O) of a rotating portion 20C of a third modified example. FIG. [Figure 10] 13 is a front view (viewed from the direction along the imaginary axis O) of a rotating portion 20D of a fourth modified example. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0011] <Summary> The fruit and vegetable harvesting device exemplified in the present disclosure includes a tubular portion, a rotating portion, and a rotation drive portion. The tubular portion is a cylindrical member. A passageway is formed inside the tubular portion to allow fruit and vegetables to pass toward the rear end. The passageway is connected to the tip end of a hose, which serves as a gas suction path, so that the tubular portion guides fruit and vegetables that have passed through the passageway to the hose. The rotating portion extends from the inner circumferential surface or tip end of the tubular portion toward the inside of the passageway. A through-hole is formed inside the rotating portion, allowing fruit and vegetables to pass from the tip end (front side) to the rear end (rear side). The rotation drive portion rotates at least the rotating portion around an imaginary axis extending in a direction along the passageway. When the rotating portion comes into contact with fruit and vegetables while rotating, it twists the fruit and vegetables supported by the handle relative to the handle. When the rotating portion comes into contact with fruit and vegetables moving toward the rear end, it deforms toward the rear end, thereby expanding the area of ​​the through-hole (i.e., the area of ​​the through-hole when viewed from the direction of the imaginary axis). The rotating portion restores its deformed shape, thereby reducing the area of ​​the penetration portion.

[0012] In the fruit and vegetable harvesting device exemplified in the present disclosure, when fruit and vegetables are not in contact with the rotating part, the area of ​​the penetration portion formed on the rotating part is reduced, and the suction pressure of the gas at the penetration portion is higher than when the area of ​​the penetration portion is increased. Therefore, a high suction pressure is applied to the fruit and vegetables toward the rear end. Therefore, for example, if the size of the fruit and vegetables is large enough to pass through the reduced penetration portion, the high suction pressure may cause the fruit and vegetables to be plucked from the handle, pass through the penetration portion toward the rear end, and be guided into the hose. Furthermore, when fruit and vegetables come into contact with the rotating part, for example, frictional forces generated between the rotating part and the fruit and vegetables may cause the fruit and vegetables to twist relative to the handle. As a result, the fruit and vegetables are more easily plucked from the handle than when the fruit and vegetables are not twisted relative to the handle. Furthermore, when fruit and vegetables come into contact with the rotating part, the rotating part temporarily deforms toward the rear end, expanding the area of ​​the penetration portion, allowing the fruit and vegetables to smoothly pass through the penetration portion toward the rear end. After the fruit or vegetable has passed through the penetration section, the area of ​​the penetration section is reduced by the restoring force of the rotating section, and the suction pressure near the penetration section increases again. Thus, the fruit or vegetable harvesting device of the present disclosure can efficiently harvest multiple fruit or vegetable while minimizing damage, deformation, and the like.

[0013] The configuration of the rotating unit can be selected as appropriate. For example, the rotating unit may be attached to the cylindrical unit. The rotation drive unit may rotate the cylindrical unit around a virtual axis, thereby rotating the rotating unit provided on the cylindrical unit. Alternatively, the rotating unit may be provided separately from the cylindrical unit. In this case, the rotation drive unit may rotate the rotating unit separately from the cylindrical unit, or may rotate both the cylindrical unit and the rotating unit.

[0014] The rotating part may be formed from at least one of silicone and rubber, which have flexibility and shape recovery. In this case, even if the fruit or vegetable comes into contact with the rotating part, the fruit or vegetable is less likely to be damaged or deformed. Furthermore, when the fruit or vegetable comes into contact with the rotating part while it is rotating, the frictional force generated between the rotating part and the fruit or vegetable causes the fruit or vegetable to be twisted appropriately relative to the handle, making it easier to pluck the fruit or vegetable from the handle. Furthermore, when the fruit or vegetable moves away from the rotating part, the shape of the rotating part returns to its original shape, making it easier to reduce the area of ​​the penetration part. This makes it easier to harvest the fruit or vegetable more appropriately.

[0015] However, it is also possible to form the rotating portion from a material other than silicon or rubber and provide the rotating portion with deformability and shape restoration properties. For example, the rotating portion may be formed from urethane or the like.

[0016] The rotating part may have three or more notches extending radially from the center outward to form at least a portion of the through-hole. The inner ends of the three or more notches may be connected to the same connection point or the same through-hole that penetrates the rotating part from the front end to the rear end. In this case, multiple movable pieces that can move forward and backward are arranged adjacent to the connection points or through-holes in the rotating part. Therefore, when fruit or vegetables come into contact with the movable pieces of the rotating part as it rotates, the fruit or vegetables are twisted relative to the handle and the movable pieces deform toward the rear end, allowing the fruit or vegetables to pass through properly toward the rear end. Furthermore, when the fruit or vegetables move away from the movable pieces, the movable pieces restore their shape properly, reducing the area of ​​the through-hole. This makes it easier to harvest the fruit or vegetables properly.

[0017] The multiple cuts provided in the rotating part may be linear or curved. Furthermore, the rotating part may be formed so that the holes penetrating the rotating part in the front-to-rear direction are blocked when the area of ​​the through-holes is reduced. In this case, the inner ends of the three or more cuts may be connected to the same connection point. Furthermore, the through-holes may be holes penetrating the rotating part in the front-to-rear direction even when the area of ​​the through-holes is reduced.

[0018] When the rotating unit is viewed from the direction along the virtual axis, the connection point where the inner ends of the three or more notches are connected, or the center of gravity of the through-hole area, may be spaced apart from the virtual axis. In this case, fruits and vegetables that reach a position on the rotating unit near the virtual axis are also more likely to come into contact with the rotating unit. Furthermore, since the rotating unit is rotated by the rotation drive unit, fruits and vegetables that reach a position on the rotating unit away from the virtual axis are also more likely to come into contact with the rotating rotating unit. As a result, more fruits and vegetables are more likely to be twisted around the handle. This makes it easier for the fruits and vegetables to be harvested more appropriately. Note that when a through-hole is provided in the rotating unit, the center of gravity of the through-hole area indicates the center of gravity when the area of ​​the through-hole is reduced.

[0019] However, when the rotating part is viewed from a direction along the virtual axis, the connection point where the inner ends of the three or more notches are connected or the center of gravity of the through-hole area may coincide with the virtual axis. In this case, the control unit of the fruit and vegetable harvesting apparatus may control the drive of the robot arm described below to move the rotating part to the position of the fruit and vegetable, and may move a portion of the rotating part that is away from the virtual axis to the position of the fruit and vegetable. In this case, more fruit and vegetable will likely come into contact with the rotating part, and more fruit and vegetable will be more likely to be twisted around the handle.

[0020] The inner ends of three or more notches in the rotating part may be connected to the same through-hole. When the rotating part is viewed from the direction along the imaginary axis, the through-hole may be elliptical or polygonal in shape. In this case, the force applied to the produce from the rotating part is more likely to change than when the through-hole is circular in shape when viewed from the direction along the imaginary axis. As a result, the produce is more likely to be twisted more appropriately relative to the handle. This makes it easier to harvest the produce more appropriately. However, the through-hole may also be circular in shape.

[0021] The fruit and vegetable harvesting apparatus may further include a cover member that surrounds and covers the circumferential outside of the rotating part. In this case, branches, leaves, etc. are less likely to come into contact with the outside of the rotating part (the rotating tubular part in the embodiment described below). This reduces the possibility of unnecessary damage to branches, leaves, etc., or of the fruits and vegetables to be harvested being pulled and moved.

[0022] The fruit and vegetable harvesting device may further include a hose and a speed reduction unit. As described above, the hose is connected to the passage inside the tubular portion. The speed reduction unit is disposed inside the hose without blocking the passage inside the hose. The speed reduction unit contacts the fruit and vegetables passing through the hose, thereby reducing the speed at which the fruit and vegetables pass through the hose. In this case, the speed reduction unit reduces the speed at which the fruit and vegetables pass through the hose, thereby appropriately reducing the possibility of damage, deformation, etc. occurring to the fruit and vegetables passing through the hose. Furthermore, because the speed reduction unit does not block the passage inside the hose, the speed reduction unit also prevents a reduction in the suction pressure of the gas in the tubular portion. This makes it easier to harvest the fruit and vegetables more appropriately.

[0023] A suction pressure generating unit that generates a gas suction pressure may be provided at a position on the hose different from the tip connected to the cylindrical portion. In this case, the suction pressure generated by the suction pressure generating unit allows the fruits and vegetables to be harvested appropriately.

[0024] The speed reduction section may be made of a flexible material (e.g., at least one of silicone, rubber, and urethane). In this case, even if the fruit or vegetables come into contact with the speed reduction section, the fruit or vegetables are less likely to be damaged or deformed. The specific structure and number of speed reduction sections can be selected as appropriate. For example, the speed reduction section may be a substantially annular member extending inward from the inner circumferential surface of the hose. A through hole may be formed inside the speed reduction section. Multiple movable pieces may be annularly arranged around the through hole in the speed reduction section. Also, a space may be provided between adjacent movable pieces. In this case, the provision of the speed reduction section makes it difficult for the suction pressure to increase. Therefore, the speed reduction section can reduce the passing speed of the fruit or vegetables by using the movable pieces while suppressing an increase in the passing speed of the fruit or vegetables due to the suction pressure. The speed reduction section may also be a cloth or the like arranged inside the hose. In this case, the speed of the fruit or vegetables is appropriately reduced with a simple configuration.

[0025] The specific method for providing the velocity reduction section on the hose can also be selected as appropriate. For example, when connecting the ends of multiple hoses, the velocity reduction section may be provided at the connection portion of the multiple hoses. In this case, the velocity reduction section can be easily and appropriately provided on the hoses while connecting the multiple hoses.

[0026] The fruit and vegetable harvesting device may further include a robot arm, a camera unit, and a control unit. The robot arm includes an arm unit. The robot arm holds a take-in mechanism including at least a tube unit and a rotating unit on the arm unit. The robot arm moves the take-in mechanism held on the arm unit by driving the arm unit. The camera unit takes images. The control unit may recognize the position of the fruit and vegetable to be harvested based on the image taken by the camera unit, and move the take-in mechanism to the position of the recognized fruit and vegetable by controlling the drive of the robot arm based on the recognized position of the fruit and vegetable. In this case, the take-in mechanism automatically moves to the position of the fruit and vegetable to be harvested without the operator having to move the position of the take-in mechanism themselves. Therefore, the fruit and vegetable can be properly harvested while minimizing an increase in the operator's workload.

[0027] The location where the photographing unit is installed is not particularly limited as long as it is a location where the photographing unit can photograph the fruits and vegetables to be harvested. For example, the photographing unit may be installed near the position where the robot arm is supported, or near the take-in mechanism.

[0028] The photographing unit may include a three-dimensional camera capable of measuring the distance to the subject. In this case, the control unit can easily and appropriately recognize the position of the fruit or vegetable to be harvested based on the distance measured by the three-dimensional camera. This makes it easier to harvest the fruit or vegetable more appropriately.

[0029] The photographing unit may be capable of photographing a color image. The control unit may identify the fruits and vegetables to be harvested from one or more fruits and vegetables shown in the color image based on the color image photographed by the photographing unit. In this case, even if multiple fruits and vegetables are shown in the color image, the fruits and vegetables to be harvested are appropriately identified based on the color image. This makes it easier to harvest the fruits and vegetables appropriately. However, it is also possible to identify the fruits and vegetables to be harvested based on monochrome images, etc.

[0030] A specific method for identifying fruits and vegetables to be harvested based on an image can be selected as appropriate. For example, a mathematical model trained by a machine learning algorithm may be used so that an image is input and an identification result of the fruits and vegetables to be harvested is output. The control unit may input an image captured by the imaging unit into the mathematical model to obtain an identification result output by the mathematical model. In this case, the fruits and vegetables to be harvested can be more accurately and appropriately identified.

[0031] In this disclosure, a case has been exemplified in which a robotic arm moves the take-in mechanism to the vicinity of the fruits and vegetables. However, the configuration for moving the take-in mechanism may be changed. For example, the operator may move the take-in mechanism to the vicinity of the fruits and vegetables. In other words, a take-in mechanism excluding a robotic arm may be used as a fruit and vegetable harvesting device. Even in this case, use of the take-in mechanism exemplified in this disclosure makes it easier to properly harvest the fruits and vegetables.

[0032] Furthermore, other components may be added to the harvesting mechanism exemplified in this disclosure before harvesting fruits and vegetables. For example, a component (such as a cutter) for making it easier to pluck fruits and vegetables from branches may be added near the rotating part. In this case, even fruits and vegetables that are difficult to pluck from branches can be more easily harvested properly.

[0033] <Embodiment> (Schematic configuration) A typical embodiment of the present disclosure will be described below with reference to the drawings. First, with reference to FIG. 1, an example of the configuration of a fruit and vegetable harvesting apparatus 1 according to this embodiment will be described in outline. As an example, the fruit and vegetable harvesting apparatus 1 according to this embodiment is used to harvest a plurality of tomatoes (e.g., cherry tomatoes). However, at least a portion of the techniques exemplified in this disclosure can also be applied to fruit and vegetable harvesting apparatuses that harvest fruits and vegetables other than tomatoes.

[0034] As shown in FIG. 1 , the fruit and vegetable harvesting apparatus 1 of this embodiment includes a take-in mechanism 2, a robot arm 3, a base 4, a camera unit 5, a control unit 6, a hose 7, and a suction pressure generator 8. When the take-in mechanism 2 approaches the fruit and vegetable to be harvested, it plucks (tears) the fruit and vegetable from the handle, takes it into an internal passage, and guides it to the hose 7. The robot arm 3 holds the take-in mechanism 2 and moves it while holding it. The base 4 supports the robot arm 3. The camera unit 5 takes images. As an example, in this embodiment, the camera unit 5 is installed at a predetermined position on the base 4. However, the installation position of the camera unit 5 can be changed as appropriate. For example, the camera unit 5 may be installed on a base unit 9 of the take-in mechanism 2, which will be described later. The control unit 6 controls the fruit and vegetable harvesting apparatus 1. The hose 7 provides a path for moving the fruit and vegetable guided by the take-in mechanism 2 to a harvest collection position. Suction pressure generating unit 8 is connected to hose 7, and generates suction pressure within hose 7 by creating a negative air pressure within hose 7. In other words, hose 7 also functions as a suction path for the gas sucked by suction pressure generating unit 8. Each part will be described in detail below.

[0035] (Capture mechanism) The take-in mechanism 2 of this embodiment will be described with reference to FIGS. 2 to 5. In FIG. 2, the upper side of the page is the upper side of the take-in mechanism 2, the lower side is the lower side of the take-in mechanism 2, the lower left side is the front side (tip side) of the take-in mechanism 2, the upper right side is the rear side (rear end side) of the take-in mechanism 2, the upper left side is the left side of the take-in mechanism 2, and the lower right side is the side of the take-in mechanism. Therefore, in the front view of FIG. 3, the upper side is the upper side of the take-in mechanism 2, the lower side is the lower side of the take-in mechanism 2, the left side is the left side of the take-in mechanism 2, and the right side is the right side of the take-in mechanism 2. In addition, in the cross-sectional view of FIG. 4, the upper side is the upper side of the take-in mechanism 2, the lower side is the lower side of the take-in mechanism 2, the left side is the front side (tip side) of the take-in mechanism 2, and the right side is the rear side (rear end side) of the take-in mechanism 2. 2 and 3, in order to clearly show the configuration of the take-in mechanism 2, a cover member 11 (see FIG. 4), which will be described later, is omitted.

[0036] 2 to 4, the take-in mechanism 2 of the fruit and vegetable harvesting apparatus 1 of this embodiment includes a base section 9, a tube section 10, a rotating section 20, and a rotation drive section 30 (see FIG. 4). The base section 9 holds the tube section 10 and the rotation drive section 30. In this embodiment, the base section 9 is attached to an arm section 50 of the robot arm 3 (see FIG. 1), so that the take-in mechanism 2 is held by the arm section 50.

[0037] The tubular portion 10 is a tubular member. As an example, the tubular portion 10 of this embodiment is formed in a substantially cylindrical shape. A passage is formed inside the tubular portion 10 to allow the fruit or vegetable to pass from the front end to the rear end. As shown in FIG. 4 , the passage inside the tubular portion 10 is connected to the front end of a hose 7, which serves as a gas suction passage. As a result, the fruit or vegetable that has passed through the passage inside the tubular portion 10 is guided to the hose 7.

[0038] The rotating part 20 extends from the tip of the cylindrical part 10 toward the inside of the passage path. In other words, the rotating part 20 extends from the tip of the cylindrical part 10 in a direction approaching an imaginary axis O, which will be described later. The rotating part 20 may also extend from the inner circumferential surface of the cylindrical part 10 (for example, a portion of the inner circumferential surface slightly rearward of the tip) in a direction approaching the imaginary axis O. The rotating part 20 is formed with a through-hole 24 (see FIGS. 2, 4, and 5) that allows fruits and vegetables to pass from the tip to the rear. Details of the rotating part 20 will be described later.

[0039] The rotation drive unit 30 (see FIG. 4 ) rotates at least the rotating unit 20 around a virtual axis O extending in a direction along the path through which the tubular portion 10 passes. As an example, the rotation drive unit 30 of this embodiment rotates the tubular portion 10, to which the rotating unit 20 is attached, around the virtual axis O, thereby rotating the rotating unit 20. In detail, as shown in FIG. 4 , the rotation drive unit 30 of this embodiment includes a pulley 31, a belt 32, and a motor 33. The pulley 31 is held rotatably around an axis parallel to the virtual axis O, which is the rotation center of the rotating unit 20. The motor 33 rotates the pulley 31. The belt 32 is stretched between the outer periphery of the pulley 31 and the outer periphery of the tubular portion 10. Therefore, when the pulley 31 rotates due to the driving force of the motor 33, the rotational force of the pulley 31 is transmitted to the tubular portion 10 via the belt 32, causing the tubular portion 10 to rotate around the virtual axis O. As a result, the rotating part 20 provided on the cylindrical part 10 also rotates around the virtual axis O.

[0040] However, it is also possible to change the configuration for rotating the rotating unit 20. For example, a gear or the like may be used instead of the pulley 31 and the belt 32, so that the driving force of the motor 33 is transmitted to the rotating unit 20. Furthermore, the rotating unit 20 may be formed separately from the cylindrical unit 10. In this case, the rotation drive unit 30 only needs to have at least a mechanism for rotating the rotating unit 20.

[0041] In this embodiment, the rotating unit 20 contacts the fruit or vegetable while being rotated by the rotation drive unit 30, thereby twisting the fruit or vegetable supported by the handle relative to the handle. Furthermore, when the rotating unit 20 contacts the fruit or vegetable moving toward the rear end toward the passage path of the tubular unit 10, the rotating unit 20 deforms toward the rear end. When the rotating unit 20 deforms toward the rear end, the area of ​​the through-hole 24 when viewed from the direction of the imaginary axis O increases. Furthermore, when the fruit or vegetable that was in contact with the rotating unit 20 is released, the shape of the rotating unit 20 returns to its original shape before the fruit or vegetable came into contact. When the shape of the rotating unit 20 returns to its original shape, the area of ​​the through-hole 24 when viewed from the direction of the imaginary axis O decreases, approaching the area before the fruit or vegetable came into contact.

[0042] As described above, when fruit or vegetables are not in contact with the rotating part 20, the area of ​​the through-holes 24 formed in the rotating part 20 is reduced, and the suction pressure of the gas at the through-holes 24 is therefore higher than when the area of ​​the through-holes 24 is increased. Therefore, a high suction pressure is applied to the fruit or vegetables toward the rear end. Therefore, for example, if the size of the fruit or vegetables is large enough to pass through the reduced through-holes 24 (through holes 21, described later in this embodiment), the fruit or vegetables may be plucked from the handle by the high suction pressure, pass through the through-holes 24 toward the rear end, and be guided into the hose. Furthermore, when fruit or vegetables come into contact with the rotating part 20, the fruit or vegetables may be twisted relative to the handle due to, for example, frictional forces generated between the rotating part 20 and the fruit or vegetables. As a result, the fruit or vegetables are more easily plucked from the handle than when the fruit or vegetables are not twisted relative to the handle. Furthermore, when the fruit or vegetable comes into contact with the rotating part 20, the rotating part 20 temporarily deforms toward the rear end, expanding the area of ​​the penetration part 24, allowing the fruit or vegetable to pass smoothly through the penetration part 24 toward the rear end. After the fruit or vegetable passes through the penetration part 24, the restoring force of the rotating part 20 reduces the area of ​​the penetration part 24, causing the suction pressure near the penetration part 24 to rise again. Therefore, the fruit or vegetable harvesting apparatus 1 of this embodiment can efficiently harvest multiple fruit or vegetable pieces while preventing damage, deformation, and the like from occurring.

[0043] The rotating part 20 of this embodiment is formed from at least one of silicone and rubber, which are flexible and have shape-restoring properties. Therefore, even if fruit or vegetables come into contact with the rotating part 20, the fruit or vegetables are less likely to be damaged or deformed. Furthermore, when fruit or vegetables come into contact with the rotating part 20 while it is rotating, the frictional force generated between the rotating part 20 and the fruit or vegetables twists the fruit or vegetables appropriately relative to the handle, making it easier to pluck the fruit or vegetables from the handle. Furthermore, when the fruit or vegetables move away from the rotating part 20, the shape of the rotating part 20 returns to its original shape, making it easier to reduce the area of ​​the penetration part 24. This makes it easier to harvest the fruit or vegetables more appropriately.

[0044] In this embodiment, the rotating part 20 is made of silicon. Even if silicon is ingested into the human body, it is unlikely to have any adverse effects. Therefore, the safety of harvested fruits and vegetables can be more easily ensured.

[0045] FIG. 5 is a front view of the rotating unit 20 of this embodiment as viewed from the tip side (in a direction along the virtual axis O). As shown in FIG. 5, the rotating unit 20 of this embodiment has three or more notches 22 extending radially from the center to the outside when viewed in a direction along the virtual axis O, thereby constituting at least a part of the through-portion 24. Furthermore, a through-hole 21 penetrating from the tip side to the rear end side (i.e., in the front-rear direction) is provided in the central portion of the rotating unit 20 as viewed in a direction along the virtual axis O. The through-hole 21 is a hole that penetrates the rotating unit 20 in the front-rear direction even when the area of ​​the through-portion 24 is minimized. The inner ends of the three or more notches 22 are connected to the same through-hole 21. As a result, the rotating unit 20 has multiple movable pieces 23 that are movable in the front-rear direction and are arranged adjacent to the through-hole 21. In this embodiment, the multiple movable pieces 23 are arranged in a ring shape around the through-hole 21 in the rotating unit 20. Each movable piece 23 is flexible and has shape recovery properties. Therefore, when fruit or vegetables come into contact with the movable pieces 23 of the rotating part 20 while the fruit or vegetables are rotating, the fruit or vegetables are twisted relative to the handle due to frictional forces generated between the movable pieces 23 and the movable pieces 23. Furthermore, the movable pieces 23 deform toward the rear end, expanding the area of ​​the penetration portions 24, allowing the fruit or vegetables to pass through properly to the rear end. Furthermore, when the fruit or vegetables move away from the movable pieces 23, the shape of the movable pieces 23 is properly restored, and the area of ​​the penetration portions 24 is reduced. This makes it easier to harvest the fruit or vegetables properly.

[0046] In this embodiment, when the rotating part 20 is viewed from the direction along the virtual axis O, the center of gravity CD of the region of the through hole 21 to which the inner ends of the three or more notches 22 are connected (in this embodiment, the center of the circular through hole 21) coincides with the virtual axis O. However, as will be described in detail later, the center of gravity CD of the through hole may be spaced apart from the virtual axis O.

[0047] In this embodiment and in the modified examples described below, each of the three or more notches provided in the rotating part is linear. However, the shape of the notches when viewing the rotating part from the direction along the virtual axis O may be curved, etc.

[0048] As shown in Fig. 4, the take-in mechanism 2 of this embodiment further includes a cover member 11 that surrounds and covers at least the outer circumferential surface of the rotating unit 20. Specifically, the cover member 11 of this embodiment surrounds and covers the outer circumferential surface of the components rotated by the rotation drive unit 30 (the tubular unit 10 and the rotating unit 20 provided on the tubular unit 10). This makes it difficult for branches, leaves, etc. to come into contact with the outside of the rotating components. This reduces the possibility of unnecessary damage to branches, leaves, etc., and the possibility that the fruits and vegetables to be harvested will be moved due to the rotation.

[0049] (hose) The configuration of the hose 7 of this embodiment will be described with reference to Figure 6. The hose 7 of this embodiment is flexible. Therefore, even if the position of the take-in mechanism 2 to which the tip of the hose 7 is connected moves, the tip of the hose 7 follows the movement of the take-in mechanism 2. Therefore, the fruits and vegetables taken in by the take-in mechanism 2 are properly harvested through the hose 7.

[0050] As shown in FIG. 6 , a speed reduction section 70 is provided inside the hose 7 of this embodiment. The speed reduction section 70 extends inward from the inner circumferential surface of the hose 7 without blocking the path inside the hose 7. The speed reduction section 70 comes into contact with the fruits and vegetables passing through the hose 7, thereby reducing the speed at which the fruits and vegetables pass through the hose 7. As a result, the likelihood of damage, deformation, etc. occurring to the fruits and vegetables passing through the hose 7 is appropriately reduced. Furthermore, because the speed reduction section 70 does not block the path inside the hose 7, the speed reduction section 70 also prevents a reduction in the suction pressure of the gas in the tubular portion 10. This makes it easier to harvest the fruits and vegetables more appropriately.

[0051] The speed reduction section 70 of this embodiment is made of a flexible material (silicon in this embodiment). Therefore, even if fruits and vegetables come into contact with the speed reduction section 70, the fruits and vegetables are unlikely to be damaged or deformed. Furthermore, even if silicone is ingested into the human body, it is unlikely to have any adverse effects on the human body. Therefore, the safety of the harvested fruits and vegetables is easily ensured.

[0052] As shown in FIG. 6 , the speed reduction section 70 of this embodiment is a substantially annular member extending inward from the inner circumferential surface of the hose 7. A through hole 71 is formed inside the speed reduction section 70, so the path within the hose 7 is not blocked by the speed reduction section 70. A plurality of movable pieces 73 are arranged in a ring shape around the through hole 71 in the speed reduction section 70. Therefore, the movable pieces 73 appropriately reduce the speed of the fruits and vegetables passing through the hose 7, and the movable pieces 73 are unlikely to cause damage to the fruits and vegetables. Furthermore, spaces are provided between adjacent movable pieces 73. Therefore, even if the speed reduction section 70 is provided, the suction pressure near the through hole 71 is unlikely to increase. Therefore, an increase in the passing speed of the fruits and vegetables near the through hole 71 is suppressed. However, the configuration of the speed reduction section can be modified. For example, the speed reduction section may be a cloth or the like arranged inside the hose 7. In this case, the speed of the fruits and vegetables is appropriately reduced with a simple configuration.

[0053] (Robot arm) An example of a robot arm 3 will be described with reference to FIG. 1. As described above, the robot arm 3 holds the take-in mechanism 2 and moves the held take-in mechanism 2. As an example, the robot arm 3 of this embodiment includes an arm unit 50 having a plurality of joints. The take-in mechanism 2 is held by the arm unit 50. By driving the arm unit 50 via the joints, the robot arm 3 can move the position of the take-in mechanism 2 held by the arm unit 50 and change the direction of the take-in mechanism 2 (i.e., the direction in which the rotating unit 20 provided on the tube unit 10 faces). However, it is also possible to employ an arm unit driven by a mechanism other than a joint.

[0054] The arm unit 50 is fixed to a base 4. The base 4 is provided with an arm movement unit 41 that moves the arm unit 50 in a direction parallel to the installation surface. When the arm movement unit 41 is driven, the entire arm unit 50 moves on the installation surface. The configuration of the arm movement unit 41 can be selected as appropriate. For example, the arm movement unit 41 may include wheels and a motor that rotates the wheels. Alternatively, a belt conveyor or the like may function as the arm movement unit.

[0055] (Control unit) The control unit 6 controls the fruit and vegetable harvesting apparatus 1. As an example, a personal computer (hereinafter referred to as a "PC") is used as the control unit 6 in this embodiment. However, a device other than a PC (for example, at least one of a server, a tablet terminal, a smartphone, etc.) may also be used as the control unit 6. Furthermore, the control units of multiple devices may work together to function as a control unit that controls the fruit and vegetable harvesting apparatus 1.

[0056] The control unit 6 includes a CPU (controller) that performs various control processes and a storage device (NVM). The control unit 6 is connected to the robot arm 3, the imaging unit 5, and the like via at least one of wired communication, wireless communication, and a network. The control unit 6 is also connected to an operation unit and a display unit. The operation unit is operated by an operator (user, etc.) to input various instructions. The operation unit may be, for example, at least one of a keyboard, a mouse, a touch panel, and the like. The display unit displays various images. It goes without saying that an operation unit and a display unit included in the control unit may be used instead of an operation unit and a display unit externally connected to the control unit 6.

[0057] The control unit 6 recognizes the position of the fruits and vegetables to be harvested based on the image captured by the imaging unit 5. The control unit 6 controls the drive of the robot arm 3 based on the recognized position of the fruits and vegetables, thereby moving the capture mechanism 2 (more specifically, the rotation unit 20 of the capture mechanism 2) to the position of the recognized fruits and vegetables. Therefore, even if the worker does not move the position of the capture mechanism 2 himself, the capture mechanism 2 automatically moves to the position of the fruits and vegetables to be harvested. Therefore, the fruits and vegetables can be properly harvested while minimizing an increase in the worker's labor hours.

[0058] In this embodiment, the photographing unit 5 is a three-dimensional camera capable of measuring the distance to the subject. The control unit 6 acquires the distance between the fruit or vegetable to be harvested and the three-dimensional camera, as measured by the three-dimensional camera. Based on the acquired distance, the control unit 6 can easily and appropriately recognize the position of the fruit or vegetable to be harvested.

[0059] Furthermore, the photographing unit 5 of this embodiment is capable of photographing color images. Based on the color image photographed by the photographing unit 5, the control unit 6 identifies the fruits and vegetables to be harvested from one or more fruits and vegetables shown in the color image. Therefore, even if multiple fruits and vegetables are shown in the color image, the fruits and vegetables to be harvested can be appropriately identified based on the color image.

[0060] In this embodiment, a mathematical model trained by a machine learning algorithm is used to input an image (a color image in this embodiment) and output a result of identifying the fruits and vegetables to be harvested (for example, a result of identifying the fruits and vegetables to be harvested from one or more fruits and vegetables shown in the image). The control unit 6 inputs an image captured by the imaging unit 5 into the mathematical model, thereby obtaining the identification result output by the mathematical model. This makes it easier to appropriately identify the fruits and vegetables to be harvested with higher accuracy.

[0061] As shown in FIG. 5 , in this embodiment, the inner ends of the three or more notches 22 formed in the rotating unit 20 are connected to the same through-hole 21. When the rotating unit 20 is viewed from a direction along the virtual axis O, the center of gravity CD of the through-hole 21 coincides with the virtual axis O. In this embodiment, when the control unit 6 controls the driving of the robot arm 3 to move the rotating unit 20 to the position of the recognized fruit or vegetable, it moves a position of the rotating unit 20 in the rotating state that is spaced apart from the virtual axis O and the center of gravity CD (in this embodiment, a position spaced apart from the virtual axis O and the center of gravity CD by a distance equal to or greater than the radius of the through-hole 21) to the position of the fruit or vegetable. In this case, more fruit or vegetable is likely to come into contact with the rotating unit 20 (more specifically, the movable piece 23 of the rotating unit 20), and therefore more fruit or vegetable is likely to be twisted relative to the handle. This makes it easier to properly harvest the fruit or vegetable.

[0062] (Variation) The configurations, controls, etc. shown in the above embodiment are merely examples. Therefore, the configurations, controls, etc. exemplified in the above embodiment can be changed. Modifications of the above embodiment will be described below. The following description of the modifications will focus on configurations, controls, etc. that differ from the above embodiment. For configurations, controls, etc. that are not described in the following modifications, the same configurations, controls, etc. as those in the above embodiment can be adopted.

[0063] (First Modification) A first modified example will be described with reference to FIG. 7. As shown in FIG. 7, a rotating unit 20A of the first modified example is provided with a circular through-hole 21A and three or more notches 22A, as in the above embodiment. The through-hole 21A and the notches 22A form penetration portions 24A that move fruit and vegetables from the leading end to the trailing end. The inner ends of the three or more notches 22A are connected to the same through-hole 21A. As a result, multiple movable pieces 23A are arranged in a ring shape around the through-hole 21A. When the rotating unit 20A of the first modified example is viewed from a direction along the imaginary axis O, the center of gravity CD of the area of ​​the through-hole 21A (the center of the circular through-hole 21 in the example shown in FIG. 7) is spaced apart from the imaginary axis O.

[0064] In this case, fruit or vegetables that reach a position on rotating unit 20A near virtual axis O are also more likely to come into contact with rotating unit 20A (more specifically, movable piece 23A formed on rotating unit 20A). Furthermore, because rotating unit 20A is rotated by rotation drive unit 30, fruit or vegetables that reach a position on rotating unit 20A away from virtual axis O are also more likely to come into contact with rotating unit 20A (movable piece 23A). As a result, more fruit or vegetables are more likely to be twisted around the handle. This makes it easier to harvest the fruit or vegetables more appropriately. Note that in the first modified example, when control unit 6 controls the drive of robot arm 3 to move rotating unit 20 to the position of the recognized fruit or vegetable, it may also move a position on rotating unit 20 through which virtual axis O passes to the position of the fruit or vegetable. This reduces the likelihood of the fruit or vegetable not being taken into the passageway of tube unit 10. This makes it easier to harvest multiple fruit or vegetables consistently.

[0065] (Second Modification) A second modified example will be described with reference to FIG. 8 . The configuration and control of the fruit and vegetable harvesting device of the second modified example, other than the shape of the through-hole 21B of the rotating unit 20B, can be achieved by adopting the configuration and control of the first modified example. As shown in FIG. 8 , the rotating unit 20B of the second modified example has a through-hole 21B and three or more notches 22B, similar to the first modified example. The through-hole 21B and the notches 22B form a penetration portion 24A that moves the fruit and vegetable from the leading end to the trailing end. The center of gravity CD of the through-hole 21B is spaced apart from the imaginary axis O. When the rotating unit 20B of the second modified example is viewed from the direction along the imaginary axis O, the shape of the through-hole 21B is elliptical, unlike the first modified example. In the second modified example, the force applied to the fruit and vegetable from the rotating unit 20B (e.g., the movable piece 23B) is more likely to change compared to when the shape of the through-hole is circular when viewed from the direction along the imaginary axis O. As a result, the fruit and vegetable is more likely to be twisted appropriately relative to the handle. This makes it easier to harvest fruits and vegetables more appropriately.

[0066] (Third Modification) A third modified example will be described with reference to FIG. 9 . The configuration and control of the fruit and vegetable harvesting device of the third modified example, other than the shape of the through-hole 21C of the rotating unit 20C, can be achieved by adopting the configuration and control of the second modified example. As shown in FIG. 9 , the rotating unit 20C of the second modified example is provided with a through-hole 21C and three or more notches 22C, similar to the second modified example. The through-hole 21C and the notches 22C form a penetration 24C that moves the fruit and vegetable from the leading end to the trailing end. The center of gravity CD of the through-hole 21C is spaced apart from the imaginary axis O. When the rotating unit 20C of the third modified example is viewed from the direction along the imaginary axis O, the shape of the through-hole 21C is formed in a substantially semicircular shape, unlike the first and second modified examples. In other words, the shape of the through-hole 21C in the third modified example is also non-circular. In this case, the force applied to the fruit and vegetable from the rotating unit 20C (e.g., the movable piece 23C, etc.) is easily changed. As a result, the fruit and vegetable is more easily twisted around the handle. Furthermore, in the rotating part 20C of the third modified example, the cuts 22C do not extend radially from the inside in the entire circumferential direction, but extend radially in part of the circumferential direction. Even in this case, fruits and vegetables can be harvested properly.

[0067] The shape of the through-hole when the rotating part is viewed from the direction along the virtual axis O may also be polygonal. In this case, as in the second and third modifications, the force applied from the rotating part to the fruit or vegetable becomes more likely to change.

[0068] (Fourth Modification) A fourth modified example will be described with reference to FIG. 10 . A rotating unit 20D of the fourth modified example has multiple notches 22D extending radially from the center outward. The inner ends of each of the multiple notches 22D of the fourth modified example are connected to the same connection point P rather than through-holes. That is, in the fourth modified example, when the rotating unit 20D is viewed from the direction along the virtual axis O, the rotating unit 20D is configured such that when the area of ​​the multiple notches 22D that form the through-holes 24D is reduced, the holes penetrating the rotating unit 20D in the front-to-rear direction are blocked. Even in this case, when fruit or vegetables come into contact with the movable piece 23D of the rotating unit 20D, the fruit or vegetables are twisted relative to the handle and the movable piece 23D is deformed toward the rear end, allowing the fruit or vegetables to pass through appropriately toward the rear end. In the rotating unit 20D of the fourth modified example, the connection point P of the multiple notches 22D coincides with the virtual axis O. However, the connection point P can also be spaced apart from the virtual axis O.

[0069] The techniques disclosed in the above embodiments are merely examples. Therefore, it is possible to modify the techniques exemplified in the above embodiments. For example, it is possible to implement only a part of the techniques exemplified in the above embodiments. Specifically, in the above embodiments, an example is given in which the robot arm 3 moves the take-in mechanism 2 to the vicinity of the fruits and vegetables. However, it is also possible to modify the configuration for moving the take-in mechanism 2. For example, the operator may himself move the take-in mechanism 2 to the vicinity of the fruits and vegetables. In other words, the take-in mechanism 2, etc., excluding the robot arm 3, may be used as a fruit and vegetable harvesting device. Furthermore, it is also possible to add other configurations to at least a part of the configurations exemplified in the above embodiments. [Explanation of symbols]

[0070] 1 Fruit and vegetable harvesting equipment 2. Capture mechanism 3. Robotic Arm 5. Filming Department 6 Control Unit 7 Hose 8. Suction pressure generating unit 10 Cylinder part 11 Cover member 20, 20A, 20B, 20C, 20D Rotating part 21,21A,21B,21C through hole 22, 22A, 22B, 22C, 22D notches 23,23A,23B,23C,23D Movable piece 24,24A,24B,24C,24D Penetration 25 connection points 30 Rotation drive unit 70 Speed ​​reduction section O Virtual axis CD center of gravity P connection point

Claims

1. a cylindrical member having a passage formed inside for passing the fruit and vegetables to a rear end side, the passage being connected to a front end side of a hose that serves as a gas suction path, thereby guiding the fruit and vegetables that have passed through the passage to the hose; a rotating part that extends from an inner circumferential surface or a front end of the cylindrical part toward the inside of the passage path and forms a through-hole on the inside through which fruits and vegetables can pass from the front end side to the rear end side; a rotation drive unit that rotates at least the rotation unit around a virtual axis that extends in a direction along the passage path; Equipped with The rotating part is When the handle comes into contact with the fruit or vegetable while rotating, the handle twists the fruit or vegetable supported by the handle relative to the handle; When the rotating part comes into contact with the fruit or vegetable moving toward the rear end side, the rotating part deforms toward the rear end side, thereby expanding the area of ​​the penetration part when the rotating part is viewed from the direction of the virtual axis, A fruit and vegetable harvesting device characterized in that the area of ​​the penetration portion is reduced by restoring the deformed shape.

2. 2. The fruit and vegetable harvesting device according to claim 1, The fruit and vegetable harvesting device is characterized in that the rotating part is made of at least one of silicone and rubber, which have flexibility and shape recovery properties.

3. 2. The fruit and vegetable harvesting device according to claim 1, The rotating portion is provided with three or more notches that extend radially from a center to an outer side to form at least a part of the through-hole, A fruit and vegetable harvesting device characterized in that the inner ends of each of the three or more notches are connected to the same connection point or to the same through hole that passes through the rotating part from the front end to the rear end.

4. 4. The fruit and vegetable harvesting device according to claim 3, A fruit and vegetable harvesting device characterized in that, when the rotating part is viewed from a direction along the virtual axis, the connection point where the inner ends of each of the three or more notches are connected, or the center of gravity of the through hole area, is separated from the virtual axis.

5. 4. The fruit and vegetable harvesting device according to claim 3, In the rotating portion, inner ends of the three or more notches are connected to the same through-hole that passes through the rotating portion from the front end side to the rear end side, A fruit and vegetable harvesting device, wherein the through-hole is formed in an elliptical or polygonal shape when the rotating part is viewed from a direction along the imaginary axis.

6. 2. The fruit and vegetable harvesting device according to claim 1, The fruit and vegetable harvesting device further comprises a cover member that surrounds and covers the circumferential outside of the rotating part.

7. 2. The fruit and vegetable harvesting device according to claim 1, The hose; A fruit and vegetable harvesting device characterized by having a speed reduction section that is positioned inside the hose without blocking the path within the hose and that contacts the fruit and vegetables passing through the hose to reduce the speed at which the fruit and vegetables pass through the hose.

8. 2. The fruit and vegetable harvesting device according to claim 1, a robot arm including an arm portion, the arm portion holding a take-in mechanism including the cylindrical portion and the rotating portion, and driving the arm portion to move the take-in mechanism; an imaging unit that captures an image; a control unit that controls the fruit and vegetable harvesting device; Furthermore, The control unit This fruit and vegetable harvesting device is characterized by recognizing the position of the fruit and vegetable to be harvested based on the image captured by the photographing unit, and controlling the drive of the robot arm based on the recognized position of the fruit and vegetable, thereby moving the capture mechanism to the recognized position of the fruit and vegetable.

9. 9. The fruit and vegetable harvesting apparatus according to claim 8, The fruit and vegetable harvesting device is characterized in that the photographing unit includes a three-dimensional camera capable of measuring the distance to the subject.

10. 9. The fruit and vegetable harvesting apparatus according to claim 8, the imaging unit is capable of capturing color images, The control unit is configured to identify the fruits and vegetables to be harvested from one or more fruits and vegetables shown in the color image captured by the photographing unit based on the color image.

Images