Quality measurement device, work robot, and quality measurement method

Abstract

This suppresses the decrease in accuracy of quality measurement devices that utilize light in a predetermined wavelength range. [Solution] An apparatus according to one aspect of the present disclosure is an apparatus for measuring the quality of agricultural products using light in a predetermined wavelength band, comprising a header section having a light-emitting section and a light-receiving section, and a main body section having a tip section to which the header section is connected via a connecting section, wherein the connecting section is composed of a flexible joint that supports the header section such that the inclination of the header section is variable in response to an external force.

Description

Technical Field

[0001] The present disclosure relates to a quality measurement device, a work robot, and a quality measurement method.

Background Art

[0002] Patent Document 1 describes a device that uses light in a predetermined wavelength band to nondestructively measure the quality of agricultural products such as fruits. In the quality measurement device of Patent Document 1, near-infrared light is irradiated onto the agricultural product to be measured, and based on the spectral intensity for each wavelength of the reflected light from the agricultural product, the quality such as the sugar content or acidity of the agricultural product is measured.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In quality measurement using the reflected light from agricultural products, since the quality value is determined based on the spectral intensity for each wavelength of the reflected light, the accuracy decreases when disturbing light is mixed in. In particular, in measurements outdoors such as in a field, disturbing light is more likely to be mixed in compared to indoors, so the accuracy may decrease even more. However, in Patent Document 1, the problem of accuracy degradation due to disturbing light is not assumed. In view of such conventional problems, an object of the present disclosure is to suppress a decrease in the accuracy of a quality measurement device that uses light in a predetermined wavelength band.

Means for Solving the Problems

[0005] An apparatus according to one aspect of the present disclosure is an apparatus for measuring the quality of agricultural products using light in a predetermined wavelength band, comprising a header section having a light-emitting section and a light-receiving section, and a main body section having a tip section to which the header section is connected via a connecting section, wherein the connecting section is composed of a flexible joint that supports the header section such that the inclination of the header section is variable in response to an external force.

[0006] Embodiments of the present disclosure may be implemented by apparatus, systems, methods, integrated circuits, computer programs, or computer-readable non-temporary recording media, or any combination thereof. The recording medium may be either volatile or non-volatile. The apparatus may consist of multiple individual devices. If it consists of multiple individual devices, they may be arranged in a single enclosure or in two or more separate enclosures. [Effects of the Invention]

[0007] According to this disclosure, it is possible to suppress the decrease in accuracy of a quality measurement device that utilizes light in a predetermined wavelength band. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 is a perspective view showing an example of the overall configuration of an agricultural work system. [Figure 2] Figure 2 is a cross-sectional view showing an example of the internal configuration of a quality measurement device. [Figure 3] Figure 3 is a flowchart showing an example of a quality measurement process. [Figure 4] Figure 4 is an explanatory diagram showing an example of variations in the morphology of the connecting part. [Figure 5] Figure 5 is a cross-sectional view showing another example of the internal configuration of a quality measurement device. [Figure 6] Figure 6 is a perspective view of a quality measurement device related to other disclosures. [Modes for carrying out the invention]

[0009] <Summary of the embodiments of this disclosure> The embodiments of this disclosure are outlined below. (1) An apparatus according to one aspect of this embodiment is an apparatus for measuring the quality of agricultural products using light in a predetermined wavelength band, comprising a header section having a light-emitting section and a light-receiving section, and a main body section having a tip section to which the header section is connected via a connecting section, wherein the connecting section is made up of a flexible joint that supports the header section such that the inclination of the header section is variable in response to an external force.

[0010] According to the quality measuring device of this embodiment, the connecting portion is made of a flexible joint that supports the header portion so that the inclination of the header portion is variable in response to external force. For example, by moving the header portion in a direction that brings it closer to the crop and pressing it against the crop, the header portion can be made to face the crop almost directly. Therefore, the amount of ambient light entering the light-receiving section can be reduced, and the decrease in accuracy caused by ambient light mixing with reflected light can be suppressed.

[0011] (2) In the quality measuring device described in (1) above, the flexible joint may include a plurality of elastic members (for example, coil springs or rubber rod-shaped members) arranged to surround the central part of the header.

[0012] This method provides a more flexible and cushioned design compared to using the plastic members described later. Consequently, a quality measuring device is obtained in which the surface of agricultural products is less likely to be damaged even when the header is pressed against them.

[0013] (3) In the quality measuring device described in (1) above, the flexible joint may include a plurality of plastic members (for example, an arm member with a ball joint) arranged to surround the central part of the header.

[0014] By doing so, compared with the case of adopting the above-described elastic member, a flexible performance that is difficult to shake even when receiving an external force can be obtained. Therefore, a quality measurement device that can more stabilize the facing state of the header portion with respect to the agricultural crop can be obtained.

[0015] (4) In the quality measurement device of (1) to (3) described above, the agricultural crop may be grapes. In this case, it is possible to suppress a decrease in the accuracy of quality measurement regarding grapes.

[0016] (5) The device according to another aspect of the present embodiment is a work robot including a moving device and a robot arm mounted on the moving device, wherein any one of the quality measurement devices of (1) to (4) described above is connected to a tip portion of the robot arm.

[0017] According to the work robot of the present embodiment, since the quality measurement device of the present embodiment is connected to the tip portion of the robot arm of the work robot, it is possible to suppress a decrease in the accuracy of quality measurement to be executed by the work robot.

[0018] (6) The method according to the present embodiment is a quality measurement method executed by the devices of (1) to (4) described above, including a step of pressing the header portion against the agricultural crop and a step of performing light projection and light reception in a state where the header portion is pressed against the agricultural crop.

[0019] According to the quality measurement method of the present embodiment, since light projection and light reception are performed in a state where the header portion supported by the flexible joint is pressed against the agricultural crop, light projection and light reception are performed in a state where the header portion is substantially facing the agricultural crop. Therefore, it is possible to reduce the amount of disturbing light entering the light receiving portion and suppress a decrease in accuracy due to the mixing of disturbing light into the reflected light.

[0020] <Details of Embodiments of the Present Disclosure> Hereinafter, details of embodiments of the present disclosure will be described with reference to the drawings. Note that at least a part of the embodiments described below may be arbitrarily combined.

[0021] [Overall structure of the agricultural work system] Figure 1 is a perspective view showing an example of the overall configuration of the agricultural work system 200. As shown in Figure 1, the agricultural work system 200 of this embodiment includes a work robot 10 capable of traveling in a field 210, a communication device 20, and a server 30. In this embodiment, the crop 40 in field 210 is grapes used as a raw material for wine, and field 210 is a vineyard for cultivating grapes 40. In the vineyard 210, the same variety or different varieties of grapes 40 may be cultivated.

[0022] The work robot 10 is connected to the communication device 20 via a wireless LAN or the like. The communication device 20 is a wireless router that has, for example, a wireless LAN (Local Area Network) communication function and a communication function compliant with mobile communication systems such as LTE (Long Term Evolution) or 5G. Therefore, the work robot 10 can communicate with the server 30 through local communication with the communication device 20 and public communication via the wireless base station 50 and the public communication network 60.

[0023] Server 30 is a management server that provides predetermined farming support services to users (not shown) who manage the field 210. The public communication network 60 includes the Internet, and user terminals (not shown) are connected to the public communication network 60. The server 30, in response to service requests sent from the user terminals, issues commands to the work robot 10 to perform, and collects work results and notifies the user terminals of them.

[0024] [Example configuration of a work robot] As shown in Figure 1, the work robot 10 comprises a mobile device 11 and a robot arm 12 mounted on the mobile device 11. The mobile device 11 is, for example, an electric vehicle and has a driving body 13 and a chassis 14 that includes a plurality (e.g., four) of wheels that constitute the lower part of the driving body 13. However, the drive system of the chassis 14 may be a crawler system, a hybrid system having both wheels and crawlers, or a walking system that walks on two or more legs.

[0025] The robot arm 12 includes a manipulator 15 located at the front upper part of the traveling body 13, and an end effector 16 that is detachably attached to the tip of the manipulator 15. The manipulator 15 is composed of, for example, a multi-jointed arm including multiple joints that changes the three-dimensional position of the end effector 16. Inside the traveling body 13 are control devices (not shown) for automatically or remotely controlling the chassis 14 and robot arm 12 of the work robot 10, respectively.

[0026] The automatic operation of the work robot 10 is achieved by an automatic driving control program installed in the control unit. Remote operation of the work robot 10 is performed by operation input from a user terminal that communicates with the work robot 10 via the server 30. The position control in the above-mentioned automated and remote control is performed based on sensing results from cameras and LiDAR (Laser Imaging Detection and Ranging) installed on the mobile device 11 and robot arm 12.

[0027] The end effector 16 is a device that performs a predetermined operation on the crop 40, and performs the predetermined operation while being positioned near the target object by the manipulator 15. Multiple end effectors 16 are provided for each type of work. These types of work include, for example, harvesting, pruning, watering, fertilizing, pesticide application, condition detection, photography, pest control, and equipment charging. Therefore, the user can have the work robot 10 perform these various tasks in the field 210.

[0028] The end effector 16 includes a quality measurement device (hereinafter referred to as the "quality measurement device") 70, which is a type of condition detection device for agricultural products 40. The object of quality measurement is not limited to grapes 40, but may also be other fruits or vegetables. The quality measuring device 70 is a device that measures the quality of agricultural products 40 non-contact using light in a predetermined wavelength range (e.g., near-infrared light). Measurable quality factors include, for example, sugar content, acidity, pH, and polyphenol content.

[0029] [Internal configuration of the quality measurement device] Figure 2 is a cross-sectional view showing an example of the internal configuration of the quality measuring device 70. As shown in Figure 2, the quality measurement device 70 is a device that irradiates the crop 40 with near-infrared light UO and uses the spectral intensity of reflected light DO at each wavelength to determine the components of the crop 40. The reflected light DO includes direct reflected light that is reflected off the surface of the crop 40 and indirect reflected light that is scattered inside the crop 40 before returning.

[0030] The quality measuring device 70 of this embodiment comprises, as its main components, a header section 71 having the function of transmitting and receiving near-infrared light UO and reflected light DO, a connecting section 72 that can flexibly connect the header section 71 to the main body section 73, and a main body section 73 having a tip to which the header section 71 is connected via the connecting section 72.

[0031] (Header section structure) The header section 71 has a ring-shaped retaining frame 74, a light-emitting / receiving section 75, and a protective plate 76. The retaining frame 74 is a frame material with an outer circumference that is approximately circular or elliptical when viewed from the grape 40 side. The light-emitting / receiving section 75 and the protective plate 76 are circular or elliptical plate materials with an outer circumference that is slightly larger than the inner diameter of the retaining frame 74 when viewed from the grape 40 side.

[0032] The light-emitting and light-receiving unit 75 includes a circuit board 77 with a perforated center, a light-receiving element 78 mounted in the center, and a plurality of light-emitting elements 79 mounted on the surface of the circuit board 77. The outer edge of the circuit board 77 is fitted into a circumferential groove formed on the inner surface of the retaining frame 74. The outer edge of the protective plate 76 is fitted into another circumferential groove formed on the inner surface of the retaining frame 74. The protective plate 76 is made of light-transmitting glass or synthetic resin and functions as a shielding member that protects the surface side (left side in Figure 2) of the light-emitting / receiving unit 75 from the external environment.

[0033] The light-emitting element 79 is a component that functions as a light-emitting part of the near-infrared light UO, and is made of, for example, an LED (Light Emitting Diode) that emits near-infrared light. Multiple light-emitting elements 79 are mounted on the surface of the circuit board 77 (the left side in Figure 2). The multiple light-emitting elements 79 are arranged at predetermined intervals in the circumferential direction along, for example, concentric circles or concentric ellipses with a diameter smaller than that of the circuit board 77.

[0034] The light-receiving element 78 is a component that functions as a light-receiving part for reflected light DO, and consists of, for example, one optical fiber or a bundle of multiple optical fibers. The photodetector 78 is mounted in the center of the circuit board 77 such that the length of the optical fiber is oriented in the direction normal to the circuit board 77. The photodetector surface of the photodetector 78 (specifically, the tip of the optical fiber) is exposed on the surface side of the circuit board 77.

[0035] A pressure sensor 80 is provided on the surface of the retaining frame 74 (the left side in Figure 2). The pressure sensor 80 consists of, for example, a pressure-sensitive sheet formed in a ring shape that is almost the same as the surface of the retaining frame 74, and is attached to the surface with an adhesive or the like. The pressure sensor 80 is a sensor that monitors the pressure caused by contact with an object such as agricultural products 40. Therefore, the pressure sensor 80 transmits a pressure signal, which is an electrical signal corresponding to the contact pressure on itself, to the controller 84 described later.

[0036] (Main unit configuration) The main body 73 comprises a hollow cylindrical body 81 having a circular or elliptical cross-section, and a group of quality measurement circuits housed inside the hollow cylindrical body 81. This group of circuits includes a power supply circuit 82, a spectrometer 83, and a controller 84. A connector 85 is provided on the bottom wall of the hollow cylindrical body 81. The connector 85 is a standard connector that integrates digital communication and power supply into a single cable, such as USB (Universal Serial Bus).

[0037] The power supply circuit 82 is, for example, a DC / DC converter that converts the DC supplied from the connector 85 into a predetermined voltage and supplies the converted DC to the spectrometer 83 and the controller 84. The spectrometer 83 is a circuit module that spectrally separates the input light from the photodetector 78 into predetermined wavelength bands and generates an electrical signal (hereinafter referred to as "intensity signal") representing the light intensity of each wavelength band. The intensity signals generated by the spectrometer 83 are output to the controller 84.

[0038] The controller 84 generates quality data from the intensity signal input from the spectrometer 83 and sends the generated quality data to the connector 85. The quality data is digital information including the intensity value for each spectrally separated spectrum and is transmitted to the control device of the mobile device 11. The control device of the mobile device 11 calculates quality values ​​such as sugar content and acidity of the crop 40 using quality data received from the controller 84. Alternatively, the controller 84 may calculate the quality values ​​based on the quality data.

[0039] The controller 84 is capable of serial communication with other circuits or elements included in the quality measuring device 70, and controls the operation of those circuits or elements through this serial communication. Specifically, the controller 84, upon the fulfillment of a predetermined start condition for quality measurement (for example, step S13 in Figure 3), instructs the control IC (not shown) on the circuit board 77 to emit light from the light-emitting element 79, or instructs the spectrometer 83 to output an intensity signal.

[0040] (Configuration of the connecting section) The connecting portion 72 is composed of a flexible joint 91 that supports the header portion 71 so that the inclination of the header portion 71 can be varied in response to external forces. The flexible joint 91 is composed of, for example, a plurality of coil springs 91A. The plurality of coil springs 91A have the same elastic constant and at least three are provided, and are arranged at equal intervals in the circumferential direction on the back side of the retaining frame 74.

[0041] The base end (right end in Figure 2) of each coil spring 91A is fixed to the flange of the hollow cylindrical body 81, and the tip (left end in Figure 2) of each coil spring 91A is fixed to the back of the retaining frame 74. Each of the multiple coil springs 91A fixed as described above elastically deforms in response to the external force acting on the header portion 71, so that the header portion 71 is flexibly connected to the main body portion 73. The connecting portion 72 further has a flexible cover 92 made of, for example, a rubber bellows tube.

[0042] The base edge of the flexible cover 92 (right edge in Figure 2) is fixed to the front edge of the hollow cylindrical body 81, and the front edge of the flexible cover 92 (left edge in Figure 2) is fixed to the back edge of the retaining frame 74. As described above, the flexible cover 92, which is fixed in place, deforms to follow the tilt of the retaining frame 74. Therefore, even if the header section 71 is tilted by an external force, the gap between the hollow cylindrical body 81 and the retaining frame 74 is always sealed off from the outside air.

[0043] [Contents of the quality measurement process] Figure 3 is a flowchart showing an example of the quality measurement process performed by the controller 84. As shown in Figure 3, the controller 84 monitors whether the pressure-sensitive signal is above a predetermined threshold (step S11), and if it is above the threshold, it sends a "pressure request" to the control device of the moving device 11 (step S12). The "pressure request" is a control message that requests the control device of the moving device 11 to perform a "position change process" of the quality measuring device 70.

[0044] "Position change processing" refers to the process of moving the quality measuring device 70 from its current position where it received the pressing request by a predetermined distance in a direction that brings it closer to the object to be measured. The "direction towards the object being measured" mentioned above is a vector that satisfies, for example, the following conditions: Condition 1: The end effector 16 must be parallel to its current axial direction. Condition 2: The distance between the current position of the representative point of the end effector 16 (e.g., the center point of the header section 71) and the representative point of the crop 40 (e.g., the centroid of the crop 40) decreases.

[0045] The "predetermined distance" mentioned above refers to a set distance value determined according to the type of object being measured, for example. In the case of grapes 40, the predetermined distance may be set within a range of 10 mm to 30 mm. The reason for this is that if the predetermined distance is less than 10 mm, the inclination of the header section 71 does not change much, and therefore the direct facing effect described later cannot be expected. Also, if the predetermined distance exceeds 30 mm, the grapes 40 may be subjected to excessive load, potentially causing detachment of the grapes or bunches.

[0046] Next, the controller 84 determines whether or not it has received a "press response" from the control device of the moving device 11 (step S13). A "press response" is a control message from the control device of the moving device 11 notifying the controller 84 of the completion of the aforementioned position change process. If the result of step S13 is positive, the controller 84 generates light emission and spectral intensity (step S14). Specifically, the controller 84 instructs the control IC on the circuit board 77 to emit light from the light-emitting element 79 and instructs the spectrometer 83 to output an intensity signal.

[0047] Next, the controller 84 generates and transmits quality data (step S15). Specifically, the controller 84 generates quality data based on the intensity signal and transmits the generated quality data to the control device of the mobile device 11. Once the transmission of quality data is complete, the controller 84 stops the generation of light emission and spectral intensity (step S16) and then terminates the process. Specifically, the controller 84 instructs the control IC on the circuit board 77 to turn off the light-emitting element 79 and instructs the spectrometer 83 to stop operation or pause (sleep) the output of the intensity signal.

[0048] If the result of the determination in step S13 is negative, the controller 84 notifies the control device of the mobile device 11 that measurement is not possible (step S17), and then terminates the process. The reason for this is that if no pressure response is received, it is presumed that the end effector 16 (quality measuring device 70) has not moved the predetermined distance, and the header section 71 is not directly facing the crop 40, which may prevent accurate quality measurement.

[0049] [Variations in morphological changes] Figure 4 is an explanatory diagram showing an example of variations in the shape of the connecting portion 72. In Figure 4, "C" represents the center point of the light-emitting and light-receiving surface of the header section 71, and "N" represents the normal vector of the light-emitting and light-receiving surface passing through the center point C.

[0050] The "first state" in Figure 4 shows the state in which, as a result of the position change process of the quality measuring device 70, contact pressure from the grapes 40 acts on the portion of the header section 71 above the center point C. The "second state" in Figure 4 shows the state in which, as a result of the position change process of the quality measuring device 70, contact pressure from the grapes 40 acts on the portion of the header section 71 below the center point C.

[0051] In the first state, since the contact pressure acts on the upper half of the header portion 71, the flexible joint 91 (connecting portion 72) undergoes a change in shape such that the coil spring 91A located above the center point C compresses and the coil spring 91A located below the center point C extends. As a result, the header section 71 tilts so that the normal vector N points upward. Consequently, the center point C of the header section 71 is closer to the grapes 40 than in the case where there is no tilt, and the header section 71 is almost directly facing the lower half of the bunch of grapes 40 (direct facing effect due to upward tilt).

[0052] In the second state, the contact pressure acts on the lower half of the header portion 71, causing the flexible joint 91 (connecting portion 72) to change shape so that the coil spring 91A located below the center point C compresses and the coil spring 91A located above the center point C extends. As a result, the header section 71 tilts so that the normal vector N points downward. Consequently, the center point C of the header section 71 is closer to the grapes 40 than in the case where there is no tilt, and the header section 71 is almost directly facing the upper half of the bunch of grapes 40 (direct facing effect due to downward tilt).

[0053] Thus, according to the quality measuring device 70 of this embodiment, the header portion 71 faces the bunch of grapes 40 directly due to the change in shape of the flexible joint 91 which is composed of multiple coil springs 91A, and the amount of ambient light entering the light receiving element 78 can be reduced. Therefore, the influence of ambient light on each wavelength band of light contained in the reflected light DO is reduced, and the decrease in accuracy due to the inclusion of ambient light is suppressed.

[0054] In the quality measuring device 70 of this embodiment, the components of the flexible joint 91 may be elastic members that deform in response to the contact pressure from the crops 40. Therefore, the flexible joint 91 is not limited to the coil spring 91A shown in the figure, but may be composed of, for example, multiple rubber rod-shaped members, or it may be a hybrid configuration including both the coil spring 91A and rubber rod-shaped members.

[0055] [Examples of flexible joints] Figure 5 is a cross-sectional view showing another example of the internal configuration of the quality measuring device 70. As shown in Figure 5, in another example of a quality measuring device 70, the flexible joint 91 is composed of multiple arm members 91B with ball joints. The multiple arm members 91B are of the same length and at least three are provided, and are arranged at equal intervals in the circumferential direction on the back side of the holding frame 74.

[0056] The base end (right end in Figure 5) of each arm member 91B is fixed to the flange of the hollow cylindrical body 81, and the tip (left end in Figure 5) of each arm member 91B is fixed to the back surface of the retaining frame 74. The arm member 91B includes, for example, an intermediate link 93 having ball portions at both ends and a pair of end links 94 having cup portions into which the ball portions are press-fitted (friction-fitted). This arm member 91B is a type of plastic member that maintains its state after being bent by an external force.

[0057] As shown in Figure 5, the flexible joint 91 can be made not only of elastic members such as coil springs 91A, but also of plastic members such as arm members 91B with ball joints. Furthermore, the flexible joint 91 may have a hybrid configuration that includes both an elastic member and a plastic member.

[0058] [Other disclosures] Figure 6 is a perspective view of the quality measuring device 70 as disclosed elsewhere. The quality measuring device 70 in Figure 6 does not have a connecting section 72 made up of a flexible joint 91, but it has a distinctive shape in the header section 71. This distinctive feature is that the wall portion of the header section 71 includes a pair of left and right curved wall sections 71L and 71R that protrude towards the tip side of the light-emitting and receiving section 75.

[0059] The curved wall sections 71L and 71R are symmetrical and formed in a convex curve that gradually tapers towards the tip when viewed from the side. The bases of the curved wall sections 71L and 71R are smoothly continuous, forming a concave curve when viewed from above. By forming curved wall sections 71L and 71R of this shape on the header section 71, the crops 40 can be easily positioned by fitting between the curved wall sections 71L and 71R. Consequently, it becomes easier to maintain a close proximity between the crops 40 and the light-emitting / receiving section 75, leading to more stable measurement operations.

[0060] [Other variations] The embodiments disclosed herein are illustrative and not restrictive in all respects. The scope of the present invention is not limited to the embodiments described above, and includes all modifications within the scope equivalent to the configurations described in the claims. [Explanation of Symbols]

[0061] 10 Industrial Robots 11 Mobile device 12 Robot Arms 13 Driving Body 14 Chassis 15 Manipulators 16 End Effectors 20 Communication equipment 30 servers 40. Agricultural products (grapes) 50 Wireless base stations 60 Public telecommunications networks 70 Quality Measuring Device 71 Header section 72 Connecting part 73 Main body 74 Retaining Frame 75 Light emitter / receiver 76 Protective Plate 77 Circuit boards 78. Light-receiving element (light-receiving part) 79. Light-emitting element (light-emitting part) 80 Pressure-sensitive sensors 81 Hollow cylinder 82 Power supply circuit 83 Spectrometer 84 Controllers 85 Connectors 91 Flexible joint 91A Coil Spring 91B Arm Member 92 Flexible cover 93 Intermediate Links 94 End links 200 Agricultural Systems 210 vineyards

Claims

1. A device for measuring the quality of agricultural products using light in a predetermined wavelength range, A header section having a light-emitting section and a light-receiving section, It comprises a main body having a tip portion to which the header portion is connected via a connecting portion, The aforementioned connecting portion is A quality measuring device comprising a flexible joint that supports the header portion such that the inclination of the header portion is variable in response to an external force.

2. The aforementioned flexible joint is The quality measuring device according to claim 1, further comprising a plurality of elastic members arranged to surround the central part of the header portion.

3. The aforementioned flexible joint is The quality measuring device according to claim 1, further comprising a plurality of plastic members arranged to surround the central part of the header portion.

4. The aforementioned crops are A quality measuring device according to any one of claims 1 to 3, wherein the material is grapes.

5. Mobile device and A work robot comprising a robot arm mounted on the aforementioned mobile device, A work robot in which a quality measuring device according to any one of claims 1 to 3 is connected to the tip of the robot arm.

6. A method for measuring the quality of agricultural products, which is performed by an apparatus that measures the quality of agricultural products using light in a predetermined wavelength band, The aforementioned device is A header section having a light-emitting section and a light-receiving section, The system comprises a main body having a tip portion to which the header portion is connected by a flexible joint that supports the header portion such that the inclination of the header portion is variable in response to an external force, The aforementioned method, The steps include pressing the header portion against the crop, A quality measurement method comprising the step of emitting and receiving light while the header portion is pressed against the crop.

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