Robotic hand and agricultural equipment

Abstract

The objective is to provide a robotic hand that can avoid obstacles located around a workpiece. [Solution] The robot hand comprises a movable finger section, a head section attached to the finger section for performing agricultural work, and a detection unit provided on the head section for detecting a workpiece during agricultural work. The head section has a plurality of surfaces. The detection unit includes a first sensor group provided on at least one of the plurality of surfaces, and a second sensor group provided on a surface different from the surface on which the first sensor group is provided, and having a detection range different from that of the first sensor group.

Description

Technical Field

[0001] The present disclosure relates to a robot hand and an agricultural working device.

Background Art

[0002] Patent Document 1 describes a robot hand for gripping a soft and fragile workpiece at high speed and with high precision. Specifically, the robot hand includes a gripping part equipped with a proximity sensor, and the gripping part grips an object based on the distance information of the proximity sensor.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When performing agricultural work, for example, harvesting work, the robot hand needs to enter into thickly leafed crops. Since the proximity sensor of the robot hand described in Patent Document 1 is a sensor for a workpiece, for example, a fruit, when the robot hand enters into thickly leafed crops, the robot hand may be obstructed by obstacles located around the workpiece.

[0005] In view of the above problems, an object of the present disclosure is to provide a robot hand that can avoid obstacles located around a workpiece.

Means for Solving the Problems

[0006] A robot hand according to one aspect of the present disclosure comprises a movable finger portion, a head portion attached to the finger portion for performing agricultural work, and a detection unit provided on the head portion for detecting a workpiece during agricultural work, wherein the head portion has a plurality of surfaces, and the detection unit includes a first group of sensors provided on at least one of the plurality of surfaces, and a second group of sensors provided on a surface different from the surface on which the first group of sensors is provided, and having a detection range different from that of the first group of sensors. [Effects of the Invention]

[0007] According to this disclosure, a robotic hand can be provided that avoids obstacles located around a workpiece. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 is a schematic diagram showing the basic structure of the robot. [Figure 2] Figure 2 is a schematic diagram showing the outline of the hand unit. [Figure 3A] Figure 3A is a perspective view of the head section as seen from the side where the first surface is visible. [Figure 3B] Figure 3B is a perspective view of the head section as seen from the side where the second surface is visible. [Figure 4] Figure 4 is an explanatory diagram illustrating the irradiation range and detection range of the detector. [Figure 5A] Figure 5A is an explanatory diagram illustrating the detection direction of the detector located in the head unit. [Figure 5B] Figure 5B is an explanatory diagram illustrating the detection direction of the detector located in the head unit. [Figure 6] Figure 6 is an explanatory diagram illustrating the detection direction of the second sensor group provided on the third and fourth surfaces. [Figure 7] Figure 7 is an explanatory diagram illustrating the robot's operation in Phase 1. [Figure 8] Figure 8 is an explanatory diagram illustrating the robot's operation in Phase 2. [Figure 9] Figure 9 is an explanatory diagram illustrating the robot's operation in Phase 3. [Figure 10] Figure 10 is an explanatory diagram illustrating the robot's operation in Phase 4. [Figure 11] Figure 11 is a schematic diagram showing an example of an agricultural work apparatus according to Embodiment 2. [Modes for carrying out the invention]

[0009] <Summary of the embodiments of this disclosure> The embodiments of this disclosure are outlined below.

[0010] (1) A robot hand according to one aspect of the present disclosure comprises a movable finger portion, a head portion attached to the finger portion for performing agricultural work, and a detection unit provided on the head portion for detecting a workpiece during agricultural work, wherein the head portion has a plurality of surfaces, and the detection unit includes a first group of sensors provided on at least one of the plurality of surfaces, and a second group of sensors provided on a surface different from the surface on which the first group of sensors is provided, and having a detection range different from that of the first group of sensors.

[0011] As a result, the robot hand has multiple detection ranges, allowing it to detect obstacles located around the workpiece. Consequently, the robot hand can perform agricultural tasks while avoiding obstacles.

[0012] (2) In the robot hand described in (1) above, the plurality of surfaces include a first surface, a second surface located opposite to the first surface, a third surface positioned between the first and second surfaces, a fourth surface located opposite to the third surface, and a fifth surface connecting the first surface to the fourth surface and facing the opposite side of the finger portion, the first sensor group is provided on the first surface, and the second sensor group may be provided on surfaces other than the first surface.

[0013] As a result, since the sensor groups are located on the first surface and surfaces other than the first surface, the robotic hand has multiple detection ranges. As a result, the robotic hand can detect obstacles located around the robotic hand.

[0014] (3) In the robotic hand according to (2) above, there are a plurality of the head portions, and the plurality of the head portions include a pair of head portions arranged to face each other, and the first surfaces of each of the pair of head portions may face each other.

[0015] As a result, since the first sensor groups located on the first surface face each other, the robotic hand can detect a workpiece located between the pair of head portions.

[0016] (4) In the robotic hand according to (3) above, the first sensor group may include a first detector and a second detector having a detection distance shorter than the detection distance of the first detector.

[0017] As a result, since the robotic hand's first sensor group includes two types of detectors with different detection distances, it can have a detection distance without gaps.

[0018] (5) In the robotic hand according to (3) or (4) above, the first surface is a surface facing the workpiece, and the second sensor group may be provided on the second surface.

[0019] As a result, the robotic hand can detect obstacles on the side opposite to the side where the workpiece is located.

[0020] (6) In the robotic hand according to any one of (3) to (5) above, the first surface is a surface facing the workpiece, and the second sensor group may be provided on the third surface and the fourth surface.

[0021] As a result, since the second sensor group has a detection range in a direction intersecting the facing direction of the pair of head portions arranged to face each other, the robotic hand can detect obstacles in that direction.

[0022] (7) In the robot hand described in (6) above, the detection range of the second sensor group provided on the third surface and the fourth surface may be inclined toward the first surface.

[0023] As a result, the second group of sensors is tilted toward the first surface facing the workpiece, allowing the robot hand to detect the intersection of the workpiece, i.e., the stem of the crop, more easily than detecting it directly below or directly above.

[0024] (8) In the robot hand described in any one of (2) to (7) above, the first surface is the surface facing the workpiece, and the second sensor group may be provided on the fifth surface.

[0025] As a result, the second sensor group has a detection range in the direction of the tips of the pair of heads that are positioned opposite each other, so that the robot hand can detect workpieces or obstacles in that direction.

[0026] (9) In the robot hand described in (8) above, the second sensor group may include a first detector and a second detector having a detection distance shorter than the detection distance of the first detector.

[0027] As a result, the second group of sensors, which has a detection range in the direction of the tip of the head, further includes a first detector with a longer detection distance than the second detector, so that the robot hand can detect objects that are farther away than the detection distance of the second detector.

[0028] (10) A robot hand according to any one of (3) to (7) above, further comprising a base member having a pair of connecting parts to which the base ends of the pair of finger portions are pivotably connected, and a central sensor provided between the pair of connecting parts in the base member, wherein the central sensor may have a detection range in the direction of the symmetric axis of the pair of head portions that are arranged facing each other.

[0029] As a result, the central sensor located at the base end of the finger section detects the workpiece located at the end of the pair of head sections facing each other in the symmetrical axis direction, allowing the robot hand to detect the workpiece's position with greater accuracy than when there is no central sensor.

[0030] (11) An agricultural work apparatus according to one aspect of the present disclosure comprises a robot hand described in any one of (1) to (10) above, and a control device for controlling the robot hand.

[0031] This allows the agricultural equipment to perform agricultural work while avoiding obstacles located around the workpiece.

[0032] [Details of the embodiments of this disclosure] The embodiments of this disclosure will be described in detail below with reference to the drawings. At least some of the embodiments described below may be combined in any way.

[0033] [Embodiment 1] [1-1 Overall Robot Configuration] Figure 1 is a schematic diagram showing an overview of robot 1. As shown in Figure 1, robot 1 of this disclosure includes a hand section 2, an arm section 3, and a control device 4. The arm section 3 includes a link section 5 and a joint section 6. The hand section 2 corresponds to a "robot hand".

[0034] Robot 1 is a device that mimics a human arm and hand. Robot 1 is part of a robot capable of grasping and manipulating objects like a human hand. Robot 1 includes, for example, a hand section 2 corresponding to a human hand and an arm section 3 corresponding to a human arm. Similar to the relationship between a human hand and arm, the hand section 2 is connected to the arm section 3. The hand section 2 is driven, for example, by an actuator to open and close and grasp an object. The arm section 3, connected to the hand section 2, moves the hand section 2 to a position for working on the object and changes the orientation of the hand section 2 to match the direction of the object. To perform such actions, the arm section includes, for example, a plurality of link sections 5, a joint section 6 connecting the link sections, and an actuator (not shown) that drives the link sections. The control device 4 controls the actuators based on control information and causes Robot 1 to operate. By the control device 4 controlling the actuators, Robot 1 can perform fine movements similar to those of a human arm.

[0035] Robot 1 further includes a base 7. The base 7 is the part on which the arm portion 3 is provided and which serves as the base for the arm portion 3. The base 7 may also include a control device 4. The arm portion 3 is connected to the base 7 at its base end, and the hand portion 2 is connected to the tip end of the arm portion 3.

[0036] [1-2 Details of each component] [1-2-1 Handball Section] Figure 2 is a schematic diagram showing the outline of the hand unit 2. The hand unit 2 comprises a movable finger unit 11, a head unit 12 attached to the finger unit 11 for performing agricultural work, and a detection unit 13 provided on the head unit 12 that can detect a workpiece during agricultural work. The hand unit 2 further comprises a palm unit 14 having a connecting unit 15 to which the base ends of a pair of finger units 11 are pivotably connected. The palm unit 14 corresponds to the "base member". The head unit 12 is located on the tip side of the finger unit 11. Here, "workpiece" refers to the object or work object operated by the robot 1, such as crops or agricultural materials. In Figure 2, the right direction of the paper is defined as the X1 direction, the left direction of the paper is defined as the X2 direction, the top direction of the paper is defined as the Y1 direction, and the bottom direction of the paper is defined as the Y2 direction.

[0037] <Finger section> The finger portion 11 includes a link portion 16 and a joint portion 17. The link portion 16 is a columnar member. The joint portion 17 rotatably connects the two link portions 16. The joint portion 17 may also slidably connect the two link portions 16.

[0038] <Head section> The head portion 12 is attached to the finger portion 11 and used for agricultural work. Agricultural work includes tasks such as grasping branches and cutting branches. The specific shape of the head portion is determined according to the agricultural work being performed, for example, it may be a rectangular prism. The head portion 12 may be attached directly to the finger portion 11 or it may be attached via the joint portion 17.

[0039] Figure 3A is a perspective view of the head portion as seen from the side where the first surface is visible. Figure 3B is a perspective view of the head portion as seen from the side where the second surface is visible. The head portion 12 has a plurality of surfaces. The plurality of surfaces include a first surface f1, a second surface f2, a third surface f3, a fourth surface f4, and a fifth surface f5. The first surface f1 is the surface facing the workpiece W. The second surface f2 is the surface located opposite to the first surface f1. The third surface f3 and the fourth surface f4 are surfaces located between the first surface f1 and the second surface f2. The fourth surface f4 is the surface located opposite to the third surface f3. The fifth surface f5 connects the first surface f1 to the fourth surface f4 and is located on the opposite side of the finger portion 11.

[0040] As shown in Figure 2, there may be multiple head portions 12. A pair of head portions 12 may be arranged facing each other, with their respective first surfaces f1 facing each other.

[0041] <Palm section> The palm portion 14 is located at the base of the hand portion 2 and serves as the basic structure supporting the finger portion 11. Therefore, the palm portion 14 has the mechanical strength to support the operation of the finger portion 11. The palm portion 14 has connecting portions 15. The pair of connecting portions 15 pivotably connect the base ends of the pair of finger portions 11. The palm portion 14 further includes actuators 18a and 18b for driving the finger portion 11. The palm portion 14 may further include a central sensor DEC. The hand portion 2 is attached to the tip of the arm portion 3 by connecting the palm portion 14 to the tip side of the arm portion 3. Details of the palm portion 14 will be described later.

[0042] <Detection Unit> The detection unit 13 is provided on the head unit 12 and can detect workpieces during agricultural work. Workpieces are, for example, agricultural products. As shown in Figures 3A and 3B, the detection unit 13 includes a first sensor group SG1 and a second sensor group SG2. The first sensor group SG1 is provided on at least one surface out of a plurality of surfaces. The first sensor group SG1 is provided on the first surface f1. The second sensor group SG2 is provided on a surface out of a plurality of surfaces that is different from the surface on which the first sensor group SG1 is provided, and has a different detection range than the first sensor group SG1. The second sensor group SG2 is provided on surfaces other than the first surface f1.

[0043] The first sensor group SG1 includes a first detector DE1 and a second detector DE2. The second sensor group SG2 includes a second detector DE2. In Figures 3A and 3B, the first detector DE is shown by a square, and the second detector DE2 is shown by a circle. The second detector DE2 has a shorter detection range than the first detector DE1. In other words, the first detector DE1 has a longer detection range than the second detector DE2. A detector with a long detection range is, for example, a TOF (Time of Flight) sensor. Time of Flight is the time it takes for particles or waves, such as objects, light, or sound, to reach their target after being emitted. A TOF sensor is a sensor that emits light, measures the time it takes for the reflected light to return to the sensor, and calculates the distance to the object. The light is emitted by, for example, a surface-emitting laser diode. A TOF sensor has a detection range of, for example, 40 mm to 600 mm. Therefore, a TOF sensor is unsuitable for measuring short distances.

[0044] The second detector DE2 has a shorter detection range than the first detector DE1. Therefore, the second detector DE2 measures the distance to objects within a distance range that the first detector DE1 cannot measure. The second detector DE2 is, for example, a proximity sensor. The proximity sensor has, for example, a detection range of 0 mm to 40 mm. The proximity sensor is a sensor that irradiates an object with light using an LED (Light Emitting Diode), measures the intensity of the reflected light from the object with a photodetector, and measures the distance based on the measured light intensity. The irradiated light is, for example, near-infrared light with a wavelength of 940 nm. Various countermeasures are employed in proximity sensors to eliminate the influence of ambient light. For example, the proximity sensor measures the intensity of ambient light and corrects the light intensity shown by the photodetector. Alternatively, the proximity sensor modulates the LED drive current at a predetermined frequency, uses the signal used for modulation as a synchronization signal, extracts a signal based on the light emitted by the LED from the output signal of the photodetector, and measures the distance. The first detector DE1 and the second detector DE2 (hereinafter collectively referred to as "detector DE") output data indicating the distance to the measured object to an external source, for example, via the I2C bus protocol.

[0045] Thus, the first sensor group SG1 includes a first detector DE1 and a second detector DE2 having a detection range shorter than that of the first detector DE1. In other words, the first sensor group SG1 measures distance using the first detector DE1 for ranges farther away from the sensor group SG1, and measures distance using the second detector DE2 for ranges closer to the sensor group SG1. A distance measuring sensor that can measure long distances may not be able to measure short distances. By equipping the first sensor group SG1 with multiple distance measuring sensors with different measurable distance ranges, it is possible to have a seamless detection range.

[0046] Figure 4 is an explanatory diagram illustrating the illumination range and detection range of detector DE. The light-emitting element of detector DE illuminates the illumination range Ee. Here, the direction perpendicular to the surface that receives reflected light in detector DE is defined as the detection direction DO. The illumination range Ee has a conical shape, for example, at + / - 17° from the detection direction DO. The light-receiving element of detector DE detects reflected light from an object arriving from within the detection range Ec. The detection range Ec has a conical shape, for example, at + / - 12° from the detection direction DO. Therefore, detector DE can illuminate a wider range than the detection range Ec and measure the distance to an object located within the detection range Ec. The detection range Ec of the first detector DE1 may be wider or narrower than the detection range Ec of the second detector DE2.

[0047] As shown in Figures 3A and 3B, the head unit 12 has a first sensor group SG1 on the first surface f1 facing the workpiece W. The first sensor group SG1 includes, for example, a first detector DE1 in the center of the first surface f1 and eight second detectors DE2 around the first detector DE1. The head unit 12 has second sensor groups SG2 on surfaces other than the first surface f1, namely the second surface f2, the third surface f3, the fourth surface f4, and the fifth surface f5. The second sensor group SG2 located on the second surface f2 includes, for example, four second detectors DE2. The second sensor group SG2 located on the third surface f3 includes, for example, two second detectors DE2. The second sensor group SG2 located on the fourth surface (not shown) similarly includes, for example, two sets of two second detectors DE2. The second sensor group SG2 located on the fifth surface f5 includes a first detector DE1.

[0048] Figures 5A and 5B are explanatory diagrams illustrating the detection direction DO of the detector DE provided on the head unit 12. Figure 5A is a view of the first surface f1 from the front. Figure 5B is a view of the fifth surface f5 from the front. In Figures 5A and 5B, the perpendicular direction of the first surface f1 is defined as X1, the perpendicular direction of the second surface f2 as X2, the perpendicular direction of the third surface f3 as Z1, the perpendicular direction of the fourth surface f4 as Z2, the perpendicular direction of the fifth surface f5 as Y1, and the direction opposite to Y1 as Y2.

[0049] The detection direction DO of the first sensor group SG1 located on the first surface f1 measures the distance to an object located in the X1 direction. Since the first surfaces f1 of each of the pair of head units 12 face each other and the first surfaces f1 face the workpiece W, when the workpiece W is located between the first surfaces f1 of the pair of head units 12, the first sensor group SG1 measures the distance from the first sensor group SG1 to the workpiece W. As a result, the robot 1 can detect the workpiece W located between the pair of head units.

[0050] The second sensor group SG2, located on the second surface f2, measures the distance to an object located on the opposite side of the workpiece W (in the X2 direction in Figure 5B). This allows the robot 1 to detect obstacles in the direction away from the workpiece W, such as leaves growing around the fruit, enabling it to avoid the leaves and approach the fruit with its hand.

[0051] Furthermore, the second sensor group SG2 located on the third surface f3 and the fourth surface f4 measures the distance to an object in a direction different from the detection direction DO of the second sensor group SG2 located on the second surface (Z1 and Z2 directions in Figures 5A and 5B). As a result, the robot 1 has a detection range in a direction that intersects with the opposing directions of the pair of head units 12 that are positioned opposite each other, so the robot 1 can detect obstacles in that direction. Consequently, the robot 1 can, for example, avoid leaves located in that direction and bring the hand unit closer to the fruit.

[0052] The second sensor group SG2, located on the fifth surface f5, measures the distance to an object located in the Y1 direction. For example, when the hand unit 2 is moved to approach a fruit on a fruit tree, the second sensor group SG2 measures the distance from the second sensor group SG2 to the fruit. As a result, the second sensor group has a detection range in the direction of the tips of a pair of head units that are positioned opposite each other, so when the robot 1 moves, for example, the hand unit 2 in the direction of its tip, it can detect a workpiece or obstacle located in the direction of the tip.

[0053] The second sensor group SG2 located on the fifth surface may further include a first detector DE1. Since the first detector DE1 has a longer detection range than the second detector DE2, the robot 1 can detect a workpiece or obstacle located further away than the detection range of the second detector DE2 and move the hand unit 2 toward the tip of the hand unit 2.

[0054] In this way, the first sensor group SG1 located on the first surface f1 measures the distance to the workpiece W, and the second sensor group SG2 located on surfaces f2 to f5 (excluding the first surface f1) measures the distance to objects located around the workpiece W. As a result, the robot 1 can detect the workpiece W while simultaneously detecting obstacles located around the workpiece, such as leaves growing around a fruit. Consequently, the robot 1 can avoid obstacles, approach the workpiece W with the hand unit 2, and perform agricultural work.

[0055] Figure 6 is an explanatory diagram illustrating the detection direction of the second sensor group SG2 provided on the third surface f3 and the fourth surface f4. As shown in Figure 6, the detection range Ec of the second sensor group SG2 provided on the third surface f3 and the fourth surface f4 may be tilted toward the first surface f1. If the second sensor group SG2 includes a second detector DE2, the second detector DE2 located on the third surface f3 is provided on the third surface f3 with its detection direction DO tilted toward the first surface f1, and the second detector DE2 located on the fourth surface f4 is provided on the fourth surface f4 with its detection direction DO tilted toward the first surface f1. As a result, the hand unit 2 can more easily detect the intersection of stems than when the detection direction DO is not tilted toward the first surface.

[0056] <Palm section> As shown in Figure 2, the palm portion 14 has a pair of connecting portions 15 to which the base ends of a pair of finger portions 11 are pivotably connected. A central sensor DEC may be provided between the pair of connecting portions 15 in the palm portion 14. The central sensor DEC is, for example, a TOF sensor. The central sensor DEC has a detection range in the direction of the symmetrical axis of a pair of head portions 12 that are arranged facing each other. In Figure 2, the detection direction DO of the central sensor DEC is, for example, the Y1 direction.

[0057] The palm section 14 may include actuators 18a and 18b. Actuator 18a is an actuator that swings the finger section 11. The finger section 11 located on the X2 side will be described below. Actuator 18a winds up and unwinds the first end of the wire WI1. The second end of the wire WI1 is connected to the joint section 17a. The spring (not shown) included in the joint section 17a applies force to the link section 16a in the X2 direction. When actuator 18a winds up the first end of the wire WI1, the link section 16a rotates in the X1 direction around the joint section 17a, and when actuator 18a unwinds, the link section 16a rotates in the X2 direction around the joint section 17a. The first end of the wire WI2 is further connected to the joint section 17a. The second end of the wire WI2 is connected to the joint section 17b. When wire WI1 is wound up, wire WI2 is unwound. The spring (not shown) included in the joint 17b applies force to the link 16b in the X1 direction. When the wire WI2 is wound up, the link 16b rotates in the X2 direction around the joint 17b, and when the wire WI2 is unwound, the link 16b rotates in the X1 direction around the joint 17b. As a result, when the link 16a rotates in the X1 direction, the link 16b rotates in the X2 direction, so the head 12 moves in parallel in the X2 direction while simultaneously moving in parallel in the X1 direction.

[0058] Actuator 18b is an actuator that oscillates the head portion 12. Actuator 18b winds up and unwinds the first end of the wire WI3. The second end of the wire WI3 is connected to the joint portion 17c. The spring (not shown) included in the joint portion 17c applies force to the head portion 12 in the X1 direction. When actuator 18b winds up the first end of the wire WI3, the head portion 12 rotates in the X2 direction around the joint portion 17c, and when it unwinds, the head portion 12 rotates in the X1 direction around the joint portion 17c. The operation of the finger section 11 on the X1 side can be described by substituting X1 with X2 and X2 with X1 in the above explanation.

[0059] [1-2-2 Control Device] The control device 4 controls the actuators based on the control information to operate the hand unit 2 and the arm unit 3. The control device 4 also receives feedback from sensors, including the first sensor group SG1 and the first sensor group SG2. The feedback is, for example, data indicating the distance from the hand unit 2 to the object. The control device 4 processes the input feedback and controls the actuators that drive the hand unit 2 and the arm unit 3, causing the robot 1 to perform a predetermined task.

[0060] As shown in Figure 1, the control device 4 includes, for example, a processor 4a, memory 4b, and an input / output interface (hereinafter referred to as "input / output I / F") 4c.

[0061] Processor 4a is, for example, a CPU (Central Processing Unit). However, processor 4a is not limited to a CPU. Processor 4a may also be a GPU (Graphics Processing Unit). Processor 4a may be, for example, a multi-core processor. Processor 4a may also be a single-core processor. Processor 4a may be, for example, an ASIC (Application Specific Integrated Circuit), or a programmable logic device such as a gate array or FPGA (Field Programmable Gate Array).

[0062] Memory 4b includes volatile memory and non-volatile memory. Volatile memory is semiconductor memory such as SRAM (Static Random Access Memory) and DRAM (Dynamic Random Access Memory). Non-volatile memory is flash memory, hard disk, ROM (Read Only Memory), etc. Non-volatile memory stores a control program for controlling robot 1, which is a computer program, and data used to execute the control program. Each function of processor 4a is performed when the control program is executed by processor 4a. The control program can be stored in a recording medium such as flash memory, ROM, or CD-ROM.

[0063] The input / output interface 4c is connected via signal wiring to the detector DE of the hand unit 2 and a drive unit (not shown) that drives the actuators of the hand unit 2 and the arm unit 3. The input / output interface 4c outputs data to the drive unit via signal wiring that includes commands to cause the actuators to perform predetermined operations. The input / output interface 4c receives data from the detector DE indicating the distance from the hand unit 2 to the workpiece W via signal wiring. The input / output interface 4c passes the data contained in the input signals to the processor 4a.

[0064] [1-3 Robot movements] <Phase 1> Figure 7 is an explanatory diagram illustrating the operation of robot 1 in Phase 1. In Phase 1, the control device 4 controls the actuator that drives the arm 3 to bring the hand 2 closer to the fruit Fr of the workpiece W. The workpiece W is, for example, a fruit tree. Based on the data indicating the distance from the hand 2 to the fruit Fr output by the second sensor group SG2 located on the fifth surface f5, the control device 4 controls the actuator that drives the arm 3 to bring the hand 2 closer to the fruit Fr. The distance from the hand 2 to the fruit Fr to be brought closer is, for example, 200 mm to 600 mm. The detector DE included in the second sensor group SG2 is, for example, a TOF sensor. The control device 4 may also control the actuator 18b to rotate the head 12 so that the detection direction DO of the second sensor group SG2 located on the fifth surface f5 of the head 12 is directed toward the fruit Fr. This allows the second sensor group SG2 to measure the distance from the hand 2 to the fruit Fr more accurately than when the detection direction DO is not directed toward the fruit Fr.

[0065] Furthermore, since the second sensor group SG2 is equipped with a first detector DE1 and a second detector DE2, the control device 4 may switch between the first detector DE1 and the second detector DE2 depending on the distance from the hand unit 2 to the fruit Fr to measure the distance. For example, if the distance from the hand unit 2 to the fruit Fr is 40 mm or more, the control device 4 measures the distance using the first detector DE1 (TOF sensor) and moves the hand unit 2 closer to the fruit Fr. When the hand unit 2 approaches to a position where the distance from the hand unit 2 to the fruit Fr is 40 mm or less, the control device 4 switches to the second detector DE2 (proximity sensor) to measure the distance and moves the hand unit 2 even closer to the fruit Fr.

[0066] The control device 4 controls the actuator that drives the arm 3 based on the distance measured by the second sensor group S2 located on the second surface f2, the third surface f3, and the fourth surface f4, thereby bringing the hand 2 closer to the fruit Fr. The second sensor group measures the distance from the hand 2 to the leaves growing around the fruit Fr. As a result, the control device 4 can bring the hand 2 closer to the fruit Fr while avoiding the leaves growing around the fruit Fr.

[0067] The control device 4 may also be connected to a camera 71. Camera 71 is a camera that captures images of the entire workpiece W. The image generated by camera 71 is, for example, a point cloud image. A point cloud image is a dataset that records the position of each point in three-dimensional space. A point cloud image is generated, for example, from images taken from different viewpoints using multiple cameras. The control device 4 processes the image captured by camera 71 to determine the approximate position of the fruit Fr in the workpiece W. Based on the determined approximate position of the fruit Fr, the control device 4 controls the actuator that drives the arm 3 to move the hand 2 to the approximate position of the fruit Fr. Then, based on data indicating the distance from the hand 2 to the fruit Fr measured by the second sensor group SG2 located on the fifth surface f5, the control device 4 moves the hand 2 closer to the fruit Fr. As a result, the control device 4 can quickly bring the hand unit 2 closer to the fruit Fr based on the image captured by the camera 71, and accurately bring the hand unit 2 closer to the fruit Fr based on the distance measured by the second sensor group S2 located on the fifth surface.

[0068] <Phase 2> Figure 8 is an explanatory diagram illustrating the operation of robot 1 in phase 2. Figure 8 is an enlarged view of the hand unit 2 and workpiece W. In Figure 8, the right direction of the paper is defined as the X1 direction, the left direction of the paper is defined as the X2 direction, the top direction of the paper is defined as the Y1 direction, and the bottom direction of the paper is defined as the Y2 direction. In phase 2, the control device 4 detects the position of workpiece W using the first detector DE1 of the first sensor group SG1. The control device 4 controls the actuator that drives the arm unit 3 to bring the head unit 12 closer to workpiece W, i.e., in the Y1 direction. Workpiece W is, for example, the pedicel of a fruit Fr. The control device 4 detects workpiece W based on the data output by the first detector DE1 included in the first sensor group SG1, for example, a TOF sensor. Specifically, the control device 4 brings the hand unit 2 closer to workpiece W. Then workpiece W enters between the first surfaces f1 of each of the pair of head units 12. When the workpiece W passes in front of the first detector DE1, the first detector DE1 outputs data indicating a distance shorter than the distance before the workpiece passed. The control device 4 detects this change in data and determines the position of the workpiece W.

[0069] The hand unit 2 may also be equipped with a central sensor DEC. Since the central sensor DEC can directly measure the distance in the Y1 direction from the hand unit 2 to the workpiece W, the control device 4 can obtain the distance from the hand unit 2 to the workpiece W with higher accuracy than when the central sensor DEC is not used. In addition, the central sensor DEC may have a focusing lens on the side of the light-emitting element that emits light. Since the detection range Ec is narrowed, the risk of the detection of the object being obstructed by objects other than the object itself in the vicinity of the object is reduced.

[0070] <Phase 3> Figure 9 is an explanatory diagram illustrating the operation of robot 1 in phase 3. Figure 9 is an enlarged view of the hand unit 2 and workpiece W. In phase 3, the control device 4 switches the sensor used to measure the distance to workpiece W from the first detector DE1 of the first sensor group SG1 to the second detector DE2, thereby determining the position of workpiece W with greater accuracy than in phase 2. The control device 4 acquires data from multiple second detectors DE2 located on the first surface f1 of each of the pair of head units 12. Since the data indicates the distance from each second detector DE2 to the object, the control device 4 can determine the position of workpiece W with greater accuracy than in phase 2 by comparing the data. The control device 4 may also control actuators 18a and 18b that drive the finger unit 11 to bring the pair of head units 12 closer to workpiece W. When the head units 12 are brought closer, the detection range Ec is narrowed compared to when the head units 12 are not brought closer, and the second detectors DE2 measure the distance to the object, so the control device 4 can determine the distance to the object with greater accuracy.

[0071] <Phase 4> Figure 10 is an explanatory diagram illustrating the operation of robot 1 in phase 4. In phase 4, the control device 4 controls the actuator that drives the arm 3 to scan the head 12 of the hand 2 in a predetermined direction on the workpiece W. For example, the control device 4 scans the head 12 in the longitudinal direction of a fruit tree branch. While the head 12 is scanning, the control device 4 acquires data from the second detector DE2 of the first sensor group SG1 located on the first surface f1. Since the data from the second detector DE2 acquired during the scanning of the head 12 has values ​​corresponding to the outline of the scanned branch, the control device 4 can identify the location of the branch branching point. Based on the identified branch branching point, the control device 4 can determine the work position. The work is, for example, harvesting, which involves cutting the fruit stalks.

[0072] As a result, robot 1 can avoid obstacles located around the workpiece W, namely the leaves growing around the fruit of the fruit tree, and harvest the fruit.

[0073] [Embodiment 2] Figure 11 is an overview diagram showing an example of an agricultural work apparatus according to Embodiment 2. Figure 11 shows a harvesting apparatus for harvesting fruit from fruit trees as an example of an agricultural work apparatus. The agricultural work apparatus 111 is an example in which the robot 1, including the hand unit 2 described in Embodiment 1, is applied to an agricultural machine (tractor). In this example, the agricultural work apparatus 111 includes a tractor 112 and a robot 1 provided on the tractor 112. The robot 1 includes a hand unit 2 and a control device 4. When the tractor 112 approaches a fruit tree (workpiece W), the control device 4 detects the target part of the workpiece by controlling the hand unit 2. For example, the control device 4 detects the fruit stalk of the fruit tree by controlling the hand unit 2. The control device 4 then controls the actuators that drive the hand unit 2 and arm unit 3 to bring the hand unit 2 closer to the detected fruit stalk and cut the fruit stalk. As a result, the agricultural work apparatus 111 can harvest the fruit.

[0074] Since the agricultural work device 111 includes a robot 1 including the hand unit 2 described in Embodiment 1, it can perform agricultural work while avoiding obstacles located around the workpiece.

[0075] 〔others〕 The embodiments described above are illustrative and not restrictive in all respects. The scope of the present invention is indicated by the claims rather than by the embodiments, and includes all modifications within the scope equivalent to the configurations described in the claims. [Explanation of Symbols]

[0076] 1. Robot 2. Hand unit 3. Arm section 4. Control device 4a Processor 4b Memory 4c Input / Output Interface (I / F) 5 Link section 6 Joint section 7 Base 11 Finger section 12 Head unit 13 Detection unit 14 Palm section 15 Connection section 16, 16a, 16b Link section 17, 17a, 17b, 17c Joint section 18a, 18b Actuators 71 Cameras 111 Agricultural equipment 112 Tractor DE1 First Detector DE2 Second Detector DEC Central Sensor DO detection direction Ee irradiation range Ec detection range Fr fruit f1 1st side f2 2nd side f3 3rd side f4 4th side f5 Fifth surface SG1 First sensor group SG2 2nd Sensor Group W Work WI1, WI2, WI3 wires

Claims

1. A movable finger section, The head portion, which is attached to the aforementioned finger portion and used for agricultural work, The head portion is provided with a detection unit capable of detecting the workpiece during agricultural work, Equipped with, The head portion has multiple surfaces, The aforementioned detection unit is A group of first sensors provided on at least one of the aforementioned multiple surfaces, A second group of sensors is provided on a surface different from the surface on which the first group of sensors is provided, and has a detection range different from that of the first group of sensors. Robot hand.

2. The plurality of surfaces include a first surface, a second surface located opposite the first surface, a third surface positioned between the first and second surfaces, a fourth surface located opposite the third surface, and a fifth surface connecting the first to the fourth surface and facing the opposite side of the finger portion. The first group of sensors is provided on the first surface, The second group of sensors is provided on surfaces other than the first surface, The robot hand according to claim 1.

3. The aforementioned head portion is multiple, The plurality of head portions include a pair of head portions that are arranged facing each other, The first surfaces of each of the pair of head portions are facing each other. The robot hand according to claim 2.

4. The first sensor group includes a first detector and a second detector having a detection distance shorter than the detection distance of the first detector. The robot hand according to claim 3.

5. The first side is the side that faces the workpiece, The second group of sensors is provided on the second surface, The robot hand according to claim 3.

6. The first side is the side that faces the workpiece, The second group of sensors is provided on the third and fourth surfaces. The robot hand according to claim 3.

7. The detection range of the second sensor group provided on the third and fourth surfaces is inclined toward the first surface. The robot hand according to claim 6.

8. The first side is the side that faces the workpiece, The second group of sensors is provided on the fifth surface, The robot hand according to claim 2.

9. The second sensor group includes a first detector and a second detector having a detection distance shorter than the detection distance of the first detector. The robot hand according to claim 8.

10. A base member having a pair of connecting parts to which the base ends of the pair of finger portions are pivotably connected, The base member further comprises a central sensor provided between the pair of connecting portions, The central sensor has a detection range in the symmetrical axis direction of the pair of head portions that are arranged facing each other. The robot hand according to claim 3.

11. The robot hand according to claim 1, A control device for controlling the robot hand, A farming device equipped with the following features.

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