Strawberry harvesting robot system

Abstract

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

Description

Technical Field

[0001] The present invention relates to a strawberry harvesting robot system. More specifically, by inducing individual growth so that strawberries cultivated in beds are completely exposed without overlapping each other and can be easily detected by the detection means of the harvesting machine, the present invention relates to a strawberry harvesting robot system that can perform the sorting and packaging operations of strawberry ripeness and size in one batch, not only reducing labor but also maintaining freshness for a long time by hanging and packaging strawberries in a packaging box.

Background Art

[0002] Generally, strawberries are cultivated separately for processing and for raw consumption.

[0003] Since processed strawberries are processed immediately even if they are damaged, there is no impact on quality, and robots have already been developed for harvesting.

[0004] On the other hand, raw strawberries have reduced commercial value if they are damaged. Therefore, the hundreds of strawberry harvesting machines developed so far have not been put into practical use due to their low harvesting rate and rely on manual labor.

[0005] In contrast, Japanese Patent Laid-Open Publication No. 2012-110255 (published on June 14, 2012) proposes a fruit harvesting robot for reducing the possibility of strawberry damage.

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

[0007] However, the conventional technology described above has a problem in that it cannot accurately determine the location of strawberries when they are mixed or overlapping, and the strawberries are damaged by the impact when they fall into the tray after being picked, resulting in a decrease in their marketability. [Prior art documents] [Patent Documents]

[0008] [Patent Document 1] Japanese Patent Publication No. 2012-110255 (June 14, 2012) [Overview of the Initiative] [Problems that the invention aims to solve]

[0009] The objective of this invention is to provide a strawberry harvesting robot system that allows for easy sorting of ripe strawberries by size by using stem supports to guide the individual growth of strawberries grown in beds so that they do not overlap with each other, and by performing packaging work simultaneously with harvesting, thereby significantly reducing labor costs through a high harvest rate.

[0010] Furthermore, an objective of the present invention is to provide a strawberry harvesting robot system that can hygienically harvest strawberries without them being touched by human hands during the harvesting process, and then suspend and package them in the internal space of a strawberry packaging box, thereby maintaining the freshness of the strawberries for a long period of time and enabling export without special packaging during long-distance transport.

[0011] Furthermore, the present invention provides a strawberry harvesting robot system that can sort and package strawberries by size by installing 3 to 16 harvesting machines as needed on one side of the robot frame and inputting different sizes of strawberries to be harvested by each robot into the program, and also has the function of removing by-products such as stems, runners, and old leaves that remain after strawberry harvesting. [Means for solving the problem]

[0012] To achieve the above objective, the present invention comprises a mobile structure that moves between beds, a robot frame mounted on the mobile structure, a capturing means for capturing strawberries to be harvested, one or more harvesters provided on the robot frame facing the beds, a cutting unit that moves forward into the bed at the tip of the harvester to harvest strawberries, grasps the stems of the captured strawberries, cuts off the excess portion, and returns to its original position with the strawberries suspended, and a transfer gripper that grasps the stems of the strawberries suspended by the cutting unit, cuts the stems leaving the connecting portion intact, and when the strawberries are delivered, moves to the rear of the harvester with the strawberries suspended. The system comprises a transport unit for transporting strawberries, a plate mounting base located at the upper rear of the harvesting machine on which a stem binding plate with radially cut openings in the center is placed, a plate supply unit for supplying the stem binding plate to the plate mounting base, a plate binding unit that lowers the stem binding plate placed on the plate mounting base when the transport unit reaches a fixed position below the plate mounting base and binds the stem binding plate to the strawberries by a binding where the openings bite into the stem binding portion, and a packaging unit that, when the strawberries are separated from the transport unit by the strawberries being attracted to the bound stem binding plate, secures the stem binding plate to the upper end of a packaging box located below, and packages the strawberries while they are suspended in the packaging box.

[0013] The aforementioned bed is configured with stem supports attached to both sides, each having a continuous groove for supporting the stems of the strawberries being cultivated, which helps to accommodate the stems and enforce spacing between them so that they do not overlap.

[0014] The harvesting unit includes a stem gripper whose two claws move forward facing each other to grip the stem when it moves forward into the bed to harvest strawberries, a stem gripper whose two claws move forward facing each other to grip the stem when it detects a stem with a built-in sensor, a first stem cutting cutter whose two cutting cutters move forward facing each other simultaneously with the stem gripper to cut the stem, and a second stem cutting cutter which cuts the stem to pass the strawberries to the transport unit. The first stem cutting cutter, stem gripper, and second stem cutting cutter are assembled in a multi-layer structure.

[0015] The aforementioned transfer unit is equipped with a transfer gripper that, when the harvesting unit, which is suspending the strawberries, returns to its original position, detects the stem with a built-in sensor, causing the two claws of the gripper to face each other and move forward to grip the stem. Once the harvesting unit cuts the stem and the strawberries are delivered, the transfer unit is configured to transfer the strawberries to the rear of the harvesting machine.

[0016] The cutting unit is connected to the tip of the ball screw of a through-motor provided on the harvesting machine and moves forward into the bed or returns to its original position, and the plate supply unit is connected to the rear end of the ball screw of the through-motor and operates in conjunction with the cutting unit to push out the stem binding plates loaded in the loading box one by one and supply them to the plate mounting stand.

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

[0018] The transport gripper is provided with a protective band that surrounds the stem connection portion, with pins protruding at regular intervals along the stem gripping hole. The plate connection portion includes a push plate for pushing the stem connection plate, a hollow portion in the center of the push plate that allows the protective band to be pulled out during the pushing process, and a drive unit for advancing the push plate downward to push or returning it to its original position. When the push plate pushes the stem connection plate, the catch moves downward through the pins of the stem protector, and when the push plate contacts the transport gripper with the stem connection plate in between, the catch bites into the stem connection portion, thereby connecting the stem connection plate and the strawberry.

[0019] Furthermore, the packaging box is configured to have a perforated opening for connecting and fixing the stem portion that protrudes upward from the stem connecting plate attached to the upper end of the packaging box, and a stem fixing plate that connects to the upper end of the packaging box.

[0020] The aforementioned capture means is configured to select and capture strawberries to be harvested when the size of the strawberries is specified and input into the program.

[0021] Furthermore, it is configured to further include a conveyor that moves the packaging box and adjusts the moving interval so that an empty accommodation space is located below the transported strawberries.

[0022] In addition, it is configured to further include a by-product removing device on the robot frame toward the bed, which includes a capturing means for capturing by-products such as stems, runners, and old leaves remaining after strawberry harvesting, and a cutting section provided with only one cutting cutter so as to be able to remove the by-products captured by the capturing means.

Advantages of the Invention

[0023] According to the present invention, by guiding individual growth with stem supports so as not to overlap with each other, it is possible to achieve a harvesting rate of 85% or more, making it easier to capture strawberries cultivated on the bed.

[0024] In addition, according to the present invention, it is possible to maintain the freshness of strawberries for a long time, such as preventing the strawberries from being crushed by ensuring that the pulp of the strawberries does not come into contact with any part during the process of harvesting and packaging strawberries in one batch, which is very advantageous for export.

[0025] In addition, according to the present invention, at least 3 to 16 harvesting robots can be installed on one side of the robot frame, and by inputting different programs into each robot, it is possible to select and package according to the ripeness and size of the strawberries.

Brief Description of the Drawings

[0026] [Figure 1a] It is a plan view showing a moving structure of a strawberry harvesting robot system according to the present invention. [Figure 1b] It is a plan view showing a robot frame of a strawberry harvesting robot system according to the present invention. [Figure 2] It is a side view of a strawberry harvesting robot system according to the present invention. [Figure 3a]This is a side view showing the fixed position of the harvesting unit in the strawberry harvesting robot system according to the present invention. [Figure 3b] This is a side view showing the state in which the harvesting unit moves forward to collect strawberries in the strawberry harvesting robot system according to the present invention. [Figure 4a] These are plan views showing the forward and fixed position states of the transfer gripper in the strawberry harvesting robot system according to the present invention. [Figure 4b] These are plan views showing the forward and fixed position states of the transfer gripper in the strawberry harvesting robot system according to the present invention. [Figure 5] This is a perspective view showing the three-layer multi-layer structure of the harvesting section in the strawberry harvesting robot system according to the present invention. [Figure 6] (a), (b), (c), and (d) are diagrams showing the stem cutting cutter and stem gripper of the harvesting section, and the stem gripper and stem protector of the transport section, respectively, in the strawberry harvesting robot system according to the present invention. [Figure 7a] This diagram shows the configuration of the strawberry placement plate, placement platform, and strawberry stem connecting device in the strawberry harvesting robot system according to the present invention. [Figure 7b] This diagram shows the configuration of the strawberry placement plate, placement platform, and strawberry stem connecting device in the strawberry harvesting robot system according to the present invention. [Figure 7c] This diagram shows the configuration of the strawberry placement plate, placement platform, and strawberry stem connecting device in the strawberry harvesting robot system according to the present invention. [Figure 8] This is a diagram showing the conveyor in the strawberry harvesting robot system according to the present invention. [Figure 9a] This diagram shows the configuration of the strawberry packaging box and the strawberry stem fixing plate in the strawberry harvesting robot system according to the present invention. [Figure 9b] This diagram shows the configuration of the strawberry packaging box and the strawberry stem fixing plate in the strawberry harvesting robot system according to the present invention. [Figure 9c]This diagram shows the configuration of the strawberry packaging box and the strawberry stem fixing plate in the strawberry harvesting robot system according to the present invention. [Figure 10] This is a diagram showing the configuration of a strawberry stem support in the strawberry harvesting robot system according to the present invention. [Modes for carrying out the invention]

[0027] A preferred embodiment of the strawberry harvesting robot system according to the present invention will be described in detail below with reference to the attached drawings.

[0028] The present invention is characterized by its ability to process strawberry harvesting and packaging simultaneously while freely moving between both sides of the bed, and by ensuring that the strawberry pulp does not come into contact with any part of the plant during the harvesting and packaging process.

[0029] Embodiments of the present invention include a mobile structure 10 that moves between beds 1, a robot frame 20 mounted on the mobile structure 10, a capturing means 30 for capturing strawberries to be harvested, one or more harvesters 100 provided on the robot frame 20 facing the beds 1, a cutting unit 200 that moves forward into the beds 1 at the tip of the harvester 100 to harvest strawberries S, grasps the stems of the captured strawberries, cuts off the excess portion, and returns to its original position with the strawberries suspended, a transport unit 300 that grasps the stems of the strawberries suspended by the cutting unit 200 with a transport gripper 310, cuts the stems leaving the connecting portion intact and transfers the strawberries, and transports the strawberries to the rear of the harvester 100 with the strawberries suspended, and the harvester 100 The configuration comprises: a plate mounting base 400 located at the upper rear of the unit, on which a stem binding plate 410 with radially cut and hooks formed in the center is placed; a plate supply unit 500 for supplying the stem binding plate 410 to the plate mounting base 400; a plate binding unit 600 that, when the transport unit 300 is in a fixed position below the plate mounting base 400, lowers the stem binding plate 410 placed on the plate mounting base 400 and binds the stem binding plate 410 to the strawberry by a binding where the hooks 411 bite into the stem binding portion; and a packaging unit 700 that, when the strawberry is attracted to the bound stem binding plate 410 and the strawberry S is separated from the transport unit 300, secures the stem binding plate 410 to the upper end of the packaging box 40 located below, and packages the strawberry while it is suspended in the packaging box 40.

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

[0031] The mobile structure 10 can be realized with in-wheel motors that constitute the wheels 11, a battery 12 that supplies power, and a control unit 13 that controls them.

[0032] Of course, the mobile structure 10 can be easily realized using known technologies, so the drive system is not particularly limited.

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

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

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

[0036] Next, the capturing means 30 and the harvesting unit 200, transport unit 300, plate holder 400, plate supply unit 500, plate joining unit 600, and packaging unit 700 within the harvester 100 constitute a single strawberry harvesting robot R, enabling the harvesting and packaging of strawberries to be processed in a single operation.

[0037] In this type of strawberry harvesting robot R, 3 to 16 units are installed on one side of the robot frame 20. By specifying and inputting the size of the strawberries to be harvested into the program of each robot, the strawberries can be sorted and packaged according to their size.

[0038] Referring next to Figures 2, 3a, and 3b, the harvester 100 includes a cutting section 200, a transport section 300, a plate mounting base 400, a plate supply section 500, a plate joining section 600, and a packaging section 700. Reference numeral 101, which is not described, is a support base for installing the harvester 100, and the height of the harvester 100 can be adjusted relative to the bed 1 or the strawberries.

[0039] The harvesting unit 200 for collecting strawberries will be described below.

[0040] The cutting unit 200 is located at the upper tip of the harvesting machine 100. It moves forward into the bed 1 to collect strawberries, grasps the stems of the captured strawberries, cuts off the excess, and returns to its original position with the strawberries hanging down.

[0041] For this purpose, a ball screw through motor 110 is mounted on the top of the harvester 100, and the cutting section 200 is connected to the tip of the ball screw 111 while being supported to move back and forth via the linear rail 20, so that it can move forward or backward on the bed 1 in accordance with the forward and reverse rotation of the through motor 110 and return to the original position of the tip of the harvester 100.

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

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

[0044] Of course, the stem gripper 220 also has gripper frames 221 on both sides connected to bidirectional ball screws, so that they face each other and move forward and backward in response to the rotation of the motor, and can grip the stem when moving forward.

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

[0046] The following describes the transport unit 300 for transporting strawberries.

[0047] The transfer unit 300 grasps the stems of the strawberries S suspended from the harvesting unit 200 with the transfer gripper 310, and when the stems are cut while leaving the connecting part intact and the strawberries are passed, the transfer unit transports the suspended strawberries to the rear of the harvesting machine 100.

[0048] For this purpose, the transport unit 300, located below the cutting unit 200, is equipped with a transport gripper 310 that, when the cutting unit 200, which is suspending the strawberries, returns to its original position at the tip of the harvesting machine 100, detects the stem with its built-in object detection sensor, causing both grippers to face each other and move forward to grasp the stem. Once the stem is cut by the second stem cutting cutter 230 in the cutting unit 200 and the strawberries are transferred, the strawberries can be transported to the rear of the harvesting machine 100.

[0049] More specifically, the harvesting machine 100 is provided with a transport passage 130 whose bottom is cut open so that the transport gripper 310 can pass through while the strawberries are suspended.

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

[0051] The transfer gripper 310 has gripper frames on both sides connected to bidirectional ball screws, allowing them to move forward and backward facing each other in response to the motor's rotation, and to grip the stem when moving forward.

[0052] Furthermore, the transfer gripper 310 has a semicircular stem gripping hole 311 formed on the inside of the gripper, with pins 321 protruding along the gripping hole 311 at regular intervals, and a stem protector 320 is provided that surrounds the stem connection portion.

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

[0054] The stem connecting plate 410 is made of a thin synthetic resin plate and is configured to connect to the strawberry via the stem and securely attach to the balcony 41 of the packaging box 40. The material is transparent PP, acrylic, etc., and the thickness is approximately 0.2 mm, and it is made larger than the outer diameter of the strawberry being packaged.

[0055] Furthermore, the stem attachment plate 410 has radially cut edges 411 at its center, and these edges 411 bite into the stem when it attaches to it.

[0056] The plate-mounting platform 400 is located at the upper rear of the harvesting machine 100, and the stem-binding plate 410 is placed inside it.

[0057] For this purpose, the plate mounting base 400 consists of a rectangular through groove 401 cut into the top of the harvesting machine 100, and has a built-in ball plunger 420 in which a ball 421 protrudes from the inner wall, elastically supported by a spring 422 so that a stem binding plate 410 can be placed inside, and when the stem binding plate 410 is pushed downward by the plate binding part 600, the ball 401 retracts so that it can pass through the plate mounting base 400.

[0058] In other words, the stem connecting plate 410 is placed on the ball 421 of the plate mounting base 400.

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

[0060] The plate supply unit 500 can supply stem binding plates 410 to the plate mounting stand 400 in conjunction with the cutting unit 200.

[0061] More specifically, the cutting unit 200 is connected to the tip of the ball screw 111 of the through motor 110 provided on the harvester 100 and moves forward into the bed 1 or returns to its original position, and the plate supply unit 500 is connected to the rear end of the ball screw 111 of the through motor 110 and can push out the stem binding plates 410 loaded in the loading box 510 one by one and supply them to the plate mounting stand 400.

[0062] Here, the plate supply unit 500 consists of a loading box 510 provided at the front end of the plate mounting base 400, and a push bar 520 that slides inside the loading box 510, connected to the rear end of the ball screw 111 of the through motor 110.

[0063] Therefore, when the through-motor 110 rotates forward, the cutting unit 200 moves forward while the push bar 520 of the plate supply unit 500 moves backward, causing the stem binding plate 410 to descend and be loaded. When the through-motor 110 rotates in reverse, the cutting unit 200 moves backward while the push bar 520 of the plate supply unit 500 moves forward, pushing the stem binding plate 410 out of the loading box 510 and supplying it to the plate mounting base 400.

[0064] In other words, each time the harvesting unit 200 moves forward and collects strawberries and returns to its fixed position, the plate supply unit 500 can place one stem binding plate 410 at a time onto the plate placement stand 400, which is loaded in the loading box 510.

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

[0066] When the transfer unit 300 reaches its fixed position below the plate mounting base 400, the plate connecting unit 600 lowers the stem connecting plate 410 placed on the plate mounting base 400, and the stem connecting plate 410 can be connected to the strawberry by a connection in which the catch 411 bites into the stem connecting portion.

[0067] Here, the transfer gripper 310 is provided with a stem protector 320 in which pins 321 protrude at regular intervals along the stem gripping hole 311, surrounding the stem connection portion.

[0068] The transfer unit 300 receives the strawberries from the harvesting unit 200, moves to the rear of the harvester 100 and takes its fixed position. At this time, the stem connecting portion protruding from the transfer gripper 310 is precisely positioned below the cut-out tab 411 of the stem connecting plate 410, which is placed on the plate mounting base 400.

[0069] The plate joining section 600 includes a pressing plate 610 for pressing the stem joining plate 410, a hollow section 611 in the center of the pressing plate 610 so that the stem protector 320 is pulled out during the pressing process, and a drive section 620 for advancing the pressing plate 610 downward to press it or returning it to its original position.

[0070] The drive unit 620 consists of a ball screw whose tip is connected to the push plate 610, and a motor for rotating the ball screw in forward and reverse directions. When a signal is detected by the position detection sensor 330, which makes contact when the transfer unit 300 is in a fixed position, operation begins.

[0071] According to the above technical configuration, when the position detection sensor 330 detects the fixed position of the transport unit 300, the plate coupling unit 600 moves the push plate 610 forward by the forward rotation of the motor, pushing down the stem coupling plate 410 placed on the plate mounting base 400. The catch 411 spreads out and moves downward, passing between the pins 321 of the stem protector 320. When the push plate 610 and the transport gripper 310 come into contact with the stem coupling plate 410 in between, the pointed catch 411 bites into the stem coupling portion, firmly coupling the stem coupling plate 410 and the strawberry S.

[0072] Next, the packaging section 700 will be described with reference to Figures 9a, 9b, and 9c.

[0073] The packaging unit 700 attracts the stem binding plate 410 to which the strawberries are attached, and once the strawberries are separated from the transport unit 300, it secures the stem binding plate 410 to the upper end of the packaging box 40 located below, allowing the strawberries to be packaged while suspended in the packaging box 40.

[0074] The packaging unit 700 uses the adsorbent 710 to adsorb the stem binding plate 410, which is bound to the strawberry, by reducing the pressure. When both grippers of the transfer gripper 310 move backward and separate from each other, the adsorption is released and the stem binding plate 410 can be secured to the upper end of the lower packaging box 40. The packaging unit 700 may be configured so that the adsorbent 710 can move inward and outward on the binding area of ​​the stem binding plate 410.

[0075] Of course, after the strawberries have settled into the packaging box 40, the transfer unit 300 moves in the reverse rotation of the transfer motor to receive the strawberries from the harvesting unit 200.

[0076] Here, the packaging box 40 has storage spaces for each of the many strawberries, and a balcony 41 with an inward step is formed at the upper edge of the storage space, so that the stem binding plate 410 can be stably attached to the packaging box via the balcony 41.

[0077] Furthermore, a conveyor 50 is provided that moves the packaging box 40 and adjusts the movement interval so that an empty storage space is located below the transported strawberries. Once the packaging box 40 is filled with strawberries, it can be dropped onto a discharge conveyor and transported to the work area. The conveyor 50 is equipped with rollers and a motor inside the case so that the belt can be rotated to move the packaging box.

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

[0079] The stem fixing plate 60 is securely attached to the balcony 41 of the packaging box 40, and the stem portion that protrudes upward from the stem connecting plate 410 is connected to the perforation opening 61 to prevent the strawberries from shaking.

[0080] For example, preventing the strawberries from shaking during transport helps maintain their freshness, and if made from transparent material, it allows you to check the overall freshness of the strawberries.

[0081] On the other hand, referring to Figure 10, bed 1 has stem supports 70 attached to both sides, each having a series of stem support grooves 71 formed to accommodate the stems of the strawberries being cultivated so that they do not overlap with one another and to enforce spacing between them.

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

[0083] Therefore, because the strawberries are arranged in a single row along the bed 1, the strawberry harvesting machine's capture means 30 can easily capture the strawberries to be harvested, and they can be harvested accurately without touching the surrounding strawberries, thus significantly improving the harvest rate.

[0084] Of course, if the stem support 70 is set to have different depths for adjacent stem support grooves 71, it can force a certain spacing between strawberries not only from side to side but also in the front and back directions.

[0085] On the other hand, the robot frame 20 is equipped with a by-product removal device 800 that removes by-products such as stems, runners, and old leaves that remain after strawberry harvesting. The by-product removal device 800 includes a capture means 30 for capturing by-products such as stems, runners, and old leaves that remain after strawberry harvesting, and the cutting unit 200 is equipped with only one cutting cutter to remove the by-products captured by the capture means 30. The by-product removal process of such a by-product removal device can be easily understood from the function of the cutting unit described above.

[0086] The following describes the process by which strawberry harvesting and packaging are handled in a single operation, referring to the technical configuration described above.

[0087] First, in the process of harvesting strawberries grown in bed 1, the movable structure 10 moves between both sides of bed 1, and as the strawberries suspended from the stem support 70 are captured by the capture means 30 provided at the tip of the harvesting machine 100, the cutting unit 200 moves forward into bed 1 in accordance with the forward rotation of the through motor 110.

[0088] At this time, when the object detection sensor inside the stem gripper 220 detects a stem, both sides of the stem gripper 220 and both sides of the upper first stem cutting cutter 210 move forward facing each other in accordance with the forward rotation of the motor, so that gripping and cutting are performed simultaneously. Then, in accordance with the reverse rotation of the through motor 110, the harvesting unit 200 returns to its original position at the tip of the harvester 100 with the strawberries suspended from the stem gripper 220, so that the strawberries can be harvested.

[0089] Next, in the packaging process for the harvested strawberries, once the harvesting unit 200 that harvested the strawberries is in a fixed position, the strawberry stems suspended by the stem gripper 220 are detected by the object detection sensor inside the transport gripper 310. In response to the forward rotation of the motor, both sides of the transport gripper 310 move forward facing each other to grip the stems, and at the same time, the second stem cutting cutter 230 cuts the stems in response to the rotation of the motor of the harvesting unit 200, thereby transferring the strawberries to the transport unit 300.

[0090] Next, in accordance with the forward rotation of the transfer motor 305, when the transfer gripper 310, which suspends the strawberries by the transfer table 303, is precisely positioned below the plate mounting base 400, the position detection sensor 330 detects the fixed position of the transfer unit 300, and the plate coupling unit 600 moves the push plate 610 forward by the drive unit 620, thereby pushing the stem coupling plate 410 placed on the plate mounting base 400 into contact with the lower transfer gripper 310.

[0091] This allows the pointed portion of the stem binding plate 410 to bite into the strawberry stem and act as a component 411, thereby firmly attaching the stem binding plate 410 to the strawberry.

[0092] At this time, the packaging unit 700 uses a suction device to hold the stem binding plate 410 in place, and as the transfer grippers 310 move apart to the sides in response to the reverse rotation of the motor, the packaging unit 700 secures the strawberries to the lower packaging box 40. Simultaneously, in response to the reverse rotation of the transfer motor, the transfer unit 300 moves towards the harvesting unit 200 to receive the strawberries. The above process is repeated during the process of harvesting and packaging the strawberries.

[0093] This allows for the simultaneous sorting and packaging of ripe strawberries, reducing labor costs. Furthermore, by attaching the strawberry stems to a board and placing the stem-binding board on the balcony of the packaging box, the freshness of the strawberries can be maintained for an extended period.

[0094] The above description illustrates embodiments for understanding the present invention, and it is clear that the invention can be modified and transformed without departing from the spirit of the invention, as it can be applied to harvesting fruits and vegetables that can be grown in beds other than strawberries, and that such modified and transformed technical concepts also fall within the scope of the claims of the present invention. [Explanation of symbols]

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

Claims

1. A mobile structure that moves between beds, A robot frame mounted on the aforementioned mobile structure, A means for capturing strawberries to be harvested, The robot frame is provided with one or more harvesting machines facing the bed, The harvesting machine has a cutting unit that moves forward towards the bed to collect strawberries at its tip, grasps the stems of the captured strawberries, cuts off the excess, and returns to its original position towards the robot frame with the strawberries suspended. The strawberry stems suspended from the harvesting section are grasped by a transport gripper, and when the stems are cut while leaving the connecting part intact and the strawberries are passed, the transport section transports the suspended strawberries to the rear of the harvesting machine. A plate mounting platform is provided at the upper rear of the harvesting machine, on which a stem binding plate is placed, with radial cuts formed in the center to create a loop; A plate supply unit for supplying stem connecting plates to the plate mounting base, When the transfer unit reaches a fixed position below the plate-holding platform, the stem-binding plate placed on the plate-holding platform is lowered, and the plate-binding unit connects the stem-binding plate to the strawberry by a connection in which the catch bites into the stem-binding portion, A strawberry harvesting robot system characterized by comprising: a packaging unit that, when the strawberries are separated from the transport unit by adsorption of the stem binding plate to which the strawberries are attached, secures the stem binding plate to the upper end of a packaging box located below, and packages the strawberries while they are suspended in the packaging box.

2. The strawberry harvesting robot system according to claim 1, characterized in that the bed is fitted with stem supports on both sides, each having a continuous stem support groove formed to accommodate the stems of the strawberries being cultivated so that they do not overlap with one another and to enforce spacing between them.

3. The harvesting unit, when moving forward toward the bed to harvest strawberries, detects a stem with its built-in sensor, and the two claws of the gripper move forward facing each other to grip the stem. The first stem cutting cutter, in which both cutting cutters move forward facing each other simultaneously with the stem gripper, cuts the stem. The transfer unit includes a second stem cutting cutter for cutting the stems in order to pass the strawberries to the transfer unit, The strawberry harvesting robot system according to claim 1, characterized in that the first stem cutting cutter, the stem gripper, and the second stem cutting cutter are assembled in a multilayer structure.

4. The transfer unit is equipped with a transfer gripper whose two claws face each other and move forward to grip the stem when the harvesting unit, which is suspending the strawberries, returns to its original position and a built-in sensor detects the stem, and when the harvesting unit cuts the stem and the strawberries are delivered, the transfer unit transfers the strawberries to the rear of the harvesting machine, as described in claim 1.

5. The harvesting unit is coupled to the tip of the ball screw of the through motor provided in the harvesting machine and moves forward toward the bed or returns to its original position toward the robot frame. The strawberry harvesting robot system according to claim 1, characterized in that the plate supply unit is coupled to the rear end of the ball screw of the through motor and works in conjunction with the harvesting unit to push out the stem binding plates loaded in the loading box one by one and supply them to the plate loading stand.

6. The strawberry harvesting robot system according to claim 1, characterized in that the plate mounting base is elastically supported by a spring so that the stem connecting plate can be placed on its inner side, a ball plunger is built in which a ball protrudes from the inner wall, and when the stem connecting plate is pushed downward by the plate connecting part, the ball retracts so that it can pass through the plate mounting base.

7. The transfer gripper is provided with a stem protector in which pins protrude at regular intervals along the stem gripping hole, surrounding the stem connection portion. The plate connecting portion includes a pressing plate for pressing the stem connecting plate placed on the plate mounting base, a hollow portion in the center of the pressing plate so that the stem protector is pulled out during the pressing process, and a drive unit for advancing the pressing plate downward to press or returning it to its original position. The strawberry harvesting robot system according to claim 1, characterized in that when the pressing plate presses the stem connecting plate, the grip moves downward through the pins of the stem protector, and when the pressing plate comes into contact with the transport gripper with the stem connecting plate in between, the grip bites into the stem connecting portion and connects the stem connecting plate and the strawberry.

8. The strawberry harvesting robot system according to claim 1, characterized in that a perforation is formed at the upper end of the packaging box for accommodating and fixing the stem portion that protrudes upward from the stem connecting plate attached to the upper end of the packaging box, and a stem fixing plate is further provided that connects to the upper end of the packaging box.

9. The strawberry harvesting robot system according to claim 1, characterized in that the capture means selects and captures strawberries to be harvested when the size of the strawberries is specified and input into the program.

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

11. A means for capturing by-products to remove by-products consisting of stems, runners, and old leaves remaining after strawberry harvesting, The strawberry harvesting robot system according to claim 1, further comprising a by-product removal device on the robot frame facing the bed, the harvesting unit having only one cutting cutter so as to be able to remove by-products captured by the aforementioned capturing means.

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