Crop harvesting vehicle

Abstract

To provide a crop harvesting vehicle capable of automatic harvesting.SOLUTION: A crop harvesting vehicle is provided with: a robot arm mechanism (200) that harvests crops in a rear part of a travel vehicle body (100) capable of straddling crops growing in a field; and a container (500) that accommodates the crops harvested by the robot arm mechanism (200) in the rear part of the robot arm mechanism (200). The container (500) can be lifted up and down by a container lift mechanism (400).SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to crop harvesting vehicles, such as robotic harvesters. [Background technology]

[0002] A carrot harvester is known that has a conveyor device that transports carrots harvested by a carrot harvesting device, a hanger that suspends a container that holds the carrots that drop from the end of the conveyor of the conveyor device, and a hanger holding arm that is rotatably attached to the conveyor device and has one end that holds the hanger (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2005-333917 Summary of the Invention [Problem to be solved by the invention]

[0004] The present inventor has realized that for crops such as pumpkins, watermelons, cabbages, Chinese cabbages, lettuce, peppers, and strawberries, it is important to determine which seedlings among the many seedlings being cultivated are to be harvested, and further, it is often important to determine which part of the seedling is to be harvested.

[0005] However, crop harvesting vehicles, such as the conventional carrot harvester described above, are not capable of selective harvesting.

[0006] SUMMARY OF THE INVENTION An object of the present invention is to provide a crop harvesting vehicle capable of automatic harvesting. [Means for solving the problem]

[0007] The first aspect of the present invention is A robot arm mechanism (200) for harvesting crops is provided at the rear of a traveling vehicle body (100) that can straddle crops growing in a field, and a container (500) for storing the crops harvested by the robot arm mechanism (200) is provided at the rear of the robot arm mechanism (200), and the container (500) can be raised and lowered by a container lift mechanism (400). death, The container (100) can be attached to and detached from the traveling vehicle body (100), and the robot arm mechanism (200) and the container lift mechanism (400) operate independently. The traveling vehicle (100) travels in a position adjacent to the crop to be harvested, and the robot arm mechanism (200) is positioned above the crop to harvest the crop; The robot arm mechanism (200) comprises a robot boom section (240) and a robot arm section (250) that are configured to bend, The robot arm unit (250) is positioned outside the width range of the traveling body (100) in a rear view during harvesting work, and is positioned inside the width range of the traveling body (100) when stored; An imaging camera is provided on the robot arm (250) to recognize the position of the crop, and when it is recognized from the image captured by the imaging camera that the traveling vehicle body has moved forward from the position of the crop, the traveling vehicle body (100) is moved backward to align the position. A crop harvesting vehicle characterized by:

[0008]

[0009]

[0010]

[0011] [Effects of the Invention]

[0012] According to the present invention, crops harvested by the robot arm mechanism 200 can be stored in a container attached to the vehicle body 100. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a schematic left side view of a robotic harvester according to an embodiment of the present invention; [Figure 2] 1 is a schematic rear view of a robotic harvester according to an embodiment of the present invention; [Figure 3] 1 is a schematic perspective view of a robotic harvester according to an embodiment of the present invention; [Figure 4] FIG. 1 is a schematic perspective view of a hand unit of a robotic harvester according to an embodiment of the present invention; DETAILED DESCRIPTION OF THE INVENTION

[0014] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0015] The robotic harvester of this embodiment is an example of a crop harvesting vehicle of the present invention.

[0016] First, the configuration and operation of the robotic harvester of this embodiment will be specifically described with reference mainly to FIGS. 1 to 3.

[0017] Here, Figure 1 is a schematic left side view of a robotic harvester according to an embodiment of the present invention, Figure 2 is a schematic rear view of a robotic harvester according to an embodiment of the present invention, and Figure 3 is a schematic oblique view of a robotic harvester according to an embodiment of the present invention.

[0018] Similarly, some components may not be shown in the drawings, or may be shown in perspective or in an abbreviated form.

[0019] The robot arm mechanism 200 is a robot arm mechanism that harvests cultivated crops.

[0020] Crops include pumpkins, watermelons, cabbages, Chinese cabbages, lettuce, peppers, and strawberries, and it is important to determine which of the many seedlings being cultivated is the target for harvesting, and often it is also important to determine which part of the seedling is the target for harvesting.

[0021] For example, in the case of pumpkins and watermelons, for which it is difficult to predict where in the field they will bear fruit, the vehicle 100 travels on the ridges adjacent to the ridges of the crop to be harvested, and the robot arm is often required to move freely in all directions, up and down, fore and aft, and left and right.

[0022] Even in the case of squash and watermelon, where fruiting points are sparse and growth speeds tend to vary, the robot arm mechanism 200 attached to the rear of the vehicle body 100 is quite large, and can perform so-called lateral work along the ridges or field access roads.

[0023] The robot arm mechanism 200 is driven using a hydraulic mechanism, an electric hydraulic mechanism, an electric motor mechanism, or the like, which has a position sensor for position control, so that it is possible to transport crops that are not necessarily light in weight.

[0024] For example, when an electric hydraulic mechanism is used, even if the engine is stopped, the electric motor for hydraulic operation can be driven as long as there is sufficient charge, so the robot arm mechanism 200 can still operate.

[0025] The robot boom section 240 and the robot arm section 250 of the robot arm mechanism 200 are members that can be freely bent and extended, and the swivel section 260 of the robot arm mechanism 200 is a member for overall robot arm operation that is provided using a swivel mount frame 261 and a swivel motor 262, etc.

[0026] The swivel motor 262 is housed in a swivel mount frame 261 that houses a swivel shaft 263 of the swivel unit 260, thereby realizing a space-saving configuration.

[0027] Since the operating range angle of the robot arm mechanism 200 in a plan view does not greatly exceed 180 degrees, the robot arm mechanism 200 does not intrude into the cabin space from the rear of the vehicle body 100.

[0028] Once a crop is found, the vehicle body 100 travels as needed to harvest it, and once the crop is harvested and stored in the container 500, the next crop is searched for. Coarse alignment of the robot arm mechanism 200 with respect to the found crop is performed with sufficient coarse alignment accuracy even while the vehicle body 100 is traveling. Fine alignment of the robot arm mechanism 200 with fine adjustments is performed with sufficient fine alignment accuracy after the vehicle body 100 has stopped traveling so that robot arm vibration is suppressed.

[0029] The length of the robot arm is sufficiently large so that the robot arm mechanism 200 can reach even distant crops. When crops are being placed in the container 500 in an orderly manner, the robot boom unit 240 and the robot arm unit 250, which can be freely bent and extended, are bent sufficiently to prevent the crops from falling, which could cause damage.

[0030] Not only the height of the boom rotation fulcrum where the robot boom section 240 is connected to the vehicle body 100, but also the height of the wall of the swivel section 260 are large enough to prevent interference with the container 500 being raised or lowered.

[0031] For example, a telescopic mechanism may be employed at the tip or base of the robot arm unit 250 to facilitate alignment with the roots of crops to be cut for harvesting and stacking of harvested crops inside the container 500. By contracting such a telescopic mechanism, the robot arm unit 200 becomes compact when stored or moved.

[0032] The container 500 is a container attached to the vehicle body 100 for storing crops harvested by the robot arm mechanism 200.

[0033] For example, even for pumpkins and watermelons, whose fruit weight is not necessarily small, the harvested fruit can be smoothly stored in container 500 by the operation of the robot arm, thereby realizing efficient container transportation.

[0034] The container 500 serving as a storage unit attached to the rear of the robot arm mechanism 200 is raised and lowered by the container forklift mechanism 400, which utilizes a three-point link mechanism that makes it difficult for the container's posture to change. For example, when the vehicle body 100 is located at the edge of the field and it is determined that the amount of crop stored in the container 500 has reached a predetermined value, the container 500 is lowered to unload the crops.

[0035] The container 500 is loaded onto the vehicle body 100 so that it can be freely attached and detached, and a dedicated transport cart is not required for storing the harvested crops by the robot arm mechanism 200 which operates independently of the container forklift mechanism 400.

[0036] The container forklift mechanism 400 is preferably provided with, for example, a mechanism for adjusting the fork loading position in the fore-and-aft direction of the vehicle body of the container 500 so that the stored crops are less likely to be unevenly distributed inside the container 500. The bottom of the container 500 between the two forks may protrude downward, and the fork loading position in the fore-and-aft direction of the vehicle body of the lifted container 500 may be adjusted by abutting the protruding bottom of the container 500 against the ground during harvesting work. The fork loading position in the fore-and-aft direction of the vehicle body of the container 500 may be adjusted by abutting the flat bottom of the container 500 between the two forks against the ground, such as a protruding furrow surface.

[0037] The robot arm mechanism 200 is made compact when stored by bending the robot boom section 240 and the robot arm section 250 in the left-right direction of the vehicle body 100 so that they do not extend beyond the lateral width range of the vehicle body 100, and when crops are not stored in the container 500, the hand section 210 may be tilted backward so that it can be stored in the container 500, thereby suppressing the boom height.

[0038] Crops that are grown are selectively harvested.

[0039] Crops are harvested selectively, rather than uniformly at the same time. This not only improves harvesting efficiency, but also reduces inappropriate harvesting and waste, even when crop growth conditions vary, improving the so-called harvest rate.

[0040] Next, the configuration and operation of the robotic harvester of this embodiment will be described in more detail, mainly with reference to FIGS. 1 to 3.

[0041] The camera unit 300 is a camera unit that takes images of cultivated crops.

[0042] The cultivated crops are selectively harvested based on the results of the imaging performed by the camera unit 300.

[0043] The vehicle body 100 basically travels at a low speed, but the vehicle body 100 is stopped and harvesting is carried out based on the results of imaging performed by a camera unit 300 attached to the vehicle body 100 or to a robot arm mechanism 200 as a harvesting unit, for example.

[0044] For example, when values ​​related to the size and color of the cultivated crops are recognized to have reached predetermined values ​​based on the results of imaging, the robot arm unit 250, which is always positioned above the rows of crops, moves toward the crops.

[0045] The results of the imaging performed by the camera unit 300 may be displayed for the on-board worker on the tablet terminal device 600 as a monitor.

[0046] The vehicle body 100 may travel on a ridge adjacent to a crop ridge using an automatic travel function. The travel speed of the vehicle body 100 is adjusted so that images are captured accurately by the camera unit 300, and the robot arm unit 250 operates within the operating range of the robot arm mechanism 200 so that it is always positioned above the ridge on the opposite side of the rotation of the vehicle body 100, thereby realizing unmanned harvesting work.

[0047] The first travel of vehicle body 100 may be performed as a so-called teaching step for grasping the average size and color of the crop, and the second travel of vehicle body 100 may be performed as a harvest start step. For example, when it is recognized that the values ​​relating to the size and color of the crops grown on the ridge on which vehicle body 100 has traveled or on the adjacent ridge have reached the average value, the cultivated crops are harvested.

[0048] The selective harvesting of the crop may be done automatically, but also semi-automatically or manually.

[0049] Not only are the results of imaging performed by the camera of the camera unit 300 displayed on the tablet terminal device 600, but the cultivated crops may also be harvested based on the results of selections made by the operator by touching the panel.

[0050] For example, not only the results of imaging performed by a wide-area camera to capture an overall image of the crop from an overhead viewpoint overlooking the field, but also the results of imaging performed by a narrow-area camera are displayed on the tablet terminal device 600 for the final selection of crops to be harvested.

[0051] The driving operation for moving the vehicle body 100 and the arm operation of the robot arm mechanism 200 are performed automatically, and the final selection of the crops to be harvested may be performed semi-automatically or manually.

[0052] For example, after the results of imaging performed by the wide-area camera and the narrow-area camera are displayed, one crop automatically determined as a candidate crop to be harvested may be locked on by a panel touch operation for final selection, or one of several crops automatically sub-locked on may be manually selected by a panel touch operation. For improved convenience, it is desirable to provide a collective automatic selection mode for automatically selecting all sub-locked on crops at once.

[0053] For example, upper and lower thresholds for values ​​relating to crop size, color, etc., for automatically identifying crops as candidates for harvesting are adjusted by the on-board operator.

[0054] All travel of the vehicle body 100 may be performed as a teaching process, in which the results of images taken by the camera unit 300 are recorded for field management, etc. The growth status of the crops is remotely recognized, thereby optimizing the harvest time.

[0055] The vehicle body 100 is, for example, a continuously variable transmission that reduces shock and suppresses shaking of the tip of the robot arm when it is traveling. The vehicle body 100 is, for example, a high-clearance vehicle body with a large vehicle height that allows a person to straddle the vehicle body 100 so as not to step on unharvested crops.

[0056] The driving route is set based not only on image recognition data but also on Global Navigation Satellite System (GNSS) data obtained during ridge creation, etc. The distinction between the harvested crop and the field soil is also made based on the image recognition data and GNSS data.

[0057] By extending the robot boom section 240 and the robot arm section 250 from the field access road, so-called full harvesting of a row of rows at the edge of the field may be performed when entering the field.

[0058] Crop harvesting may be performed by using the vehicle body 100 not only when moving forward but also when moving backward.

[0059] The robot arm mechanism 200 has a hand unit 210 that holds the cultivated crops, a weight sensor unit 220 that measures the weight of the crops held by the hand unit 210, and a cutter unit 230 that cuts the cultivated crops.

[0060] The hand unit 210 as the distal end hand of the robot arm mechanism 200 not only moves up and down and opens and closes, but also rotates left and right using a rolling function, so the crop catching angle can be freely adjusted.

[0061] 4, which is a schematic perspective view of hand unit 210 of a robotic harvester according to an embodiment of the present invention, hand unit 210 has multiple fingers that operate independently to fit around roughly spherical crops. For example, the fingers of hand unit 210 are configured using springs so that a pair of left and right fingers that open and close work together to fit around crops.

[0062] A wide-area imaging camera may be attached to the cabin roof of the vehicle body 100, and a narrow-area imaging camera such as a stereo compound eye camera may be attached to the hand unit 210 to recognize the shape of the crops and the distance to the crops.

[0063] The wide-area imaging camera may be attached to the tip of the robot boom unit 240, where the robot arm unit 250 is connected to the robot boom unit 240. The narrow-area imaging camera may be fixedly attached to the tip of the robot arm unit 250 so as to suppress the influence of the above-described operation of the hand unit 210. When the vehicle body 100 moves forward excessively, the positioning of the robot arm mechanism 200 is accurately performed by using both the wide-area imaging camera and the narrow-area imaging camera together, while the vehicle body 100 moves backward using the automatic driving function.

[0064] By cutting predetermined portions with the cutter unit 230, the cultivated crops are selectively harvested based on the results of weight measurements performed by the weight sensor unit 220.

[0065] For example, for vine-bearing pumpkins and watermelons, the weight of the fruit of the crop held by the hand unit 210 is measured by a pressure sensor of the weight sensor unit 220 having a load cell before cutting.

[0066] The stems or roots of the crop are cut by the cutter unit 230 .

[0067] Cutters are provided on at least one of the upper and lower sides of the cutter section 230, the upper cutter being used to harvest crops such as pumpkins and watermelons, and the lower cutter being used to harvest crops such as cabbage and Chinese cabbage.

[0068] The robot arm mechanism 200 may not only harvest crops, but also cut off overgrown crop leaves and the like using the cutter unit 230, or correct the orientation of ripened crop fruits and the like using the hand unit 210.

[0069] Of the cultivated crops, a predetermined portion of the crop to be discarded is cut by the cutter unit 230.

[0070] All travel of the vehicle 100 is carried out as a teaching process as described above, but diseased crops with irregular shapes or discoloration may be removed during the teaching process without waiting for harvest. The removed crops are stored in a container 500 that does not contain harvested crops, and the occurrence of the disease in the crops is notified to the personal computer or mobile phone of the base station. Not only is the occurrence of disease in the crops quickly recognized, but the removal of the diseased crops also promotes the supply of sufficient nutrients to non-diseased crops. [Industrial Applicability]

[0071] The crop harvesting vehicle of the present invention is capable of selective harvesting and is useful for applications in crop harvesting vehicles such as robotic harvesters. [Explanation of symbols]

[0072] 100 body 200 Robot Arm Mechanism 210 Hand section 220 Weight sensor part 230 Cutter section 240 Robot Boom Part 250 Robot arm 260 Swivel part 261 Swivel Mount Frame 262 Swivel Motor 263 Swivel Axis 300 camera unit 400 Container Forklift Mechanism 500 containers 600 tablet terminal device

Claims

[Claim 1] A robot arm mechanism (200) for harvesting crops is provided at the rear of a traveling vehicle body (100) that can straddle crops growing in a field, and a container (500) for storing the crops harvested by the robot arm mechanism (200) is provided at the rear of the robot arm mechanism (200), and the container (500) can be raised and lowered by a container lift mechanism (400); The container (100) can be attached to and detached from the traveling vehicle body (100), and the robot arm mechanism (200) and the container lift mechanism (400) operate independently. The traveling vehicle (100) travels in a position adjacent to the crop to be harvested, and the robot arm mechanism (200) is positioned above the crop to harvest the crop; The robot arm mechanism (200) comprises a robot boom section (240) and a robot arm section (250) configured to be bendable; The robot arm unit (250) is located outside the width range of the traveling body (100) in a rear view during harvesting work, and is located inside the width range of the traveling body (100) when stored; This crop harvesting vehicle is characterized in that an imaging camera for recognizing the position of the crop is provided on the robot arm section (250), and when it is recognized from the image captured by the imaging camera that the traveling vehicle body has moved forward from the position of the crop, the traveling vehicle body (100) is moved backward to align it.

Images