Vegetable cutting device, vegetable cutting method and program

Abstract

The vegetable cutting device 1 has an identification unit 521 that identifies the shape of a vegetable having a stem and multiple cut parts extending from the stem, a flower stem cutting unit 13 that has a blade that cuts the cut parts, and a control unit 523 that changes the relative position of the blade and the vegetable before or during the period when the flower stem cutting unit 13 cuts the cut parts based on the identified shape of the vegetable.

Description

[Technical Field]

[0001] The present invention relates to a vegetable cutting device, a vegetable cutting method, and a program. [Background technology]

[0002] There are known devices for cutting vegetables. The vegetable cutting device described in Patent Document 1 cuts vegetables by rotating a cutter while the vegetables are fixed. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Utility Model Registration No. 3213445 Summary of the Invention [Problem to be solved by the invention]

[0004] In conventional vegetable cutting devices, the cutter moves in a fixed trajectory, so if the size of the vegetables varies, it may not be possible to cut the vegetables at the appropriate position.

[0005] The present invention has been made in consideration of these points, and aims to make it possible to cut vegetables at an appropriate position regardless of the size of the vegetables. [Means for solving the problem]

[0006] A first aspect of the vegetable cutting device of the present invention includes an identification unit that identifies the shape of a vegetable having a stem and multiple cut portions extending from the stem, a cutting unit having a blade that cuts the cut portions, and a control unit that changes the relative position of the blade and the vegetable before or during the period when the cutting unit cuts the cut portions based on the shape of the vegetable identified by the identification unit.

[0007] The control unit may change the relative positions of the blade and the vegetable in the longitudinal direction of the stem.

[0008] The plurality of cut portions may be a plurality of flower stalks, each of which may have a flower bud attached thereto, and the identification unit may identify a flower bud region, which is a region that includes the flower bud.

[0009] The vegetable cutting device may further have a blade moving mechanism that moves a blade of the cutting unit, and the control unit may control the blade moving mechanism so that the orientation of the blade changes while changing the relative position.

[0010] The multiple cutting portions may be multiple flower patterns, the cutting unit may have a flower pattern cutting unit that cuts the flower patterns, and the control unit may control the blade moving mechanism so that after the flower pattern cutting unit cuts a first flower pattern of the multiple flower patterns, the blade of the flower pattern cutting unit approaches an orientation corresponding to a second flower pattern that is closer to the stem than the first flower pattern.

[0011] The vegetable cutting device may further have a vegetable moving mechanism that changes the position of the vegetable in the longitudinal direction of the stem, and the control unit may change the relative position by controlling the vegetable moving mechanism.

[0012] The vegetable cutting device further has a placing section on which the vegetable is placed before the cutting section starts cutting the portion to be cut, and a connecting section to which the vegetable is connected to the stem while placed on the placing section, and the control section may change the relative position by moving the connecting section toward the placing section to connect the connecting section to the vegetable after the vegetable is placed on the placing section, and then moving the connecting section in a direction away from the placing section at a first speed.

[0013] The control unit may move the joining unit in a direction away from the placement unit at a second speed slower than the first speed after the cutting unit starts cutting the target portion.

[0014] The control unit may move the joining unit at the second speed determined based on the length of the vegetable in the longitudinal direction of the stem.

[0015] The vegetable cutting device may further have a fixing portion for fixing the stem, and the control portion may release the stem from the connecting portion by changing the relative position by a predetermined amount and then moving the connecting portion in a direction away from the stem while the stem is fixed by the fixing portion.

[0016] The vegetable cutting device may further have a photographing device that generates image data by photographing the vegetable, and the identification unit may identify the shape of the vegetable based on the image data generated by the photographing device photographing the vegetable from the side of the vegetable.

[0017] The vegetable cutting device may further include a rotation mechanism that rotates the vegetable, and the control unit may rotate the vegetable while changing the relative position.

[0018] The cutting unit may include a flower pattern cutting unit that cuts the multiple flower pattern extending in a direction different from the longitudinal direction of the stem, and a stem cutting unit that cuts the stem after the flower pattern cutting unit has cut the multiple flower pattern.

[0019] The horizontal position of the vegetable cutting device at which the flower stalk cutting unit cuts the multiple flower stalks is different from the position at which the stem cutting unit cuts the stems, and the vegetable cutting device may further have a first collection unit located at a position where the multiple flower buds fall when the flower stalk cutting unit cuts the multiple flower stalks, and a second collection unit located at a position where the flower buds at the top of the vegetable fall when the stem cutting unit cuts the stem.

[0020] The multiple cutting portions are multiple flower stalks, the cutting unit has a flower stalk cutting unit that cuts the flower stalks, and the vegetable cutting device further has a setting receiving unit that receives a setting for the length of the flower stalk that remains attached to the flower bud after the flower stalk cutting unit cuts the flower stalk, and the control unit may change the position of the blade based on the length received by the setting receiving unit.

[0021] A second aspect of the vegetable cutting method of the present invention includes the steps of: identifying the shape of a vegetable having a stem and a plurality of cut portions extending from the stem; and changing the relative position of a cutting unit having a blade for cutting the cut portions and the vegetable based on the identified shape of the vegetable before or during the period in which the blade cuts the cut portions.

[0022] A third aspect of the program of the present invention is a program for causing a computer to execute the steps of identifying the shape of a vegetable having a stem and multiple cut parts extending from the stem, and changing the relative position of a cutting unit having a blade for cutting the cut parts and the vegetable based on the identified shape of the vegetable before or during the period when the blade cuts the cut parts. [Effects of the Invention]

[0023] According to the present invention, it is possible to cut vegetables at an appropriate position even if the vegetables have different sizes. [Brief explanation of the drawings]

[0024] [Figure 1] FIG. 2 is a front view of the vegetable cutting device 1. [Figure 2] FIG. 2 is a right side view of the vegetable cutting device 1. [Figure 3] FIG. 2 is a left side view of the vegetable cutting device 1. [Figure 4] FIG. 1 is a perspective view of a vegetable cutting device 1. [Figure 5] FIG. 2 is a diagram for explaining the names of each part of a vegetable V. [Figure 6]FIG. 2 is a diagram showing the configuration of a control device 50. [Figure 7] 10 is a diagram showing the state immediately after the vegetables V are placed on the placement portion 11. FIG. [Figure 8] 10 is a diagram showing a state in which the connecting part 12 is connected to the stem B1 of the vegetable V. FIG. [Figure 9] 10 is a diagram showing a state in which a vegetable V is lifted to a predetermined height. [Figure 10] 10 is a diagram showing a state in which the position of the floral cut portion 13 in the horizontal direction has changed. FIG. [Figure 11] This is a diagram showing the state in which the outermost floral pattern B2 has been cut. [Figure 12] 10A and 10B are diagrams showing the state in which the position of the vegetable V and the orientation of the blade have changed. [Figure 13] 10 is a diagram showing the state of the vegetable V after multiple flower patterns B2 have been cut off. [Figure 14] FIG. 10 is a diagram showing the state in which the stem cutting part 14 comes into contact with the stem B1. [Figure 15] FIG. 10 is a diagram for explaining a method for removing the joint 12 from the remaining stem B1. [Figure 16] 3 is a flowchart showing the flow of processing in the vegetable cutting device 1. [Figure 17] 10A and 10B are diagrams for explaining recesses formed by recess forming portions. DETAILED DESCRIPTION OF THE INVENTION

[0025] [Outline of Vegetable Cutting Device 1] 1 to 4 are diagrams for explaining an overview of the vegetable cutting device 1. FIG. 1 is a front view of the vegetable cutting device 1. FIG. 2 is a right side view of the vegetable cutting device 1. FIG. 3 is a left side view of the vegetable cutting device 1. FIG. 4 is a perspective view of the vegetable cutting device 1. The vegetable cutting device 1 is a device for cutting a vegetable V. The vegetable V is a vegetable having a stem, which is the part to be cut, and multiple flower stalks extending from the stem.

[0026] FIG. 5 is a diagram illustrating the names of each part of a vegetable V. The vegetable V shown in FIG. 5 has a stem B1, a plurality of flower stalks B2 extending from the stem B1, and a plurality of flower buds B3 connected to each of the plurality of flower stalks B2. The flower stalks B2 extend in a direction different from the longitudinal direction of the stem B1. The vegetable V is, for example, broccoli, cauliflower, Romanesco, Brussels sprouts, etc. The vegetable cutting device 1 is suitable for cutting the stem B1 and flower stalks B2 of such a vegetable V and dividing the vegetable V into a plurality of parts including the flower buds B3.

[0027] As shown in Figures 1 to 4, the vegetable cutting device 1 includes a mounting unit 11, a connecting unit 12, a flower stalk cutting unit 13, a stem cutting unit 14, a vegetable moving mechanism 21, a first blade moving mechanism 22, a second blade moving mechanism 23, a first collecting unit 31, a second collecting unit 32, a photographing device 40, and a control device 50. The flower stalk cutting unit 13 and the stem cutting unit 14 constitute a cutting unit. The control device 50 controls the vegetable moving mechanism 21, the first blade moving mechanism 22, and the second blade moving mechanism 23.

[0028] The placing section 11 is a component on which the vegetable V is placed before the flower stalk cutting section 13 or the stem cutting section 14 begins cutting the portion to be cut. The placing section 11 is, for example, a container having a curved surface so that the vegetable V can stand upright when the flower buds of the vegetable V are contained therein. The vegetable V is placed on the placing section 11 by an operator or by a mechanism that moves the vegetable V while holding it. In the following description, the longitudinal direction of the stem B1 of the vegetable V when the flower buds are contained in the placing section 11 is referred to as the "stem direction." Furthermore, the direction perpendicular to the stem direction is referred to as the "horizontal direction."

[0029] The connecting portion 12 is a member that is connected to the stem B1 when the vegetable V is placed on the placing portion 11. The connecting portion 12 is, for example, a rod-shaped member with a pointed tip. The connecting portion 12 may have multiple rod-shaped members and may have a polygonal cross section so that the vegetable V can be rotated by the connecting portion 12 rotating when connected to the vegetable V. The connecting portion 12 may also be a member that is connected to the stem B1 by clamping the stem B1.

[0030] The floral pattern cutting unit 13 has a blade for cutting the floral pattern B2, which is one of the cut portions. The blade of the floral pattern cutting unit 13 is configured to face in a direction different from the longitudinal direction of the floral pattern B2, and multiple floral patterns B2 can be cut sequentially as the vegetable V rotates. As will be described in detail later, the floral pattern cutting unit 13 is configured so that the position and orientation of the blade change as the first blade moving mechanism 22 operates. As a result, even if the longitudinal directions of the floral pattern B2 on the outside of the vegetable V and the floral pattern B2 on the inside of the vegetable V are different, the floral pattern cutting unit 13 can cut the floral pattern B2 in a direction approximately perpendicular to the longitudinal direction of each floral pattern B2.

[0031] The stem cutting unit 14 has a blade for cutting the stem B1, which is another part to be cut. The stem cutting unit 14 is stronger than the flower stem cutting unit 13 so that it can cut the stem B1, which is thicker than the flower stem B2. The blade of the stem cutting unit 14 is configured to move in a direction perpendicular to the stem direction of the vegetable V by operating the second blade moving mechanism 23. The stem cutting unit 14 cuts the stem B1 after the flower stem cutting unit 13 has cut the multiple flower stems B2.

[0032] The vegetable-moving mechanism 21 changes the position of the vegetable V in the stem direction based on the control of the control device 50. Specifically, the vegetable-moving mechanism 21 is connected to the connecting part 12, and has an actuator for changing the position of the vegetable V by moving in the stem direction while the vegetable V is connected to the connecting part 12. The vegetable-moving mechanism 21 further has a rotation mechanism, and by rotating the connecting part 12, the vegetable V is rotated around the connecting part 12 as the rotation axis.

[0033] The first blade moving mechanism 22 moves the blade of the floral pattern cutting unit 13 under the control of the control device 50. Specifically, the first blade moving mechanism 22 has a mechanism for changing the position of the floral pattern cutting unit 13 in the horizontal direction and a mechanism for changing the direction (i.e., the angle relative to the horizontal direction) of the floral pattern cutting unit 13. The first blade moving mechanism 22 may further have a mechanism for changing the position of the floral pattern cutting unit 13 in the stem direction.

[0034] The second blade moving mechanism 23 moves the blade of the stem cutting unit 14 under the control of the control device 50. Specifically, the second blade moving mechanism 23 has a mechanism for changing the position of the stem cutting unit 14 in the horizontal direction. The second blade moving mechanism 23 may further have a mechanism for changing the position of the stem cutting unit 14 in the stem direction.

[0035] The first collection unit 31 is provided at a position where a plurality of flower buds B3 fall as a result of the flower stalk cutting unit 13 cutting the flower stalk B2. In the example shown in Fig. 4, the first collection unit 31 has an inclined surface that allows the fallen flower buds B3 to slide down toward the front.

[0036] The second collection unit 32 is located at a position where the flower buds B3 at the top of the vegetable V fall when the stem cutting unit 14 cuts the stem B1. Because the flower buds B3 at the top of the vegetable V are connected to the stem B1, they fall when the stem B1 is cut. In the example shown in Figure 4, the second collection unit 32 has an inclined surface that allows the fallen flower buds B3 to slide down to the right.

[0037] The flower buds B3 at the top of the vegetables V are different in shape and size from the flower buds B3 that fall when the flower stalk cutting unit 13 cuts the flower stalks B2, and so they must be collected separately. Therefore, the vegetable cutting device 1 is configured so that the position at which the flower stalk cutting unit 13 cuts the multiple flower stalks B2 and the position at which the stem cutting unit 14 cuts the stems B1 are different in the horizontal direction of the vegetable cutting device 1.

[0038] At the position where flower buds B3 fall as a result of the flower stalk cutting unit 13 cutting the flower stalk B2, there is no second collection unit 32 between the flower stalk cutting unit 13 and the first collection unit 31, and at the position where flower buds B3 fall as a result of the stem cutting unit 14 cutting the stem B1, there is no first collection unit 31 between the stem cutting unit 14 and the second collection unit 32. By configuring the first collection unit 31 and the second collection unit 32 in this way, it becomes possible to separately collect the multiple flower buds B3 that fall as a result of the flower stalk cutting unit 13 cutting the flower stalk B2 and the flower bud B3 at the top that falls as a result of the stem cutting unit 14 cutting the stem B1.

[0039] The photographing device 40 generates captured image data by photographing the vegetable V. The photographing device 40 is installed, for example, in a position where it can photograph the vegetable V from the side of the vegetable V. The photographing device 40 may be fixed to the vegetable cutting device 1 or installed in a position away from the vegetable cutting device 1. The photographing device 40 is installed in a position where the entire vegetable V is included in the imaging area when the vegetable V is connected to the connecting portion 12 and the flower bud B3 is raised to a position where it is not hidden by the mounting portion 11. The photographing device 40 transmits the captured image data to the control device 50. Note that the photographing device 40 is not shown in FIG. 1 to make other parts easier to see.

[0040] The control device 50 has a processor that controls each part of the vegetable cutting device 1. The control device 50 may be fixed to the vegetable cutting device 1, or may be a computer installed in a location remote from the vegetable cutting device 1.

[0041] [Configuration of control device 50] 6 is a diagram showing the configuration of the control device 50. The control device 50 has a storage unit 51 and a CPU 52. The CPU 52 has an identification unit 521, a setting reception unit 522, and a control unit 523.

[0042] The storage unit 51 has storage media such as a ROM (Read Only Memory) and a RAM (Random Access Memory). The storage unit 51 stores programs executed by the CPU 52. The storage unit 51 may temporarily store captured image data transmitted from the imaging device 40.

[0043] The CPU 52 is, for example, a central processing unit (CPU). The CPU 52 executes a program stored in the storage unit 51 to function as a specification unit 521, a setting acceptance unit 522, and a control unit 523.

[0044] The identification unit 521 identifies the shape of the vegetable V based on captured image data generated by the photographing device 40 photographing the vegetable from the side of the vegetable V. The identification unit 521 identifies a flower bud region, which is a region that includes the flower buds B3. The identification unit 521 identifies the shape of the vegetable V, for example, by identifying the contour line of the vegetable V in the captured image data and identifying the length of the sides of the smallest quadrilateral that includes all the flower buds B3.

[0045] As an example, the identification unit 521 identifies at least one of the length in the stem direction and the horizontal direction of the flower bud region including all flower buds B3. The identification unit 521 may identify the length of the stem B1. The identification unit 521 may identify the longitudinal direction of at least a portion of the flower pattern B2. The identification unit 521 may identify the thickness of the stem B1. The identification unit 521 notifies the control unit 523 of the identified shape of the vegetable V.

[0046] The setting reception unit 522 receives various settings used by the vegetable cutting device 1 when cutting the vegetables V. The setting reception unit 522 receives settings, for example, by receiving setting data input by an operator via an external computer. The setting reception unit 522 receives, for example, a setting for the length of the floral pattern B2 that remains connected to the flower bud B3 after the floral pattern cutting unit 13 cuts the floral pattern B2. The setting reception unit 522 may receive settings for at least one of the speed at which the position of the vegetables V is changed, the speed at which the vegetables V are rotated, the relationship between time and the position of the vegetables V, and the orientation of the blade of the floral pattern cutting unit 13. The setting reception unit 522 notifies the control unit 523 of the settings.

[0047] The control unit 523 calculates the trajectory of the blade so as to cut the vegetable V at a position determined based on the shape of the vegetable V notified by the identification unit 521, and controls at least one of the vegetable moving mechanism 21, the first blade moving mechanism 22, and the second blade moving mechanism 23 so that the blade moves along the calculated trajectory. The control unit 523 may control at least one of the vegetable moving mechanism 21, the first blade moving mechanism 22, and the second blade moving mechanism 23 based on the setting content notified by the setting reception unit 522.

[0048] Based on the shape of the vegetable identified by the identification unit 521, the control unit 523 controls the vegetable moving mechanism 21 at least during a period before or during which the floral stalk cutting unit 13 and the stem cutting unit 14 cut the portion to be cut, thereby changing the relative position between the blades of the floral stalk cutting unit 13 and the stem cutting unit 14 and the vegetable V. The control unit 523 controls the vegetable moving mechanism 21 to change the length of the vegetable moving mechanism 21, thereby changing the relative position in the stem direction between the blades and the vegetable V. As an example, the control unit 523 controls the vegetable moving mechanism 21 to raise the vegetable V until the position of the end of the flower bud region on the stem B1 side coincides with the position of the blade of the floral stalk cutting unit 13 in the stem direction.

[0049] The control unit 523 raises the vegetable V to a position where the floral pattern cutting unit 13 starts cutting the floral pattern B2, and then changes the relative position between the blade and the vegetable V in the horizontal direction. Thereafter, the control unit 523 gradually raises the vegetable V even after the floral pattern cutting unit 13 starts cutting the floral pattern B2, allowing the floral pattern cutting unit 13 to sequentially cut the floral patterns B2 at different positions in the stem direction. The control unit 523 controls, for example, the vegetable moving mechanism 21 to raise the vegetable V at a speed corresponding to the length of the flower bud region in the stem direction. After the floral pattern cutting unit 13 starts cutting the floral pattern B2, the control unit 523 may control the first blade moving mechanism 22 to move the blade of the floral pattern cutting unit 13 closer to the vegetable V in the horizontal direction.

[0050] The control unit 523 may rotate the vegetable V while connected to the connection unit 12 by controlling the vegetable moving mechanism 21, which functions as a rotation mechanism. The control unit 523 rotates the vegetable V, for example, by controlling the vegetable moving mechanism 21 while changing the relative position between the blade of the floral pattern cutting unit 13 and the vegetable V. When the vegetable V rotates while the blade of the floral pattern cutting unit 13 is in a position where it contacts the floral pattern B2, the floral pattern B2 is cut by the blade of the floral pattern cutting unit 13.

[0051] As the vegetable V rotates, the relative position of the blade of the floral pattern cutting unit 13 changes relative to the vegetable V, thereby changing the portion of the vegetable V that the blade can cut. For example, as the vegetable V rotates and rises, the blade approaches the vegetable V, allowing the floral pattern cutting unit 13 to cut the outer floral pattern B2 that is relatively far from the center of the stem B1 in the horizontal direction, and then cut the inner floral pattern B2 that is relatively close to the center of the stem B1. The control unit 523 may change the position of the blade based on the length of the floral pattern B2 that remains connected to the flower bud B3 after cutting the floral pattern B2, as received by the setting receiving unit 522.

[0052] The control unit 523 may control the first blade movement mechanism 22 to change the orientation of the blade of the floral pattern cutting unit 13 while changing the relative position between the blade of the floral pattern cutting unit 13 and the vegetable V. For example, after the floral pattern cutting unit 13 cuts a first floral pattern B2 of the multiple floral patterns with the blade oriented in a direction corresponding to the first floral pattern B2, the control unit 523 controls the first blade movement mechanism 22 to move the position of the blade of the floral pattern cutting unit 13 in the horizontal direction closer to the vegetable V. Furthermore, after cutting the first floral pattern B2, the control unit 523 controls the first blade movement mechanism 22 to move the orientation of the blade of the floral pattern cutting unit 13 closer to the vegetable V from the orientation corresponding to the first floral pattern B2 to the orientation corresponding to the second floral pattern B2. The second floral pattern B2 is a floral pattern closer to the stem B1 than the first floral pattern B2.

[0053] The direction corresponding to the first floral pattern B2 is, for example, a direction substantially perpendicular to the direction preset as the direction of the outermost floral pattern B2. The direction corresponding to the second floral pattern B2 is, for example, a direction substantially perpendicular to the direction preset as the direction of the innermost floral pattern B2. For example, in broccoli, the longitudinal direction of the floral pattern B2 approaches the stem direction as it becomes more inner. Therefore, the control unit 523 moves the blade of the floral pattern cutting unit 13 closer to the vegetable V over time and also moves the blade orientation closer to the horizontal direction. By operating in this manner, the control unit 523 can cause the floral pattern cutting unit 13 to cut each of the outer floral pattern B2 and the inner floral pattern B2 in a direction substantially perpendicular to the longitudinal direction of the floral pattern B2.

[0054] The control unit 523 may determine the orientation of the blade based on the shape of the vegetable V identified by the identification unit 521. For example, the control unit 523 may control the first blade moving mechanism 22 to orient the blade in a direction approximately perpendicular to the longitudinal direction of the plurality of floral patterns B2 estimated by referring to data associating the shape of the vegetable V with the longitudinal directions of the plurality of floral patterns B2. The control unit 523 may change the position and orientation of the blade along a trajectory determined by referring to data associated with a combination of the stem length and horizontal length of the flower bud region identified by the identification unit 521. The control unit 523 may input data indicating the shape of the vegetable V into a machine learning model that outputs the longitudinal directions of the plurality of floral patterns B2 in response to input of data indicating the shape of the vegetable V, and determine the orientation of the blade based on the longitudinal directions of the plurality of floral patterns B2 output from the machine learning model.

[0055] In this way, the control unit 523 can change the trajectory of the blade by controlling the vegetable moving mechanism 21 to change the position of the vegetable V in the stem direction, and by controlling the first blade moving mechanism 22 to change the position and orientation of the blade. The control unit 523 controls the first blade moving mechanism 22 so that the position and orientation of the floral pattern cutting unit 13 changes in a trajectory suitable for the shape of the vegetable V identified by the identification unit 521, thereby enabling the floral pattern cutting unit 13 to appropriately cut the floral pattern B2 regardless of the shape of the vegetable V.

[0056] [Vegetable cutting device 1 operation] The operation of the vegetable cutting device 1 will be specifically described below with reference to Figures 7 to 15. Figures 7 to 15 are diagrams showing the states of the main parts of the vegetable cutting device 1 from when one vegetable V is placed on the placement unit 11 until the vegetable cutting device 1 completes cutting of the vegetable V. F1, F2, and F3 in Figures 7 to 15 schematically indicate frames (for example, metal structural frames) to which the vegetable moving mechanism 21, the first blade moving mechanism 22, and the second blade moving mechanism 23 are fixed, respectively.

[0057] 7 is a diagram showing the state immediately after the vegetable V has been placed on the placement unit 11. The vegetable V may be placed on the placement unit 11 by an operator, or may be placed on the placement unit 11 by a mechanism that moves the vegetable V while holding it. In this state, after the vegetable V has been placed on the placement unit 11, the control unit 523 moves the joining unit 12 toward the placement unit 11 to join the joining unit 12 to the vegetable. Thereafter, the control unit 523 moves the joining unit 12 at a first speed in a direction away from the placement unit 11, thereby changing the relative position between the blade and the vegetable V.

[0058] Figure 8 is a diagram showing the state in which the connecting part 12 is connected to the stem B1 of the vegetable V. From the state in Figure 7, the vegetable-moving mechanism 21 descends or extends so that the connecting part 12 approaches the vegetable V, and the connecting part 12 is inserted into the stem B1, thereby connecting the connecting part 12 to the stem B1. From this state, the vegetable-moving mechanism 21 ascends or contracts, resulting in the state in Figure 9.

[0059] 9 is a diagram showing a state in which the vegetable V has been lifted to a predetermined height. The predetermined height is, for example, a height at which the position of the stem B1-side end of the flower bud B3 closest to the stem B1 in the stem direction and the position of the blade of the flower stalk cutting unit 13 have a predetermined relationship. Specifically, the predetermined height is a height at which the position of the stem B1-side end of the flower bud B3 closest to the stem B1 in the stem direction is located a predetermined distance closer to the support unit 11 than the position of the blade of the flower stalk cutting unit 13 in the stem direction. The predetermined value is determined by the control unit 523 based on the length of the flower stalk B2 set as the length to be left on the flower bud B3 side during cutting, and is, for example, 5 mm.

[0060] After the vegetable V is lifted to a predetermined height, the control unit 523 controls the first blade moving mechanism 22 to change the horizontal position of the floral pattern cutting unit 13. The control unit 523 moves the floral pattern cutting unit 13 until the blade of the floral pattern cutting unit 13 reaches a position near the outermost floral pattern B2. The control unit 523 determines the amount of change in the position of the floral pattern cutting unit 13 based on, for example, the thickness of the stem B1 identified by the identification unit 521. The control unit 523 may also determine the amount of change in the position of the floral pattern cutting unit 13 based on the horizontal length of the flower bud region identified by the identification unit 521.

[0061] 10 is a diagram showing a state where the position of the floral pattern cutting unit 13 has changed in the horizontal direction. In this state, the control unit 523 starts rotating the vegetable V by controlling the vegetable moving mechanism 21. As described above, when the blade of the floral pattern cutting unit 13 reaches the position of the outermost floral pattern B2 as shown in FIG. 10, the vegetable V rotates, causing the floral pattern B2 to come into contact with the blade of the floral pattern cutting unit 13, and the outermost floral pattern B2 is cut.

[0062] 11 is a diagram showing the state in which the outermost flower stalk B2 has been cut. A portion of the cut flower stalk B2 on the side of the flower bud B3 and the flower bud B3 that was connected to the flower stalk B2 fall to the first collection section 31. As the vegetable V rotates, multiple flower stalks B2 of the same height are cut.

[0063] After the floral pattern cutting unit 13 starts cutting the portion to be cut, the control unit 523 gradually raises the position of the vegetable V by moving the joining unit 12 in a direction away from the placing unit 11 at a second speed that is slower than the first speed when the vegetable V is moved from the placing unit 11 to the cutting start position. The control unit 523 raises the vegetable V while rotating it, so that the floral pattern cutting unit 13 can cut the uncut floral pattern B2 that is farther from the stem B1 than the cut floral pattern B2.

[0064] The control unit 523 determines the second speed based on, for example, the length of the vegetable V in the stem direction. Specifically, it is considered that the difference between the position of the outer floral pattern B2 and the position of the inner floral pattern B2 in the stem direction increases as the length of the vegetable V in the stem direction increases, so the control unit 523 increases the second speed as the length of the vegetable V in the stem direction increases. By operating the control unit 523 in this manner, the floral pattern cutting unit 13 can cut the multiple floral patterns B2 at appropriate positions regardless of the length of the vegetable V in the stem direction.

[0065] The control unit 523 also controls the first blade moving mechanism 22 to change the orientation of the blade of the floral pattern cutting unit 13. The floral pattern cutting unit 13 controls the first blade moving mechanism 22 so as to move the blade orientation closer to a direction perpendicular to the longitudinal direction of the floral pattern B2 to be cut next.

[0066] Figure 12 is a diagram showing the state in which the position of the vegetable V and the orientation of the blade have changed. The position of the vegetable V in the stem direction in Figure 12 is higher than the position of the vegetable V in the stem direction in Figure 11. The floral cutting portion 13 shown in dashed lines in Figure 12 indicates the orientation of the floral cutting portion 13 shown in Figure 11, and the floral cutting portion 13 shown in solid lines indicates the floral cutting portion 13 after the orientation has changed. As can be seen by comparing the floral cutting portion 13 shown in dashed lines with the solid floral cutting portion 13, the orientation of the floral cutting portion 13 is approaching a direction perpendicular to the longitudinal direction of the inner floral pattern B2.

[0067] Figure 13 shows the state of the vegetable V after multiple flower stalks B2 have been cut. In this state, flower buds B3 remain attached to the stem B1 of the vegetable V. Because the stem B1 to which the flower buds B3 are attached is thicker than the flower stalk B2, there is a possibility that the blade of the flower stalk cutting unit 13 will break if the flower stalk cutting unit 13 attempts to cut the stem B1. Therefore, after multiple flower stalks B2 have been cut, the control unit 523 controls the second blade moving mechanism 23 so that the stem cutting unit 14 approaches the vegetable V, thereby causing the stem cutting unit 14 to cut the stem B1.

[0068] The control unit 523 may, for example, bring the stem cutting unit 14 closer to the vegetable V in response to the passage of a predetermined time from the start of rotation of the vegetable V and the start of changes in the position and orientation of the blade of the floral pattern cutting unit 13. The predetermined time may, for example, be a time set as the time required to cut all of the floral patterns B2. The control unit 523 may bring the stem cutting unit 14 closer to the vegetable V in response to detecting, based on the captured image data, that all of the floral patterns B2 have been cut.

[0069] Figure 14 is a diagram showing the state in which the stem cutting unit 14 has come into contact with the stem B1. As the stem cutting unit 14 approaches the stem B1 in a direction perpendicular to the stem direction and then comes into contact with the stem B1 in this way, the stem B1 is cut at a position near the last remaining floret B3, and the floret B3 attached to the cut stem B1 falls into the second collection unit 32. The stem cutting unit 14 may cut the stem B1 by coming into contact with the stem B1 while the vegetable V is rotating.

[0070] FIG. 15 is a diagram illustrating a method for removing the connector 12 from the remaining stem B1. After the stem cutting unit 14 cuts the stem B1, the control unit 523 moves the connector 12 away from the stem while the stem B1 is fixed by the fixing unit 24, for example, to release the stem B1 from the connector 12. The control unit 523 may change the relative position between the vegetable V and the blade of the floral cutting unit 13 by a predetermined amount, and then move the connector away from the stem while the stem is fixed by the fixing unit 24, thereby releasing the stem B1 from the connector 12. The control unit 523 controls a mechanism (not shown) to switch the connector 24 between a state in which the stem B1 is fixed and a state in which the stem B1 is released.

[0071] [Processing flow in vegetable cutting device 1] 16 is a flowchart showing the flow of processing in the vegetable cutting device 1. The flowchart shown in FIG.

[0072] When the placement unit 11 is not placed on the vegetables V, the control unit 523 monitors the presence or absence of the vegetables V to be cut (S1). The control unit 523 monitors the presence or absence of the vegetables V, for example, by analyzing captured image data generated by the imaging device 40 by capturing an image of the area where the vegetables V are placed. The control unit 523 may monitor the presence or absence of the vegetables V based on a signal output by a weight sensor included in the placement unit 11.

[0073] When the control unit 523 determines that the vegetable V has been placed on the placement unit 11, it controls the vegetable moving mechanism 21 to lower the joining unit 12 and join the joining unit 12 to the vegetable V (S2). Thereafter, the control unit 523 controls the vegetable moving mechanism 21 to raise the vegetable V to a shooting position where the photographing device 40 can generate captured image data including the vegetable V (S3). When the vegetable V has been raised to the shooting position, the control unit 523 causes the photographing device 40 to photograph the vegetable V (S4).

[0074] The identification unit 521 identifies the shape of the vegetable V by analyzing the captured image data input from the photographing device 40, and the control unit 523 calculates the trajectory of the blade of the floral stem cutting unit 13 based on the identified shape of the vegetable V (S5). The control unit 523 may also calculate the speed at which the vegetable V is raised based on the identified shape of the vegetable V.

[0075] The control unit 523 controls the vegetable moving mechanism 21 to rotate the vegetable V while lifting it at a predetermined speed or a calculated speed (S6). The control unit 523 also controls the first blade moving mechanism 22 based on the calculated trajectory to change the position and orientation of the blade of the floral pattern cutting unit 13 (S7).

[0076] The control unit 523 monitors the time elapsed since the rotation of the vegetable V began, and when a predetermined time corresponding to the size or shape of the vegetable V has elapsed (YES in S8), it controls the second blade moving mechanism 23 to move the stem cutting unit 14, thereby cutting the stem B1 (S9). The control unit 523 repeats the processes of S6 and S7 until the predetermined time has elapsed (NO in S8). Thereafter, the control unit 523 raises the joining unit 12 while the stem B1 is fixed by the fixing unit 24, thereby pulling the joining unit 12 out of the vegetable V (S10).

[0077] The control unit 523 repeats the processes from S1 to S11 until an instruction to end the cutting work is received (NO in S11). When an instruction to end the cutting work is received (YES in S11), the control unit 523 ends the cutting work.

[0078] [First Modification] In the above description, the relative position between the floral pattern cutting unit 13 and the vegetable V is changed by the vegetable moving mechanism 21 rotating the vegetable V or changing the position of the vegetable V in the stem direction, but the method of changing the relative position between the floral pattern cutting unit 13 and the vegetable V is not limited to this. The floral pattern cutting unit 13 may be configured to move in a circular shape around the vegetable V and change its position in the stem direction. In this case, the control unit 523 controls the first blade moving mechanism 22 to move the floral pattern cutting unit 13 in a circular shape or change the position of the floral pattern cutting unit 13 in the stem direction, thereby changing the relative position between the floral pattern cutting unit 13 and the vegetable V.

[0079] [Second Modification] In the above description, the identification unit 521 identifies the shape of the vegetable V based on the captured image data, but the method by which the identification unit 521 identifies the shape of the vegetable V is not limited to this. The vegetable cutting device 1 may have a plurality of contact parts that contact the upper end, lower end, left end, and right end of the vegetable V, and the control unit 523 may identify the shape of the vegetable V based on the positions of the plurality of contact parts. For example, the control unit 523 may identify the horizontal length of the vegetable V based on the distance between the left contact part that contacts the left end of the vegetable V and the right contact part that contacts the right end of the vegetable V when they are in contact with the vegetable V.

[0080] [Third Modification] In the above description, an example has been shown in which the vegetable cutting device 1 simultaneously cuts one vegetable V, but the vegetable cutting device 1 may also be configured to cut multiple vegetables V in parallel. In a configuration in which the vegetable cutting device 1 has multiple joining units 12, multiple flower stem cutting units 13, and multiple stem cutting units 14 to cut multiple vegetables V, if the multiple vegetables V to be cut simultaneously have approximately the same shape, the multiple blades may change their positions and orientations in the same trajectory relative to the vegetables V to be cut. In this case, the control unit 523 synchronously operates the multiple joining units 12, multiple flower stem cutting units 13, and multiple stem cutting units 14, allowing the vegetable cutting device 1 to efficiently cut multiple vegetables V.

[0081] When there is variation in the shapes of the multiple vegetables V to be cut simultaneously, the control unit 523 operates the multiple joining units 12, the multiple flower stalk cutting units 13, and the multiple stem cutting units 14 asynchronously based on the shape of each vegetable V identified by the identification unit 521 based on the captured image data of each vegetable V. This allows the vegetable cutting device 1 to cut multiple vegetables V of different shapes in parallel.

[0082] [Fourth Modification] In the above description, as shown in Figure 14, the stem cutting unit 14 approaches the stem B1 in a direction perpendicular to the stem direction and then contacts the stem B1, cutting the stem B1 near the floret B3 (hereinafter referred to as the "top floret") at the top of the last remaining vegetable V. The top floret B3 is larger than the other florets B3 because it is attached to the stem B1. Therefore, a step of cutting the top floret B3 is required. Therefore, the vegetable cutting device 1 may further have a recess forming unit that forms multiple recesses (slits) in the stem direction across the position where the stem cutting unit 14 cuts the stem B1 before the stem cutting unit 14 cuts the stem B1.

[0083] Fig. 17 is a diagram for explaining the recess formed by the recess forming unit. The cross-sectional shape of the recess is arbitrary, but the cross-sectional shape of the recess in the example shown in Fig. 17(a) is a rectangle with the stem direction as the longitudinal direction. In this case, the recess forming unit has a blade with a rectangular cross section, and the recess can be formed by moving the blade using a mechanism for moving the blade.

[0084] The recess forming unit forms recesses at predetermined angles in synchronization with the operation of the vegetable moving mechanism 21 to rotate the stem B1 by a predetermined angle. In Figure 17, recesses C1, C2, and C3 are formed at 90-degree intervals around the stem B1. (The recess on the opposite side of recess C1 is not shown.) The number of recesses is not limited to four, and three recesses may be formed at 60-degree intervals.

[0085] After the multiple recesses are formed, the stem cutting unit 14 cuts the stem B1 at the positions of the multiple recesses as shown in Figure 17(b), causing the terminal floret to fall with multiple notches formed. This makes it easy to divide the terminal floret into multiple parts. The recesses formed by the recess forming unit may also be openings that penetrate the stem B1. When the recess forming unit forms an opening, forming the openings from two directions that are 90 degrees apart can achieve the same effect as when four recesses are formed.

[0086] The recess forming unit may form a recess in the terminal floret from below (the side farther from stem B1) instead of, or in addition to, forming a horizontal recess in stem B1. As an example, the recess forming unit forms a "+" shaped recess (notch) in the terminal floret. After such a recess is formed in the terminal floret, the stem cutting unit 14 cuts stem B1, dividing the terminal floret into four parts. The shape of the recess is not limited to a "+" shape and may be a shape according to the number of divisions of the terminal floret.

[0087] [Fifth Modification] The above description has shown an example in which control unit 523 determines the initial vertical position of the blade and the speed at which the vegetable is lifted based on the vertical length of the flower bud region, determines the left-right position of the blade based on the horizontal length of the flower bud region, and determines the position and orientation of the blade by referring to data corresponding to a combination of the vertical and horizontal lengths of the flower bud region. In order for control unit 523 to perform these processes, memory unit 51 may store trajectory data indicating the trajectory of the blade in association with the shape of the flower bud region or the shape of the vegetable V, and control unit 523 may control first blade moving mechanism 22 and second blade moving mechanism 23 so that the blade moves on a trajectory corresponding to the trajectory data corresponding to the shape of the flower bud region or the shape of the vegetable V identified by identification unit 521.

[0088] The control unit 523 may determine the curvature of the quadratic curve of the blade trajectory based on the shape of the flower bud region (e.g., the length in the stem direction, the length in the horizontal direction, or the aspect ratio of length to width), and control the first blade moving mechanism 22 and the second blade moving mechanism 23 so that the blade moves based on the determined curvature. The control unit 523 may determine the initial position and final position of the blade based on the length of the flower bud region in the stem direction, and may set the blade trajectory as a curve passing through the initial position and the final position. The curve is, for example, a part of an ellipse passing through the initial position and the final position.

[0089] [Effects of Vegetable Cutting Device 1] As described above, the vegetable cutting device 1 has the floral pattern cutting unit 13 with a blade for cutting the floral pattern B2. The control unit 523 changes the relative position between the blade and the vegetable V at least during a period before or during which the floral pattern cutting unit 13 cuts the floral pattern B2, based on the shape of the vegetable V identified by the identification unit 521. By configuring the vegetable cutting device 1 in this way, the vegetable V can be cut at a position appropriate for the vegetable V, even if the size of the vegetable V varies.

[0090] The present invention has been described above using embodiments, but the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes are possible within the scope of the gist of the present invention. For example, all or part of the device can be configured by functionally or physically distributing or integrating any unit. Furthermore, new embodiments resulting from any combination of multiple embodiments are also included in the embodiments of the present invention. The effects of the new embodiments resulting from the combination also have the effects of the original embodiments. [Explanation of symbols]

[0091] 1 Vegetable cutting device 11 Placement section 12 Joint 13 Floral pedicle cutting section 14 Stem cutting part 21 Vegetable moving mechanism 22 1st blade movement mechanism 23 2nd blade movement mechanism 24 Fixed part 31 First Collection Section 32 Second Recovery Section 40 Imaging equipment 50 Control device 51 Storage section 521 Specific part 522 Settings Reception Department 523 Control Unit

Claims

1. A identifying part that identifies the shape of a vegetable having a stem and a plurality of cut parts extending from the stem, A cutting section having a blade for cutting the portion to be cut, The joint to which the stem is connected, A control unit that, based on the shape of the vegetable identified by the specified unit, changes the relative position between the blade and the vegetable by moving the connecting part, which is attached to the stem, before or during the period in which the cutting unit cuts the part to be cut, A vegetable cutting device having the following features.

2. The control unit moves the coupling portion toward the vegetable to connect the coupling portion to the vegetable, and then moves the coupling portion toward a second direction opposite to the first direction to change the relative position between the blade and the vegetable. The vegetable cutting device according to claim 1.

3. The control unit changes the relative position of the blade and the vegetable in the longitudinal direction of the stem. The vegetable cutting device according to claim 1.

4. The aforementioned multiple cut portions are multiple flower stalks, and each of the multiple flower stalks has a flower bud attached to it. The specified part identifies the flower bud region, which is the region containing the flower bud. The vegetable cutting device according to claim 1.

5. The cutting section further includes a blade movement mechanism for moving the blade, The control unit controls the blade movement mechanism so that the direction of the blade changes while the relative position is being changed. The vegetable cutting device according to claim 1.

6. The aforementioned multiple cut portions are multiple flower stalks, The cutting portion has a flower stalk cutting portion for cutting the flower stalk, The control unit controls the blade movement mechanism so that, after the flower stalk cutting unit has cut the first flower stalk among the plurality of flower stalks, the direction of the blade of the flower stalk cutting unit is brought closer to the direction corresponding to the second flower stalk which is closer to the stem than the first flower stalk. The vegetable cutting device according to claim 5.

7. The system further includes a vegetable moving mechanism that changes the position of the vegetable in the longitudinal direction of the stem, The control unit changes the relative position by controlling the vegetable moving mechanism. The vegetable cutting device according to any one of claims 1 to 6.

8. The cutting section further includes a placement section on which the vegetables are placed before the cutting of the part to be cut begins, The control unit, after the vegetable is placed in the aforementioned placement area, moves the coupling portion toward the aforementioned placement area to connect the coupling portion to the vegetable, and then changes the relative position by moving the coupling portion away from the aforementioned placement area at a first velocity. The vegetable cutting device according to any one of claims 1 to 6.

9. The control unit moves the connecting portion away from the aforementioned mounting portion at a second speed slower than the first speed after the cutting portion has started cutting the portion to be cut. The vegetable cutting device according to claim 8.

10. The control unit moves the connecting portion at the second speed determined based on the length of the vegetable in the longitudinal direction of the stem. The vegetable cutting device according to claim 9.

11. It further has a fixing part for fixing the aforementioned stem, The control unit, after changing the relative position by a predetermined amount, moves the connecting portion away from the stem while the stem is fixed by the fixing portion, thereby releasing the stem from the connecting portion. The vegetable cutting device according to claim 8.

12. The imaging device further comprises a device that generates image data by photographing the aforementioned vegetables, The identifying unit identifies the shape of the vegetable based on the image data generated when the imaging device photographs the vegetable from the side of the vegetable. The vegetable cutting device according to claim 8.

13. The system further includes a rotating mechanism for rotating the aforementioned vegetables, The control unit rotates the vegetable while changing the relative position. The vegetable cutting device according to any one of claims 1 to 6.

14. The plurality of cut portions are a plurality of flower stalks, The cutting portion has a flower stalk cutting portion for cutting the flower stalk, The vegetable cutting device further includes a setting receiving unit that receives a setting for the length of the flower stalk that remains attached to the flower bud after the flower stalk cutting unit has cut it. The control unit changes the position of the blade based on the length received by the setting reception unit. The vegetable cutting device according to any one of claims 1 to 6.

15. A identifying part that identifies the shape of a vegetable having a stem and a plurality of cut parts extending from the stem, A cutting section having a blade for cutting the portion to be cut, A control unit that, based on the shape of the vegetable identified by the specified unit, changes the relative position between the blade and the vegetable before or during the cutting period when the cutting unit cuts the part to be cut, It has, The aforementioned cut portion is A pedicel cutting section for cutting the plurality of pedicels that extend in a direction different from the longitudinal direction of the stem, The aforementioned flower stalk cutting section includes a stem cutting section that cuts the stem after cutting the plurality of flower stalks, A vegetable cutting device having the following features.

16. In the horizontal direction of the vegetable cutting device, the position where the flower stalk cutting section cuts the multiple flower stalks is different from the position where the stem cutting section cuts the stem. The aforementioned vegetable cutting device is The flower stalk cutting section is provided at a position where the multiple flower buds fall off when the multiple flower stalks are cut, The stem cutting section is provided with a second collection section located at the position where the flower buds at the top of the vegetable fall off when the stem is cut, It further possesses, The vegetable cutting device according to claim 15.

17. A computer executes A step of identifying the shape of a vegetable having a stem and a plurality of cut parts extending from the stem, The steps include attaching the connecting part to the aforementioned stem, After attaching the connecting portion to the stem, the relative position between the blade and the vegetable is changed by moving the connecting portion, which has a blade for cutting the portion to be cut, before or during the period in which the cutting portion is cut, based on the shape of the specified vegetable. A method for cutting vegetables.

18. On the computer, A step of identifying the shape of a vegetable having a stem and a plurality of cut parts extending from the stem, The steps include attaching the connecting part to the aforementioned stem, After attaching the connecting portion to the stem, the relative position between the blade and the vegetable is changed by moving the connecting portion, which has a blade for cutting the portion to be cut, before or during the period in which the cutting portion is cut, based on the shape of the specified vegetable. A program to execute.

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