Strawberry harvesting robot system

Abstract

The strawberry harvesting robot system of the present invention comprises a mobile structure that moves between beds, a robot frame mounted on the mobile structure, a capturing means for capturing strawberries to be harvested, one or more harvesters provided on the robot frame toward the beds, a harvesting unit that advances to the beds at the tip of the harvester to harvest strawberries, grabs the stems of the captured strawberries, cuts off the excess, and returns to its original position with the strawberries hanging from it, and a transfer gripper that grabs the strawberry stems hanging from the harvesting unit, cuts off the stems leaving the joints, and when the strawberries are handed over, moves to the rear of the harvester with the strawberries hanging from it. The harvester is provided with a transport unit for transporting the strawberries, a plate mounting table that is provided at the upper rear of the harvester and on which a stalk joining plate is placed, the stalk joining plate having a radial cut in the center and a hook formed therein, a plate supply unit for supplying the stalk joining plate to the plate mounting table, a plate joining unit that lowers the stalk joining plate placed on the plate mounting table when the transport unit reaches a fixed position below the plate mounting table, and joins the stalk joining plate to the strawberries by the hook biting into the stem joining portion, and a packaging unit that attaches the stalk joining plate to the upper end of a packaging box located below and packages the strawberries in a state where they are suspended in the packaging box when the strawberries are separated from the transport unit by adsorbing the stalk joining plate to which the strawberries are joined.

Description

[Technical field]

[0001] The present invention relates to a strawberry harvesting robot system, and more particularly to a strawberry harvesting robot system that induces the individual growth of strawberries grown in beds so that they do not overlap each other and are completely exposed so that they can be easily detected by a detection means of a harvesting machine, thereby enabling the sorting and packaging of strawberries based on ripeness and size to be performed all at once, thereby not only reducing labor but also maintaining the freshness of the strawberries for a long period of time by suspending them in packaging boxes. [Background technology]

[0002] Generally, strawberries are grown for either processing or eating raw.

[0003] Even if strawberries for processing are bruised, they can be processed immediately, so the quality is not affected, and robots have already been developed to harvest them.

[0004] On the other hand, strawberries for eating fresh become less marketable if they are bruised, so the hundreds of types of strawberry harvesting machines that have been developed so far have not been put to practical use due to their low harvest rates, and harvesting still relies on manual labor.

[0005] In response to this, Japanese Patent Publication No. 2012-110255 (published on June 14, 2012) proposes a fruit harvesting robot to reduce the possibility of damage to strawberries.

[0006] The fruit harvesting robot is composed of a photographing unit that photographs strawberries, an acquisition unit that acquires the position of the strawberries from the photographed image, a determination unit that determines the direction to approach the strawberries to be harvested based on the acquired position information, and a drive unit (robot arm) that approaches the cutting unit in the determined direction to harvest the strawberries and then drops the strawberries onto a tray for collection.

[0007] However, the above-mentioned conventional technology has a problem in that it is not possible to obtain the exact position of strawberries when they are mixed up or overlapping, and there is a problem in that the strawberries may be damaged by the impact when they fall onto the tray after being picked, thereby reducing their marketability. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] Japanese Patent Publication No. 2012-110255 (2012.06.14.) Summary of the Invention [Problem to be solved by the invention]

[0009] The object of the present invention is to provide a strawberry harvesting robot system that can guide the individual growth of strawberries grown in beds using stem supports to prevent them from overlapping with each other, making it easy to sort fully ripe strawberries by size, and by simultaneously harvesting and packaging them, resulting in a high harvest rate and a significant reduction in labor.

[0010] Another object of the present invention is to provide a strawberry harvesting robot system that can harvest strawberries hygienically without touching them with human hands during the harvesting process, and package them by suspending them in the internal space of a strawberry packaging box, thereby maintaining the freshness of the strawberries for a long period of time and enabling them to be exported without the need for special packaging even when transported long distances.

[0011] In addition, the present invention provides a strawberry harvesting robot system that can install 3 to 16 harvesters as needed on one side of the robot frame and input different sizes of strawberries harvested by each robot into the program, allowing the strawberries to be sorted and packaged by size and also has the function of removing by-products such as stems, runners, and old leaves that remain after strawberry harvesting. [Means for solving the problem]

[0012] In order to achieve the above object, the present invention provides a mobile structure that moves between beds, a robot frame mounted on the mobile structure, a capturing means for capturing strawberries to be harvested, one or more harvesters provided on the robot frame toward the beds, a harvesting unit that advances to the beds at the tip of the harvester to harvest strawberries, grabs the stems of the captured strawberries, cuts off the excess, and returns to its original position with the strawberries hanging down, and a transfer gripper that grabs the strawberry stems hanging down on the harvesting unit, cuts off the stems while leaving the joints, and when the strawberries are handed over, transfers the strawberry stems hanging down on the harvester to the rear of the harvester. the strawberries are separated from the transport unit by adhering to the transport unit, and the strawberries are then separated from the transport unit by the transport unit. The strawberries are then separated from the transport unit by .... The strawberries are then separated from the transport unit by the transport unit. The strawberries are then separated from the transport unit by the transport unit. The strawberries are then separated from the transport unit by the transport unit. The strawberries are then separated from the transport unit by the transport unit. The strawberries are then separated from the transport unit by the transport unit. The strawberries are then separated from the transport unit by the transport unit.

[0013] The bed is configured with stem supports attached to both sides, each of which has a continuous stem support groove formed therein to accommodate the stems of the strawberries being cultivated so that they do not overlap each other and to enforce spacing between them.

[0014] The harvesting unit includes a stem gripper that moves forward with both claws facing each other to grasp the stem when a stem is detected by a built-in sensor when the harvesting unit advances toward the bed to harvest strawberries, a first stem cutting cutter that moves forward with both cutting cutters facing each other simultaneously with the stem gripper to cut the stem, and a second stem cutting cutter that cuts the stem to hand over the strawberry to the transport unit, and the first stem cutting cutter, stem gripper, and second stem cutting cutter are assembled in a multi-layer structure.

[0015] The transport unit is provided with a transport gripper that, when a built-in sensor detects a stem when the harvesting unit with the strawberry suspended therefrom returns to its original position, moves forward with both jaws facing each other to grip the stem, and transports the strawberry to the rear of the harvester when the harvesting unit cuts the stem and hands it over.

[0016] The harvesting unit is connected to the tip of the ball screw of a through-hole motor installed in the harvester to move forward into the bed or return to its original position, and the plate supplying unit is configured to work in conjunction with the harvesting unit by connecting to the rear end of the ball screw of the through-hole motor and pushing out the stalk joining plates loaded in the loading box one by one and supplying them to the plate loading table.

[0017] The plate mounting base is elastically supported by a spring so that the stem connecting plate can be seated inside, and has a ball protruding from the inner wall, and a ball plunger built in so that the ball retracts so that it can pass through the plate mounting base when the stem connecting plate is pushed downward by the plate connecting part.

[0018] The transport gripper has a protective band with pins protruding at regular intervals along the stem gripping hole and surrounding the stem joining portion, and the plate joining portion includes a push plate for pushing the stem joining plate, a hollow portion at the center of the push plate that allows the protective band to be pulled out during the pushing process, and a drive portion for advancing the push plate downward and pushing it back to its original position.When the push plate pushes the stem joining plate, the hook passes between the pins of the stem protector and moves downward, and when the push plate comes into contact with the transport gripper through the stem joining plate, the hook bites into the stem joining portion, joining the stem joining plate to the strawberry.

[0019] In addition, a perforation is formed to connect and fix the stem portion protruding upward from the stem connecting plate seated at the upper end of the packaging box, and a stem fixing plate is further provided to connect to the upper end of the packaging box.

[0020] The catching means is configured to select and catch strawberries to be picked when the size of the strawberries is specified and input into the program.

[0021] The system further includes a conveyor that moves the packaging boxes and adjusts the moving interval so that an empty storage space is located below the transported strawberries.

[0022] In addition, the robot frame is further provided with a by-product removal device facing the bed, the by-product removal device including a capturing means for capturing by-products to remove by-products consisting of stems, runners, and old leaves remaining after strawberry harvesting, and a harvesting unit provided with only one cutting cutter so as to remove the by-products captured by the capturing means. Effect of the Invention

[0023] According to the present invention, the strawberries grown in the beds are supported by stem supports to guide their individual growth so that they do not overlap each other, making it easier to catch them, thereby achieving a harvest rate of 85% or more.

[0024] In addition, according to the present invention, the strawberry flesh is prevented from coming into contact with any part during the collective processing of picking and packaging of strawberries, preventing the strawberries from being crushed, and the freshness of the strawberries can be maintained for a long period of time, which is very advantageous for export.

[0025] In addition, according to the present invention, at least 3 to 16 harvesting robots can be installed on one side of the robot frame, and different programs can be input into each robot, which has the effect of allowing strawberries to be sorted and packaged according to their ripeness and size. [Brief description of the drawings]

[0026] [Figure 1a] 1 is a plan view showing a moving structure of a strawberry harvesting robot system according to the present invention. FIG. [Figure 1b] FIG. 2 is a plan view showing a robot frame of the strawberry harvesting robot system according to the present invention. [Diagram 2] FIG. 1 is a side view of a strawberry harvesting robot system according to the present invention. [Figure 3a]1 is a side view showing a fixed position state of the harvesting unit in the strawberry harvesting robot system according to the present invention. FIG. [Figure 3b] 1 is a side view showing a state in which the harvesting unit moves forward to harvest strawberries in the strawberry harvesting robot system according to the present invention. FIG. [Figure 4a] 2A to 2C are plan views respectively showing the forward movement state and the home position state of the transfer gripper in the strawberry harvesting robot system according to the present invention. [Figure 4b] 2A to 2C are plan views respectively showing the forward movement state and the home position state of the transfer gripper in the strawberry harvesting robot system according to the present invention. [Diagram 5] 1 is a perspective view showing a three-layer structure of a harvesting unit in a strawberry harvesting robot system according to the present invention. FIG. [Figure 6] 1A, 1B, 1C, and 1D are schematic diagrams showing the stem cutting cutter and stem gripper of the harvesting section, the stem gripper and stem protector of the transporting section, respectively, in the strawberry harvesting robot system of the present invention. [Figure 7a] 1 is a configuration diagram showing a strawberry placement plate, a placement table, and a strawberry stalk joining device in a strawberry harvesting robot system according to the present invention. FIG. [Figure 7b] 1 is a configuration diagram showing a strawberry placement plate, a placement table, and a strawberry stalk joining device in a strawberry harvesting robot system according to the present invention. FIG. [Figure 7c] 1 is a configuration diagram showing a strawberry placement plate, a placement table, and a strawberry stalk joining device in a strawberry harvesting robot system according to the present invention. FIG. [Figure 8] FIG. 2 is a configuration diagram showing a conveyor in the strawberry harvesting robot system according to the present invention. [Figure 9a] 1 is a configuration diagram showing a strawberry packaging box and a strawberry stalk fixing plate in a strawberry harvesting robot system according to the present invention. FIG. [Figure 9b] 1 is a configuration diagram showing a strawberry packaging box and a strawberry stalk fixing plate in a strawberry harvesting robot system according to the present invention. FIG. [Figure 9c]1 is a configuration diagram showing a strawberry packaging box and a strawberry stalk fixing plate in a strawberry harvesting robot system according to the present invention. FIG. [Figure 10] 1 is a configuration diagram showing a strawberry stem support in a strawberry harvesting robot system according to the present invention. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0027] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of a strawberry harvesting robot system according to the present invention will be described in detail with reference to the accompanying drawings.

[0028] The present invention has a technical feature that the strawberries are picked and packaged in one batch while moving freely between both sides of the bed, and the strawberry flesh does not come into contact with any part during the picking and packaging process.

[0029] The embodiment of the present invention includes a mobile structure 10 that moves between beds 1, a robot frame 20 mounted on the mobile structure 10, a capturing means 30 for capturing strawberries to be harvested, one or more harvesters 100 provided on the robot frame 20 toward the bed 1, a harvesting unit 200 that advances to the bed 1 to harvest strawberries S at the tip of the harvester 100, grabs the stems of the captured strawberries, cuts off the excess, and returns to its original position with the strawberries hanging down, a transport unit 300 that grabs the strawberry stems hanging from the harvesting unit 200 with a transport gripper 310, cuts the stems while leaving the joints, and transports the strawberries to the rear of the harvester while hanging down, and the harvester 100. the plate mounting table 400, which is provided at the rear upper part of the conveyor 300, on which the stem joining plate 410 is placed, the plate supplying unit 500 for supplying the stem joining plate 410 to the plate mounting table 400; a plate joining unit 600 for lowering the stem joining plate 410 placed on the plate mounting table 400 when the conveying unit 300 reaches a fixed position below the plate mounting table 400, and joining the stem joining plate 410 to the strawberry by the joining of the hooks 411 which bite into the stem joining portion; and a packaging unit 700 for adsorbing the stem joining plate 410 with the strawberry joined thereto and seating the stem joining plate 410 on the upper end of the packaging box 40 located below when the strawberry S is separated from the conveying unit 300, and packaging the strawberry in a state where it is suspended in the packaging box 40.

[0030] According to the above technical configuration, as shown in Figs. 1a and 1b, the strawberry harvesting robot R can move freely between both sides of the beds by the mobile structure 10 that moves between the beds.

[0031] The mobile structure 10 can be realized by an in-wheel motor that constitutes a wheel 11, a battery 12 that supplies power, and a control unit 13 that controls them.

[0032] Of course, the moving structure 10 can be easily realized using known technology, and the driving method is not particularly limited.

[0033] Next, the robot frame 20 is mounted on the mobile structure 10 to provide a strawberry harvesting robot, and 3 to 16 strawberry harvesting robots R are provided on one side in the direction of the beds, and 1 to 2 by-product removal devices 800 may be provided to remove by-products such as stems, runners, and old leaves remaining after strawberry harvesting.

[0034] Next, the capturing means 30 can select and capture the strawberries to be picked by specifying and inputting the ripeness and size of the strawberries into the program.

[0035] For this purpose, the capture means 30 is configured with a detection means at the tip of the harvester, and as an example, a camera for photographing strawberries, a measurement sensor (ultrasonic sensor, laser sensor, etc.) for measuring the size of the strawberries and the distance to the strawberries, night lighting, etc. may be provided.

[0036] Next, the capturing means 30 and the harvesting section 200, transporting section 300, board mounting table 400, board supplying section 500, board connecting section 600, and packaging section 700 within the harvester 100 constitute a single strawberry harvesting robot R, which can process strawberries both in one go and in one package.

[0037] Three to sixteen of such strawberry harvesting robots R are provided on one side of the robot frame 20, and the size of the strawberries to be harvested can be specified and input into each robot's program, allowing the strawberries to be sorted and packaged by size.

[0038] 2, 3a and 3b, the harvester 100 includes a harvesting unit 200, a transport unit 300, a board placement unit 400, a board supply unit 500, a board connection unit 600 and a packaging unit 700. Reference numeral 101, which is not described, is a support for installing the harvester 100, and the height of the harvester 100 can be adjusted based on the bed 1 or the strawberries.

[0039] The harvesting unit 200 that harvests strawberries will now be described.

[0040] The harvester 200 is provided at the top tip of the harvester 100, moves forward into the bed 1 to harvest strawberries, grabs the stems of the captured strawberries, cuts off the excess parts, and returns to its original position with the strawberries hanging from it.

[0041] For this purpose, a ball screw through-motor 110 is attached to the top of the harvester 100, and the cutting part 200 is connected to the tip of the ball screw 111 while being supported so as to be able to move forward and backward via a linear rail 20, and can move forward or backward on the bed 1 depending on the forward and reverse rotation of the through-motor 110, and return to its original position at the tip of the harvester 100.

[0042] Also, referring to Figures 5, 6(a), 6(b) and 6(c), the cutting section 200 is provided with a first stem cutting cutter 210, a stem gripper 220 and a second stem cutting cutter 230 in a row in a multi-layer structure.

[0043] Here, the first and second stem cutting cutters 210, 230, as shown in Figure 6 (a), have cutter frames 211, 231 on both sides connected to a bidirectional ball screw 212, and move forward and backward facing each other according to the rotation of the motor 213, cutting the stems when moving forward.

[0044] Of course, the stalk gripper 220 also has gripper frames 221 on both sides connected to bidirectional ball screws, which move forward and backward facing each other according to the rotation of the motor, and can grip the stalk when moving forward.

[0045] Therefore, when the harvesting unit 200 advances toward the bed 1 to harvest strawberries, if a stem is detected by the built-in object detection sensor 222, both grippers of the stem gripper 220 move forward toward each other to grasp the stem, and at the same time, the cutter frames 211 on both sides of the first stem cutting cutter 210 move forward toward each other to cut the stem.

[0046] The transport section 300 for transporting the strawberries will now be described.

[0047] The transfer section 300 grips the stems of the strawberries S suspended from the harvesting section 200 with a transfer gripper 310, cuts the stems while leaving the joints, and transfers the strawberries to the rear of the harvester 100 while still hanging.

[0048] For this purpose, the transfer unit 300 located below the harvesting unit 200 is equipped with a transfer gripper 310 that moves forward facing each other to grasp the stem when the harvesting unit 200, with the strawberry suspended therefrom, detects the stem with a built-in object detection sensor as the harvesting unit 200 returns to its original position at the tip of the harvester 100. When the stem is cut by the second stem cutting cutter 230 in the harvesting unit 200 and the strawberry is handed over, the strawberry can be transferred to the rear of the harvester 100.

[0049] In more detail, the harvester 100 is provided with a transfer passage 130 with an opening in the bottom surface thereof so that the transfer gripper 310 can pass through while suspending the strawberries.

[0050] Therefore, the transfer unit 300 is composed of guide rails 301 supported on both sides of the transfer passage 130, a table 303 coupled to the guide blocks on both sides, a transfer gripper 310 provided on the upper part of the table 303, and a transfer motor 305 for moving the table 303 forward or backward by a ball screw 304, and can be suitably embodied by a linear actuator.

[0051] The transfer gripper 310 has gripper frames on both sides coupled with bidirectional ball screws, and can move forward and backward facing each other according to the rotation of the motor, and can grip the stem when moving forward.

[0052] In addition, the transfer gripper 310 has a semicircular stem gripping hole 311 formed on the inside of the gripper, pins 321 protruding at regular intervals along the gripping hole 311, and a stem protector 320 surrounding the stem joining portion is provided.

[0053] Next, the stem connecting plate 410 and the plate support base 400 will be described with reference to Figs. 7a, 7b and 7c.

[0054] The stem connecting plate 410 is made of a thin synthetic resin plate material and is configured to connect to the strawberries via their stems and to be fixed to the balcony 41 of the packaging box 40. The material is transparent PP, acrylic, etc., and the thickness is about 0.2 mm, which is larger than the outer diameter of the strawberries to be packaged.

[0055] In addition, the stem connecting plate 410 is formed with a barb 411 having a sharp tip, which is cut radially in the center, and when connecting to the stem, the barb 411 bites into the stem to connect the stem.

[0056] The plate mounting base 400 is provided at the upper rear of the harvester 100, and a stalk connecting plate 410 is placed on the inside.

[0057] To this end, the plate mounting base 400 consists of a rectangular through groove 401 cut into the top of the harvester 100, and a ball 421 protrudes from the inner wall while being elastically supported by a spring 422 so that the stalk connecting plate 410 can be placed inside.A ball plunger 420 is built in which the ball 401 retracts so that the ball can pass through the plate mounting base 400 when the stalk connecting plate 410 is pushed downward by the plate connecting part 600.

[0058] That is, the stem connecting plate 410 is placed in a state in which it is hung on the ball 421 of the plate placing base 400 .

[0059] The plate supply unit 500 will now be described with reference to FIGS. 3a and 3b.

[0060] The board supply unit 500 can work in conjunction with the harvesting unit 200 to supply the stalk joining board 410 to the board placement table 400.

[0061] In detail, the harvesting unit 200 is connected to the tip of the ball screw 111 of the through-hole motor 110 provided on the harvester 100 to move forward into the bed 1 or return to its original position, and the board supply unit 500 is connected to the rear end of the ball screw 111 of the through-hole motor 110 to push out the stalk connecting plates 410 loaded on the loading box 510 one by one and supply them to the board loading table 400.

[0062] Here, board supply unit 500 is configured with loading box 510 provided at the front end of board placement table 400 and push bar 520 coupled with the rear end of ball screw 111 of penetration motor 110 to perform sliding movement within loading box 510 .

[0063] Therefore, when the through-hole motor 110 rotates in the forward direction, the cutting unit 200 moves forward while the push bar 520 of the board supply unit 500 moves backward, and the stalk connecting plate 410 moves down and is loaded, and when the through-hole motor 110 rotates in the reverse direction, the cutting unit 200 moves backward while the push bar 520 of the board supply unit 500 moves forward, pushing the stalk connecting plate 410 out of the loading box 510 and supplying it to the board loading platform 400.

[0064] In other words, each time the harvesting section 200 moves forward to pick strawberries and then returns to its fixed position, the board supplying section 500 can place the stalk joining boards 410 loaded in the loading box 510 one by one onto the board loading table 400.

[0065] Next, the plate joint 600 will be described.

[0066] When the transport section 300 reaches a fixed position below the plate mounting table 400, the plate mounting section 600 lowers the stem mounting plate 410 mounted on the plate mounting table 400, and the stem mounting plate 410 can be attached to the strawberry by the hooks 411 biting into the stem mounting portion.

[0067] Here, the transfer gripper 310 is provided with a stem protector 320 having pins 321 protruding at regular intervals along the stem gripping hole 311 to surround the stem joining portion.

[0068] The transport section 300 receives strawberries from the harvesting section 200 and moves to the rear of the harvester 100 to assume its fixed position, at which point the stem connecting portion protruding from the transport gripper 310 is accurately positioned below the cut barb 411 of the stem connecting plate 410 placed on the plate mounting table 400.

[0069] The plate joining part 600 includes a pushing plate 610 for pushing the stem joining plate 410, a hollow part 611 at the center of the pushing plate 610 that allows the stem protector 320 to be pulled out during the pushing process, and a driving part 620 for pushing the pushing plate 610 forward downward or returning it to its original position.

[0070] The drive unit 620 is composed of a ball screw whose tip is connected to the push plate 610, and a motor for rotating the ball screw forward and backward, and begins operation when a signal is detected by the position detection sensor 330 which comes into contact with the transport unit 300 when it reaches a fixed position.

[0071] According to the above technical configuration, when the position detection sensor 330 detects the fixed position of the transport section 300, the plate connecting section 600 advances the push plate 610 downward by rotating the motor in the forward direction, and presses down on the stem connecting plate 410 placed on the plate mounting table 400, causing the hooks 411 to spread and move downward, passing between the pins 321 of the stem protector 320.When the push plate 610 and the transport gripper 310 come into contact with each other, sandwiching the stem connecting plate 410, the hooks 411 with their pointed tips bite into the stem connecting portion, thereby firmly connecting the stem connecting plate 410 to the strawberry S.

[0072] The packaging part 700 will now be described with reference to Figures 9a, 9b and 9c.

[0073] The packaging unit 700 adsorbs the stem connecting plate 410 to which the strawberries are connected, and when the strawberries are separated from the conveying unit 300, the packaging unit 700 attaches the stem connecting plate 410 to the upper end of the packaging box 40 located below, so that the strawberries can be packaged in a state in which they are suspended in the packaging box 40.

[0074] The packaging unit 700 uses a suction device 710 to suck the stalk binding plate 410 that is coupled to the strawberry by reducing pressure, and when both grippers of the transfer gripper 310 move backward and away from each other, the suction is released to seat the stalk binding plate 410 on the upper end of the lower packaging box 40. The packaging unit 700 may be provided so that the suction device 710 can move inside and outside the binding area of ​​the stalk binding plate 410.

[0075] Of course, after the strawberries are placed in the packing box 40, the transfer unit 300 moves in response to the reverse rotation of the transfer motor to receive the strawberries from the harvesting unit 200.

[0076] Here, the packaging box 40 is formed with storage spaces for storing a number of strawberries, and a balcony 41 with a step formed on the inside is formed at the upper edge of the storage space, so that the stem connecting plate 410 can be stably attached to the packaging box via the balcony 41.

[0077] In addition, a conveyor 50 is provided to move the packaging boxes 40 and adjust the movement interval so that an empty storage space is located below the transported strawberries, and when the packaging boxes 40 become full of strawberries, they can be dropped onto the discharge conveyor and transported to the work area. The conveyor 50 has rollers and a motor inside the case so that the belt can rotate to move the packaging boxes.

[0078] Next, the pedicle fixing plate 60 will be described.

[0079] The stem fixing plate 60 is attached to the balcony 41 of the packaging box 40, and the stem portion protruding upward from the stem connecting plate 410 is connected to the perforated hole 61 to prevent the strawberries from swaying.

[0080] For example, it helps maintain the freshness of strawberries by preventing them from shaking during transportation, and if it is made of a transparent material, you can check the overall freshness of the strawberries.

[0081] Meanwhile, referring to FIG. 10, bed 1 is provided with stem supports 70 on both sides, each of which has a continuous stem support groove 71 formed therein to accommodate the stems of the strawberries being cultivated so that they do not overlap with each other and to enforce spacing.

[0082] For example, the stem support 70 is made in a plate shape and has a series of V-shaped stem support grooves 71 formed in it. When strawberry stems are hung in the stem support grooves 71, the strawberries can grow while maintaining a distance between them.

[0083] Therefore, by lining up the strawberries in a line along the bed 1, the strawberries to be harvested can be easily captured by the capturing means 30 of the strawberry harvester, and can be accurately harvested without touching the surrounding strawberries, thereby greatly improving the harvest rate.

[0084] Of course, when the depths of adjacent stem support grooves 71 are set to be different, the stem support base 70 can force the strawberries to be spaced apart at a constant distance not only left and right but also front and back.

[0085] Meanwhile, the robot frame 20 is provided with a by-product removal device 800 to harvest strawberries and remove by-products such as stems, runners, and old leaves remaining after strawberry harvesting, and the by-product removal device 800 is provided with a capturing means 30 for capturing by-products consisting of stems, runners, and old leaves remaining after strawberry harvesting, and only one cutter is provided in the harvesting section 200 to remove the by-products captured by the capturing means 30. The by-product removal process of such a by-product removal device can be easily understood from the function of the harvesting section described above.

[0086] The process of picking and packaging strawberries together will be described below with reference to the above-mentioned technical configuration.

[0087] First, the process of harvesting strawberries grown in bed 1 is carried out by moving the mobile structure 10 between both sides of bed 1, and the strawberries suspended from the stem support 70 are captured by the capturing means 30 provided at the tip of the harvester 100, while at the same time the harvesting part 200 in a fixed position advances to bed 1 in response to the forward rotation of the penetrating motor 110.

[0088] At this time, when a stem is detected by the object detection sensor inside the stem gripper 220, as the motor rotates in the forward direction, both sides of the stem gripper 220 and both sides of the upper first stem cutting cutter 210 move forward facing each other, thereby simultaneously gripping and cutting, and then, as the penetrating motor 110 rotates in the reverse direction, the harvesting unit 200 suspends the strawberry from the stem gripper 220 and returns to its original position at the tip of the harvester 100, allowing the strawberries to be harvested.

[0089] Next, the process of packaging the picked strawberries begins as follows: once the harvesting unit 200 has harvested the strawberries, it returns to its fixed position. When the strawberry stem hanging from the stem gripper 220 is detected by the object detection sensor inside the transfer gripper 310, both sides of the transfer gripper 310 move forward facing each other in response to the forward rotation of the motor to grip the stem. At the same time, the second stem cutting cutter 230 cuts the stem in response to the rotation of the motor of the harvesting unit 200, and the strawberry is handed over to the transfer unit 300.

[0090] Next, when the transfer gripper 310 hanging the strawberry by the transfer unit table 303 is accurately positioned below the plate mounting table 400 in response to the forward rotation of the transfer motor 305, when the fixed position of the transfer unit 300 is detected by the position detection sensor 330, the plate connecting unit 600 advances the push plate 610 downward by the drive unit 620, thereby pushing the stalk connecting plate 410 placed on the plate mounting table 400 into contact with the lower transfer gripper 310.

[0091] This allows the sharp portion of the stem connecting plate 410 to bite into the strawberry stem and act as a hook 411, allowing the stem connecting plate 410 to be firmly connected to the strawberry.

[0092] At this time, the packaging unit 700 attracts the stem binding plate 410 by the suction device, and when the transfer gripper 310 moves away from both sides in response to the reverse rotation of the motor, the packaging unit 700 places the strawberries in the lower packaging box 40, and at the same time, in response to the reverse rotation of the transfer motor, the transfer unit 300 moves toward the harvesting unit 200 to receive the strawberries. The above process is repeated during the process of picking and packaging strawberries.

[0093] This allows the size sorting and packaging of fully ripe strawberries to be done all at once, not only reducing the labor required, but also allowing the strawberry stems to be connected to the board and the stem joining board to be placed on the balcony of the packaging box, allowing the strawberries to stay fresh for a long period of time.

[0094] The above description is an explanation of an embodiment for understanding the present invention, and in that the present invention can be applied to harvesting fruits and vegetables that can be grown in beds other than strawberries, it can be modified and altered within the scope of the gist of the present invention, and it is clear that the technical ideas to which such modifications and alterations are applied also fall within the scope of the claims of the present invention. [Explanation of symbols]

[0095] 1: Bed 10: Mobile structure 20: Robot frame 30: Capture means 40: Packaging box 41: Balcony 50: Conveyor 60: Stem fixing plate 70: Stem support 71: Stem support groove 100: Harvester 101: Support stand 110: through motor 111: ball screw 120: Linear rail 200: Harvesting section 210: First stem cutting cutter 220: Stem gripper 230: 2nd stem cutter 210: 1st stem cutter 300: Transfer section 310: Transfer gripper 311: Stem gripping hole 310: Transfer gripper 320: Stem protector 321: Pin 400: Board mounting stand 410: Stem connection board 411: Barb 420: Ball plunger 421: Ball 422: Spring 500: Plate supply section 510: Loading box 520: Push bar 600: Plate joint 610: Push plate 620: Drive unit 700: Packaging department R: Robot 800: By-product removal device S: Strawberry

Claims

1. A mobile structure that moves between the beds; A robot frame mounted on the moving structure; A capturing means for capturing strawberries to be harvested; One or more harvesters are provided on the robot frame facing the bed; A harvesting unit that advances to the bed to harvest strawberries at the tip of the harvester, grabs the stems of the captured strawberries, cuts off the excess, and returns to its original position with the strawberries hanging from it; A transfer unit that uses a transfer gripper to grip the stems of the strawberries hung from the harvesting unit, cuts the stems while leaving the joints, and transfers the strawberries to the rear of the harvester while hanging them. A plate placement table is provided at the rear upper portion of the harvester, on which a stem connecting plate having a radial cut at the center and a hook is placed; A board supply unit for supplying a stem joining board to the board placement table; a plate connecting portion for lowering the stem connecting plate placed on the plate mounting base when the conveying portion reaches a fixed position under the plate mounting base, and connecting the stem connecting plate to the strawberry by a hook that bites into the stem connecting portion; and a packaging unit that adsorbs the stem binding plate to which the strawberries are attached, and when the strawberries are separated from the conveying unit, attaches the stem binding plate to the upper end of a packaging box located below, and packages the strawberries in a state where they are suspended in the packaging box.

2. The strawberry harvesting robot system according to claim 1, wherein the bed is provided with stem supports on both sides, each of which has a continuous stem support groove formed therein to accommodate the stems of the strawberries to prevent them from overlapping with each other and to enforce spacing between them.

3. When the harvesting unit advances to the bed to harvest strawberries, a stem gripper that advances with both claws facing each other to grip the stem when a built-in sensor detects the stem; A first stem cutting cutter that cuts the stems by moving forward facing each other simultaneously with the stem gripper; and a second stem cutter for cutting the stem of the strawberry to deliver it to the transfer section.

2. The strawberry harvesting robot system according to claim 1, wherein the first stem cutting cutter, the stem gripper, and the second stem cutting cutter are assembled in a multi-layer structure.

4. The strawberry harvesting robot system of claim 1, wherein the transport unit is provided with a transport gripper that, when a built-in sensor detects a stem when the harvesting unit with a strawberry hanging thereon returns to its original position, moves forward with both claws facing each other to grip the stem, and transports the strawberry to the rear of the harvester when the harvesting unit cuts the stem and hands it over.

5. The reaping part is coupled with the tip of a ball screw of a penetration motor provided in the harvester, and moves forward on the bed or returns to its original position; The strawberry harvesting robot system of claim 1, characterized in that the board supply unit is connected to the rear end of the ball screw of the through-hole motor and works in conjunction with the harvesting unit to push out the stalk connecting boards loaded in the loading box one by one and supply them to the board loading table.

6. The strawberry harvesting robot system of claim 1, characterized in that the plate mounting base is elastically supported by a spring so that the stem connecting plate can be placed on the inside, a ball protruding from the inner wall, and a ball plunger is built in so that the ball retracts so that the stem connecting plate can pass through the plate mounting base when the stem connecting plate is pushed downward by the plate connecting portion.

7. The transfer gripper is provided with a stem protector that surrounds the stem coupling portion by protruding pins at regular intervals along the stem gripping hole, The plate joint part includes a push plate for pushing the stem joint plate placed on the plate placement table, a hollow part in the center of the push plate for pulling out the stem protector during the pushing process, and a driving part for pushing the push plate downward or returning it to its original position, The strawberry harvesting robot system of claim 1, characterized in that when the push plate presses the stem connecting plate, the hook passes between the pins of the stem protector and moves downward, and when the push plate contacts the transport gripper by pinching the stem connecting plate, the hook bites into the stem connecting portion, thereby connecting the stem connecting plate and the strawberry.

8. The strawberry harvesting robot system of claim 1, further comprising a stem fixing plate which is connected to the upper end of the packaging box and has a perforated hole for receiving and fixing the stem portion protruding upward from the stem connecting plate which is seated at the upper end of the packaging box.

9. 2. The strawberry harvesting robot system according to claim 1, wherein the capturing means selects and captures strawberries to be harvested when the size of the strawberries is specified and input into a program.

10. 2. The strawberry harvesting robot system according to claim 1, further comprising a conveyor that moves the packaging boxes and adjusts the moving interval so that an empty storage space is located below the transported strawberries.

11. a capturing means for capturing by-products to remove by-products consisting of stems, runners, and old leaves remaining after strawberry harvest; The strawberry harvesting robot system of claim 1, further comprising a by-product removal device including the harvesting unit having only one cutting cutter so as to remove the by-products captured by the capturing means, the by-product removal device being further provided on the robot frame toward the bed.

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