Plant cultivation management device
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- NAT AGRI & FOOD RES ORG
- Filing Date
- 2022-11-29
- Publication Date
- 2026-08-03
AI Technical Summary
【0006】 本発明によれば、植物栽培管理装置による対象作物の収穫作業や管理作業が容易におこなえる。
Smart Images
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Abstract
Description
Technical Field
[0001] The present invention relates to a plant cultivation management device.
Background Art
[0002] When a plant cultivation management device performs a harvesting operation or a management operation on a target crop based on image recognition, if the position of the operation target on the target crop is not properly recognized, the harvesting operation or the management operation cannot be performed. Therefore, conventionally, in order to recognize operation targets such as fruits and side shoots, it has been necessary to remove the surrounding leaves so that the operation targets are exposed in advance. Also, in a strawberry harvesting manipulator or the like, which is a type of plant cultivation management device, in order to improve the accuracy of the harvesting operation, when the operation target cannot be sufficiently recognized by image recognition or when the area for inserting scissors cannot be secured, the image recognition operation is performed again from another direction. Patent Document 1 discloses a technique having a mechanism for sandwiching the main stem of a tomato and performing a side shoot cutting process by lowering a side shoot cutting mechanism above the sandwiching mechanism from above.
Prior Art Documents
Patent Documents
[0003]
Patent Document 1
Summary of the Invention
Problems to be Solved by the Invention
[0004] However, in the prior art, it takes time to recognize the image of the target crop, and the operation target is not always recognized. In Patent Document 1, the operation cannot be performed unless the positions of the side shoots and the main stem, which are the operation targets, can be recognized. Therefore, it is necessary to perform a pretreatment so that the parts of the side shoots and the main stem are exposed. Also, the prior art is such that the end effector that performs the operation directly moves to the position where the operation on the target crop is to be performed, and there is a problem that during the movement, the end effector touches the crop and the position of the target crop moves, making the operation impossible. This invention has been made in view of the above circumstances, and aims to provide a plant cultivation management device that facilitates harvesting and management of target crops. [Means for solving the problem]
[0005] One embodiment for solving the above problem comprises a manipulator and a control unit, wherein the manipulator has an end effector that performs a predetermined task and a holding mechanism that holds the main stem of the target crop that is the target of the task, and the control unit moves the holding mechanism to a holding point that holds the main stem and holds the main stem, and the work point where the task is performed Until the holding mechanism maintains the state in which it holds the main stem, This plant cultivation management device moves the holding mechanism along the main stem to perform the operation by the end effector. [Effects of the Invention]
[0006] According to the present invention, harvesting and management operations for target crops can be easily performed using a plant cultivation management device. [Brief explanation of the drawing]
[0007] [Figure 1] Conceptual diagram of operations using a plant cultivation management system. [Figure 2] Diagram illustrating a manipulator. [Figure 3] Diagram of the plant cultivation management system. [Figure 4] Functional block diagram of the control unit. [Figure 5] Diagram illustrating the holding mechanism. [Figure 6] A and B are diagrams illustrating the holding handle. [Figure 7] Diagram illustrating the operation of the holding mechanism. [Figure 8] A flowchart illustrating the operation of the manipulator. [Figure 9] A flowchart illustrating the operation of the manipulator. [Figure 10] A diagram illustrating a modified example of the holding mechanism. [Modes for carrying out the invention]
[0008] The embodiments will be described below with reference to the drawings. Figure 1 is a conceptual diagram of the operation of the plant cultivation management device 1 according to this embodiment.
[0009] The plant cultivation management device 1 comprises a cart (mobility mechanism) 15 for moving around the work area, a manipulator 20 for performing predetermined tasks, and a camera 10 for acquiring information such as the position of the target crop 3 and the work location. The plant cultivation management device 1 also includes a control unit 5 for controlling the entire device. Although the control unit 5 is positioned on the cart 15, it is not limited to this configuration and may, for example, be installed in a fixed location separate from the cart 15 and remotely controlled by wireless or wired communication.
[0010] The plant cultivation management device 1 moves in the X direction in the diagram between rows of multiple planted target crops 3, and performs predetermined tasks on each target crop 3 using the manipulator 20. The tasks performed by the manipulator 20 include removing lower leaves from the target crops 3 and harvesting the ripened produce from the target crops 3. Furthermore, by placing QR codes (registered trademarks) containing the location information of each target crop 3 in an X-direction at the base of each target crop 3, the approximate location of the target crop 3 can be recognized from the image of the camera 10. The plant cultivation management device 1 moves to a position opposite each target crop 3 using the cart 15 and performs work at the appropriate position.
[0011] Figure 2 is an explanatory diagram of the manipulator 20. The manipulator 20 comprises a holding mechanism 25 for holding the main stem 4 of the target crop 3, which is the object of the work, and an end effector 30 for performing the work. The holding mechanism 25 also includes a force sensor 35 that measures the force received as a reaction force from the main stem 4 when it is held. The force sensor 35 can measure the magnitude of forces and torques acting in the three axial directions of XYZ in Figure 2 in real time, for example.
[0012] The manipulator 20 is fixed to the upper surface of the carriage 15 and includes an arm portion 27 that supports a holding mechanism 25 and the like at its tip. The manipulator 20 guides the holding mechanism 25 and the end effector 30 to a work point, which is the target point for performing work, by allowing the arm portion 27 to move freely in the three axial directions of XYZ in FIG. 2, for example. The end effector 30 is, for example, a cutter and performs operations such as cutting and removing the lower leaves of the target crop 3.
[0013] FIG. 3 is a configuration diagram of the plant cultivation management device 1. In the plant cultivation management device 1, the camera 10, the carriage 15, and the manipulator 20 are connected to and controlled by the control unit 5. The control unit 5 is a computer that controls the operation of the plant cultivation management device 1. Such a computer includes a processor such as a CPU (Central Processing Unit) or MPU (Micro-Processing Unit), and a memory such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and realizes various functions described later by the processor executing the programs stored in the memory.
[0014] FIG. 4 is a functional block diagram of the control unit 5. The functions realized by the control unit 5 include an image recognition function 65, a movement control function 70, a holding mechanism control function 75, an end effector control function 80, a force sensor information acquisition function 85, a determination function 90, and a storage function 95.
[0015] The control unit 5 realizes an image recognition function 65 that recognizes various information from the images acquired by the camera 10. The plant cultivation management device 1 acquires position information for determining a holding point (target holding point) for holding the main stem 4 by the image recognition function 65. Further, the plant cultivation management device 1 acquires position information for determining a work point (target work point) where the work is performed by the end effector 30 by the image recognition function 65.
[0016] The control unit 5 realizes a movement control function 70 for controlling the cart 15 that moves to the work location. Based on various position information obtained by the image recognition function 65, the movement control function 70 controls the cart 15 to move to a position where the plant cultivation management device 1 can easily perform operations.
[0017] The control unit 5 realizes a holding mechanism control function 75 for controlling the operation of the holding mechanism 25 of the manipulator 20. When the main stem 4 is held by the holding handle 45 described later, the holding mechanism control function 75 controls the force exerted by the holding handle 45 on the main stem 4. Also, the holding mechanism control function 75 moves the holding mechanism 25 to the holding point, which is the target point for holding the target crop 3, to hold the main stem 4. Also, the holding mechanism control function 75 moves the holding mechanism 25 along the main stem 4 to the work point, which is the target point for performing operations on the target crop 3.
[0018] The control unit 5 realizes an end effector control function 80 for controlling the operation of the end effector 30 of the manipulator 20. The end effector control function 80 causes the end effector 30 to execute operations at the work point.
[0019] The control unit 5 realizes a force sensor information acquisition function 85 for acquiring information such as torque and force measured by the force sensor 35. The force sensor information acquisition function 85 acquires the magnitude and direction of the force received by the holding mechanism 25 from the main stem 4, measured by the force sensor 35.
[0020] When the control unit 5 moves the holding mechanism 25 along the main stem 4, it changes the inner diameter size of the portion of the holding mechanism 25 that holds the main stem 4, that is, the distance between the holding handles 45 described later, and the holding posture according to the measured force received from the main stem 4. Also, the control unit 5 corrects the direction of moving the holding mechanism 25 as described later according to the measured force received from the main stem 4.
[0021] The control unit 5 implements a determination function 90 that makes decisions regarding each condition, which will be explained in the flowchart later.
[0022] The control unit 5 implements a memory function 95 that stores information on various control programs and parameters used in each program. The memory function 95 is implemented, for example, by electronic devices such as RAM, ROM, and SSD (Solid State Device).
[0023] Figure 5 is a diagram showing an example of the configuration of the holding mechanism 25. The holding mechanism 25 includes a pair of opposing holding handles 45A and 45B for gripping and holding the main stem 4. The movement of the holding handles 45A and 45B is controlled by the holding mechanism control function 75 shown in Figure 4. When gripping the main stem 4, the holding handles 45A and 45B are extended, reducing the inner diameter of the holding mechanism 25, that is, narrowing the distance between the holding handles 45A and 45B, thereby holding the main stem 4. Hereinafter, the holding handles 45A and 45B will be collectively referred to as the holding handle 45.
[0024] The retaining handle 45 operates while being supported by the base 40. The base 40 includes a mechanism (not shown) for extending or retracting the holding handles 45A and 45B, and a force sensor 35 for measuring the force received by the main stem 4 when the holding handles 45A and 45B hold the main stem 4.
[0025] The holding mechanism 25 needs to accommodate the unevenness and changes in thickness of the main stem 4, so it is configured to vary the inner diameter of the holding handle 45 that holds the main stem in accordance with the force received from the main stem 4, thereby maintaining the holding force below a certain level.
[0026] An end effector 30 is attached to the arm 27 of the manipulator 20, adjacent to the holding mechanism 25. When performing operations such as cutting on a target crop with the end effector 30, it is necessary to ensure that the relative positional relationship between the end effector 30 and the target crop part does not shift in order to increase the success rate of the operation. In this embodiment, the manipulator 20 holds the main stem 4 with a holding mechanism 25 to prevent it from moving, and has a function to narrow the inner diameter of the holding handle 45 that holds the main stem 4 when working with the end effector 30.
[0027] Figures 6A and 6B are enlarged cross-sectional views of the retaining handle 45A. Although not shown in the illustration, the retaining handle 45B has the same configuration. The holding handle 45A has multiple contact points 50 on the surface that contacts the main stem 4. Each contact point 50 is supported by a spring 52 and fixed to a support point 53 of the holding handle 45A. The material of the contact points 50 is one with a low coefficient of friction, such as Delrin. In Figure 6A, the holding handles 45A and 45B loosely hold the main stem 4. In this state, the spring 52 is extended, and the frictional force between the contact part 50 and the main stem 4 is small. In Figure 6B, the holding handles 45A and 45B firmly hold the main stem 4. In this state, the spring 52 is contracted, and the main stem 4 comes into contact with the holding part 54, which is made of a material with a high coefficient of friction, such as rubber. As a result, the frictional force between the holding handle 45 and the main stem 4 increases.
[0028] In this embodiment, an example was given in which a pair of opposing handles are provided as the holding handle 45, but the configuration is not limited to this. For example, a single handle may have a shape that embraces the main stem 4 to hold it in place.
[0029] Figures 7A-7E are diagrams illustrating the operation of the holding mechanism 25. Figure 7A shows the state when the main stem 4 is not being held. As the situation progresses from Figure 7A to Figure 7E (in the direction of the arrow), the holding handles 45A and 45B of the holding mechanism 25 move forward (extend), and the main stem 4 is held in place. The retaining handles 45A and 45B, supported by the base 40, are retracted (contracted) and stored inside the base 40 in the initial stage shown in Figure 7A. At the stage shown in Figure 7B, the retaining handles 45A and 45B slide from the base 40 and begin to unfold. At the stage shown in Figure 7C, the retaining handles 45A and 45B begin to rotate. At the stage shown in Figure 7D, the retaining handles 45A and 45B have almost completed their unfolding. At the stage shown in Figure 7D, the retaining handles 45A and 45B narrow the distance between the opposing retaining handles and gently hold the main stem 4. At this stage, the inner diameters of the retaining handles 45A and 45B are relatively large. At the stage shown in Figure 7E, the inner diameters of the holding handles 45A and 45B are narrowed, thereby firmly holding the main stem 4 in place and preventing it from moving.
[0030] To reduce the risk of unexpected contact with the target crop 3, the holding handle 45 is folded into a smaller shape, as shown in the initial stage of Figure 7A, while the holding handle 45 is moving to the holding point where the main stem 4 is held. When the holding handle 45 reaches the holding point and holds the main stem 4, the holding handle 45 extends and narrows its inner diameter, as shown in Figure 7D. This state is the state shown in Figure 6A, where the spring 52 extends, the force with which the holding handle 45 presses against the main stem 4 is small, and the frictional force between the contact part 50 and the main stem 4 is small.
[0031] In other words, to reduce the risk of unexpected contact with the target crop 3, the holding handle 45 is designed to fold down into a smaller shape while the manipulator 20 is moving, and to unfold when holding the main stem 4. While a typical grabber-like device for holding an object is wider before holding than during holding, in this disclosure, the holding handle 45 is designed to be folded or not unfolded when moving, and then unfolds or changes shape during holding to become large enough to hold the main stem 4.
[0032] In this embodiment, as shown in Figures 6A and 7D, the holding mechanism 25 is moved to the work point along the axis of the main stem 4 while the main stem 4 is lightly held by the holding handle 45. At this work site, the end effector 30 is used to perform tasks such as removing the lower leaves of the target crop 3 or harvesting the fruit. When the holding mechanism 25 is moved to the work point along the axis of the main stem 4, the inner diameters of the holding handles 45A and 45B are relatively large, and the main stem 4 is held loosely. Therefore, frictional force during movement is reduced, and the main stem 4 is not damaged.
[0033] Furthermore, to reduce friction, the portion of the contact area 50 that touches the main stem 4 may be smoothly processed. Also, for the same reason, the contact area 50 may have a bearing or roller structure. In this case, if the inner diameter of the holding handle 45 is to be narrowed and the holding force to be greater than a certain level, it is conceivable to provide a mechanism to change the position of the bearing or roller in order to increase the axial friction of the main stem 4.
[0034] When the holding mechanism 25 holds the main stem 4 and moves it along the axis of the main stem 4, if the direction in which the holding mechanism 25 moves (predicted path) deviates from the axial direction of the main stem 4 (actual path), a load will be placed on the main stem 4 and the target crop 3 will be damaged. In this embodiment, the direction of movement of the holding mechanism 25 is corrected so that the direction in which the holding mechanism 25 moves does not deviate from the axial direction of the main stem 4, and the actual path is set. The holding mechanism 25 is equipped with a force sensor 35 that measures the force received from the main stem 4. The control unit 5 has a function to correct the direction of movement of the holding mechanism 25 based on the measurement results of the force sensor 35.
[0035] When the holding mechanism 25 reaches the work point, the holding handle 45 firmly holds the main stem 4, as shown in Figure 7E. This state is shown in Figure 6B, and the spring 52 contracts. As the force with which the holding handle 45 holds the main stem 4 increases, contact is made with the holding part 54, which has a high frictional force, and the frictional force between the holding handle 45 and the main stem 4 increases. In this state, the holding mechanism 25 firmly holds the main stem 4, allowing work to be performed by the end effector 30. Since the distance between the end effector 30 and the target crop 3 is kept constant, the plant cultivation management device 1 can reliably perform work on the target crop 3 using the end effector 30.
[0036] The operation of the manipulator 20 in the plant cultivation management device 1 will be described below. It is assumed that the target crop 3, which is the object of the work, has, for example, fruit, and that the work location can be estimated from the position of the fruit.
[0037] Figure 8 is a flowchart illustrating the operation of the manipulator 20. First, the control unit 5 recognizes an image of the target crop 3 acquired from the camera 10 using the image recognition function 65 (step SA1). The control unit 5 then uses the determination function 90 to determine whether or not it is possible to determine the work location where the end effector 30 will perform its work from the image recognized in the previous step (step SA2). If a work site can be determined (Step SA2: YES), the control unit 5, based on the location information of the determined work site, uses the image recognition function 65 to select a holding point, which is the target point for holding the main stem 4, from the image (Step SA3). At this time, the control unit 5 selects, for example, the lower main stem, which has a low risk of contact between the target crop 3 and the holding mechanism 25, as the holding point. If the control unit 5 determines that a main stem closer to the work site than the lower main stem of the target crop 3 can be set as the holding point, it prioritizes selecting that one.
[0038] The control unit 5 uses the determination function 9 to determine whether or not there is an object that may interfere with the manipulator within the approach area where the manipulator 20 approaches the holding point (step SA4). If there is no object that may interfere with the manipulator (step SA4: NO), the control unit 5 uses the holding mechanism control function 75 to move the holding mechanism 25 to the holding point (step SA5). Specifically, the control unit 5 controls the arm 27 to guide the holding mechanism 25, which is provided at one end of the arm 27, to the holding point. The control unit 5, using the holding mechanism control function 75, causes the holding mechanism 25 to hold the main stem 4 at the holding point (step SA6). At this time, the holding mechanism 25 holds the main stem 4 with a holding force that is not so strong as the holding mechanism 25 moves along the axis of the main stem 4 that it damages the main stem 4. In other words, the control unit 5 holds the main stem 4 while reducing the frictional force between the holding mechanism 25 and the main stem 4.
[0039] Next, the control unit 5, using the holding mechanism control function 75, operates the manipulator 20 to move the holding mechanism 25 along the axis of the main stem 4 to the work point while maintaining the state in which the holding mechanism 25 holds the main stem 4 (step SA7). At this time, the control unit 5, using the force sensor information acquisition function 85, acquires information from the force sensor 35 provided on the manipulator 20 and controls the holding mechanism 25. Specifically, the control unit 5 measures the force that the holding mechanism 25 receives from the main stem 4, and when the control unit 5 moves the holding mechanism 25 along the main stem 4, it changes the size of the inner diameter of the part of the holding mechanism 25 that holds the main stem 4, and the holding posture, according to the measured force received from the main stem 4. The control unit 5 also corrects the direction in which the holding mechanism 25 moves according to the measured force received from the main stem 4.
[0040] Then, the control unit 5 fixes and holds the main stem 4 with the holding mechanism 25 using the holding mechanism control function 75 (step SA8). At this time, the holding of the main stem 4 by the holding mechanism 25 is performed with a holding force that is such that the target crop 3 does not easily move during operation by the end effector 30. In other words, the holding mechanism 25 is controlled to increase the frictional force between the main stem 4 and the holding handle 45. The control unit 5 causes the end effector 30 to perform the operation using the end effector control function 80 (step SA9).
[0041] Returning to the explanation of step SA2, if the control unit 5 cannot determine the work location (step SA2: NO), the control unit 5 estimates the work location from the fruit location using the image recognition function 65 (step SA10). Subsequently, based on the estimated location information of the work site, a holding point, which is the target point for holding the main stem 4, is selected from the image (Step SA3).
[0042] Returning to the explanation of step SA4, if there is an object interfering with the manipulator 20 (step 4: YES), the holding point, which is the target point for holding the main stem 4, is selected again from the image based on the location information of the work site (step SA3). At this point, the memory function 95 selects a new target location other than the previously selected location, which has been stored in memory.
[0043] The tasks performed by the plant cultivation management device 1 include, for example, the removal of lower leaves in long-term multi-tiered tomato cultivation, and are intended to involve cutting off all lower leaves below the lowest fruit. Therefore, all leaf stalks extending from the main stem 4 will be cut near the main stem 4, using the fruit as a guide. For this reason, it is more efficient to work by moving along the main stem 4 rather than directly approaching the leaf stalks of the lower leaves. Specifically, for example, the plant cultivation management device 1 could be equipped with a camera near the holding mechanism 25 at the tip of the arm 27, and the work location could be selected using the image recognition function 65. When viewed from the initial position of the plant cultivation management device 1, that is, from a position opposite the target crop 3 moved by the cart 15, the plant cultivation management device 1 may have difficulty recognizing the position of the petiole to be cut. However, if the holding mechanism 25 is first brought close to the main stem 4 and held, and then the camera provided near the holding mechanism 25 is used to look up at the target crop 3 from below the main stem 4, the plant cultivation management device 1 can easily find the work location.
[0044] Figure 9 is a flowchart illustrating the operation of the manipulator 20, and specifically provides a detailed explanation of step 7 shown in Figure 8.
[0045] The control unit 5 acquires information on the force that the force sensor 35 receives from the main stem 4, that is, the resistance force to the force that the holding handle 45 uses to hold the main stem 4, using the force sensor information acquisition function 85 (step SB1). The control unit 5 operates the manipulator 20 using the holding mechanism control function 75 so that the magnitude of the force received by the force sensor 35 from the main stem 4 is less than or equal to a predetermined value. Specifically, it changes the size of the inner diameter of the part of the holding mechanism 25 that holds the main stem 4, and the holding posture. The control unit 5 moves the holding mechanism 25 along the main stem toward the work point by the minimum movement unit using the holding mechanism control function 75. The minimum unit of movement is, for example, 1 cm. This minimum unit of movement can be changed depending on the work and the target crop 3. The control unit 5 determines whether or not the holding mechanism 25 has reached the work point using the determination function 90 (step SB4). If the control unit 5 determines that the holding mechanism 25 has reached the work point (step SB4: YES), the process proceeds to step 8 in Figure 8. If the control unit 5 determines that the holding mechanism 25 has not reached the work point (step SB4: NO), the process returns to step SB1.
[0046] Figure 10 shows a modified example of the holding mechanism 25. One end of each of the bent portion 55A and the bent portion 55B is fixed to the base 40, and by pulling the wires 60A and 60B toward the base 40, the opposing bent portions 55A and 55B bend and come into close proximity. With this shape, the width W of the holding mechanism 25 does not change when gripping the main stem 4, and the possibility of gripping something other than the main stem when the shape changes is reduced.
[0047] As described above, the plant cultivation management device 1 according to the embodiment comprises a manipulator 20 and a control unit 5. The manipulator 20 has an end effector 30 that performs a predetermined task and a holding mechanism 25 that holds the main stem 4 of the plant that is the target of the task. The control unit 5 moves the holding mechanism 25 to a holding point, which is a target point for holding the main stem 4, to hold the main stem 4, and moves the holding mechanism 25 along the main stem 4 to a work point, which is a target point for performing the task, to execute the task by the end effector 30.
[0048] With this type of plant cultivation management device, when moving the end effector from the point where the main stem is held to the work area, the holding mechanism maintains a physical connection between the manipulator and the main stem. Therefore, even if the target crop shakes during the operation of the manipulator, or if part of the movement path is not recognized, the end effector can be moved to the work area without any problems.
[0049] The plant cultivation management device 1 according to this embodiment is a plant cultivation management device in which the holding mechanism 25 has a function to reduce friction in the part that holds the main stem 4. With this type of plant cultivation management device, the holding mechanism can reduce friction between the main stem and the holding mechanism as it moves along the axis of the main stem while maintaining its position. Therefore, it has the excellent effect of being less likely to damage the main stem as the holding mechanism moves along the axis of the main stem.
[0050] In the plant cultivation management device 1 according to this embodiment, the holding mechanism 25 is equipped with a force sensor 35 that measures force, and the force sensor 35 measures the force received from the main stem 4, and when the holding mechanism 25 is moved along the main stem 4, the control unit 5 changes the size of the inner diameter of the part of the holding mechanism 25 that holds the main stem 4 and the holding posture according to the measured force received from the main stem 4. With this type of plant cultivation management device, the holding mechanism moves along the axis of the main stem, minimizing stress on the stem. Therefore, the end effector can be moved to the work location without damaging the main stem.
[0051] In the plant cultivation management device 1 according to this embodiment, when the end effector 30 performs work, the holding mechanism reduces the inner diameter of the part that holds the main stem 4, thereby fixing and holding the main stem 4. With this type of plant cultivation management device, the main stem is held in place by a holding mechanism during operation, so the target crop 3 remains fixed. Therefore, the plant cultivation management device can reliably perform operations at the work site using an end effector.
[0052] In the plant cultivation management device 1 according to this embodiment, the holding mechanism 25 is equipped with a force sensor 35 that measures force. When the holding mechanism 25 is moved along the main stem 4, the force sensor 35 measures the force received from the main stem 4, and the control unit 5 corrects the direction in which the holding mechanism 25 is moved according to the measured force received from the main stem 4. With this type of plant cultivation management device, the holding mechanism moves along the axis of the main stem, minimizing stress on the stem. Therefore, the end effector can be moved to the work location without damaging the main stem.
[0053] In the plant cultivation management device 1 according to this embodiment, the control unit 5 changes the holding mechanism 25 to its narrowest shape when moving to the holding point, and when it reaches the holding point, changes the holding mechanism 25 to a shape that can hold the main stem 4. This type of plant cultivation management device reduces the risk that the holding mechanism may fail to secure the main stem due to unexpected contact between the target crop and the holding mechanism. Therefore, it increases the probability that the holding mechanism can reliably secure the main stem and perform the work.
[0054] The operational step units shown in Figures 8 and 9 are divided according to the main processing content to facilitate understanding of the operation, and the operation is not limited by the way the processing units are divided or the names of the processing units. Depending on the processing content, it may be further divided into more step units. Alternatively, it may be divided so that one step unit includes even more processing. The order of the steps may be changed as appropriate, as long as it does not impede the intent of this disclosure.
[0055] The above-described embodiments are for illustrative purposes only and can be modified, replaced, added, or omitted within the scope of the claims or their equivalents. The holding mechanism 25 is not limited to the above embodiments and can take various forms as long as it can move along the main stem 4 to the work point without damaging the main stem 4 and can firmly hold the main stem 4 at the work point. [Explanation of Symbols]
[0056] 1 Plant cultivation management equipment 3. Target crops 4 Main stem 5. Control Unit 20 Manipulators 25 Retention mechanism 30 End Effects 35 Force Sensor
Claims
1. It comprises a manipulator and a control unit, The manipulator comprises an end effector that performs a predetermined task, and a holding mechanism that holds the main stem of the target crop that is the target of the task. The control unit moves the holding mechanism to a holding point for holding the main stem and holds the main stem, and moves the holding mechanism along the main stem to the work point where the work is performed, while maintaining the state in which the holding mechanism holds the main stem, thereby causing the end effector to perform the work. Plant cultivation management equipment.
2. The holding mechanism includes a contact portion that reduces friction in the part that holds the main stem. The plant cultivation management device according to claim 1.
3. The holding mechanism is equipped with a force sensor for measuring force, The force sensor measures the force received from the main stem, When the control unit moves the holding mechanism along the main stem, it changes the size of the inner diameter of the part of the holding mechanism that holds the main stem, or the holding posture, in accordance with the measured force received from the main stem. The plant cultivation management device according to claim 1.
4. The holding mechanism, when performing work with the end effector, holds the main stem with a reduced inner diameter of the part that holds the main stem. The plant cultivation management device according to claim 3.
5. When the control unit moves the holding mechanism along the main stem, it corrects the direction in which the holding mechanism moves according to the measured force received from the main stem. The plant cultivation management device according to claim 3 or 4.
6. The control unit changes the holding mechanism to a folded state when it moves to the holding point, and when it reaches the holding point, it unfolds the holding mechanism to change it to a shape that can hold the main stem. The plant cultivation management device according to claim 1.