Fruit juice extraction device, vehicle equipped with fruit juice extraction device, and fruit juice extraction method

Abstract

This fruit juice extraction device comprises: a container that is capable of accommodating fruits on a fruit tree and comprises an actuator for extracting fruit juice from the fruits on the fruit tree; and a tank that is connected to the container and stores the extracted fruit juice.

Description

Juice extraction device, vehicle equipped with juice extraction device, and juice extraction method

[0001] The present disclosure relates to a juice extraction device, a vehicle equipped with the juice extraction device, and a juice extraction method.

[0002] As next-generation agriculture, research and development of smart agriculture that utilizes ICT (Information and Communication Technology) and IoT (Internet of Things) is underway. Research and development for the automation and unmanned operation of work vehicles such as tractors used in fields is also underway. For example, work vehicles that travel in automatic driving using a positioning system such as GNSS (Global Navigation Satellite System) capable of precise positioning have been put into practical use. In addition, automation of operations such as crop harvesting and grasping the state of crops is also being carried out.

[0003] Patent Document 1 discloses a device for harvesting fruits such as grapes. The device is mounted on a vehicle and includes a plurality of cylindrical wheeled wheels arranged along two parallel vertical axes and a vacuum tank. The plurality of wheels function as a press. A plurality of holes (perforations) are provided on the surface of each wheel. While the vehicle moves through a row of fruit trees such as grapes, two pairs of adjacent wheels squeeze the fruit, and the juice and pulp are collected in the vacuum tank through the holes in the wheels.

[0004] Patent Document 2 discloses an image capture system used for grasping the health state of crops or detecting pests and diseases. The image capture system is mounted on a vehicle such as a tractor. Patent Document 2 describes that detailed information on the surface of crop leaves or fruits can be obtained by photographing using polarized illumination. It also describes that the back side of the leaves of fruit trees is exposed using a blower and photographed not only the front side but also the back side of the leaves.

[0005] U.S. Patent No. 4,269,022 International Publication No. 2022 / 220697

[0006] This disclosure provides a novel fruit juice extraction apparatus and fruit juice extraction method that can extract fruit juice from specific fruits on fruit trees in orchards such as vineyards.

[0007] This disclosure provides solutions as described in the following items.

[0008] [Item 1] A fruit juice extraction apparatus comprising: a container capable of holding fruit on a fruit tree, the container equipped with an actuator for extracting juice from the fruit on the fruit tree; and a tank connected to the container for storing the extracted juice.

[0009] [Item 2] The fruit juice extraction apparatus according to Item 1, wherein the container has a structure capable of accommodating bunches of grapes.

[0010] [Item 3] The fruit juice extraction apparatus according to item 1 or 2, further comprising: a manipulator to which the container can be attached; and a control device for controlling the manipulator to change the position and orientation of the container.

[0011] [Item 4] The fruit juice extraction apparatus according to Item 3, further comprising a flow path for guiding the fruit juice from the container to the tank, the flow path provided along the manipulator, either inside or outside the manipulator.

[0012] [Item 5] The fruit juice extraction apparatus according to item 3 or 4, wherein the control device acquires three-dimensional position information of a fruit or cluster of fruit selected from a plurality of fruits on the fruit tree, and based on the three-dimensional position information, brings the container attached to the manipulator closer to the fruit or cluster of fruit, and places the fruit or cluster of fruit into the container.

[0013] [Item 6] A fruit juice extraction apparatus according to any one of items 3 to 5, further comprising a blower, wherein the control device generates an airflow in the blower and moves the leaves covering at least a portion of the fruit with the airflow, while accommodating the fruit or the cluster of fruit in the container.

[0014] [Item 7] The fruit juice extraction apparatus according to any one of items 1 to 6, wherein the actuator is equipped with a device for pressing or shredding the fruit.

[0015] [Item 8] The fruit juice extraction apparatus according to any one of items 1 to 7, wherein the actuator comprises an expansion-type pressing device that surrounds the fruit and compresses the fruit by increasing the internal pressure.

[0016] [Item 9] The fruit juice extraction apparatus according to any one of items 1 to 8, wherein the container further comprises a cutting device for cutting the fruit from the fruit tree.

[0017] [Item 10] The fruit juice extraction apparatus according to any one of items 1 to 9, wherein the tank is a refrigerated tank.

[0018] [Item 11] The fruit juice extraction apparatus according to any one of items 1 to 10, further comprising a vacuum pump for evacuating the inside of the tank, and / or a filling device for filling the inside of the tank with an inert gas.

[0019] [Item 12] The fruit juice extraction apparatus according to any one of items 1 to 11, further comprising a filter between the container and the tank.

[0020] [Item 13] The fruit juice extraction apparatus according to Item 12, wherein the container has a cylindrical structure with an opening at one end through which the fruit passes, and the filter is attached to the opposite side of the opening in the container.

[0021] [Item 14] The fruit juice extraction apparatus according to item 12 or 13, further comprising: a temporary storage section located between the filter and the tank for temporarily storing the fruit juice; and a measuring instrument for measuring the quality of the fruit juice in the temporary storage section.

[0022] [Item 15] The juice extraction apparatus according to Item 14, wherein the tank comprises a plurality of sub-tanks, and further comprises a supply device that supplies the juice to one of the plurality of sub-tanks selected according to the measured quality of the juice.

[0023] [Item 16] The fruit juice extraction apparatus according to item 14 or 15, further comprising a communication device for transmitting information regarding the quality of the fruit juice in the tank to an external computer.

[0024] [Item 17] The fruit juice extraction apparatus according to item 16, further comprising a sensor for measuring the amount of fruit juice in the tank, wherein the communication device transmits information regarding the amount and quality of the fruit juice in the tank to the external computer after the amount of fruit juice in the tank reaches a threshold.

[0025] [Item 18] A fruit juice extraction apparatus according to any one of items 1 to 17, further comprising a device for discharging any residue remaining in the container and / or cleaning the container after the fruit juice has been extracted.

[0026] [Item 19] The fruit juice extraction apparatus according to any one of items 1 to 18, further comprising a device for supplying the residue remaining in the container after the fruit juice has been extracted to the tank.

[0027] [Item 20] A vehicle comprising a fruit juice extraction device described in any one of items 1 to 19, and a running device.

[0028] [Item 21] A method for extracting fruit juice, comprising: acquiring three-dimensional positional information of multiple grape clusters on a fruit tree using sensors; bringing a container attached to a manipulator closer to the grape cluster based on the three-dimensional positional information of a grape cluster selected from the multiple grape clusters, and placing the grape cluster inside the container; mechanically processing the grape cluster inside the container to extract juice from the grape cluster; and transferring the juice from the container to a tank.

[0029] The comprehensive or specific embodiments of this disclosure may be implemented by apparatus, systems, methods, integrated circuits, computer programs, or computer-readable non-temporary storage media, or any combination thereof. Computer-readable storage media may include volatile storage media or non-volatile storage media. Apparatus may consist of multiple devices. If apparatus consists of two or more devices, these two or more devices may be located in a single device or in two or more separate devices.

[0030] According to embodiments of the present invention, juice can be extracted from specific fruits on a fruit tree (for example, fruits in good condition). Therefore, compared to conventional methods in which fruits are pressed some time after harvest, it is possible to suppress the deterioration of quality due to oxidation of the juice. Furthermore, compared to methods in which a large number of fruits are pressed at once to obtain juice (for example, the method in Patent Document 1), it is possible to suppress the deterioration of quality due to the inclusion of juice from poorly grown fruits.

[0031] Figure 1 is a schematic diagram showing the general configuration of a juice extraction device according to an exemplary embodiment of the present invention. Figure 2A is a diagram showing an example of a usage scenario for the juice extraction device. Figure 2B is a diagram showing an example of a system in which multiple juice extraction devices are mounted on a vehicle. Figure 2C is a diagram showing an example of a system equipped with multiple juice extraction devices and a sensing device. Figure 2D is a diagram showing an example of a system equipped with a juice extraction device, a sensing device, and a blower. Figure 2E is a diagram showing an example of a system equipped with a juice extraction device and a sensing device having a blower. Figure 3A is a schematic diagram for explaining an example of the configuration and operation of the juice extraction device. Figure 3B is a diagram showing an example in which a small blower is provided in the container of the juice extraction device. Figure 4A is a schematic side view showing how a bunch of grapes is contained in the container. Figure 4B is a schematic side view showing how a bunch of grapes is being pressed by a pressing device. Figure 5A is a schematic cross-sectional view corresponding to the state shown in Figure 4A. Figure 5B is a schematic cross-sectional view corresponding to the state shown in Figure 4B. Figure 6 is a diagram showing an example configuration of a fruit juice extraction apparatus equipped with multiple sub-tanks. Figure 7 is a schematic diagram showing another example of a tank. Figure 8 is a flowchart showing the flow of the fruit juice extraction method. Figure 9A is a diagram illustrating the operation of the cutter and holding device in the container of the harvesting apparatus. Figure 9B is a diagram illustrating the operation of the cutter and holding device in the container of the harvesting apparatus. Figure 9C is a diagram illustrating the operation of the cutter and holding device in the container of the harvesting apparatus. Figure 10A is a diagram showing an example configuration of a cutting device in the lid of the container. Figure 10B is a diagram showing an example configuration of a cutting device in the lid of the container. Figure 11 is a perspective view showing an example of a harvesting apparatus equipped with a storage device. Figure 12 is a diagram showing an example of the function of a storage device having multiple storage compartments. Figure 13A is a diagram showing an example of processing when obtaining juice from white or black grapes to produce white wine. Figure 13B shows an example of processing when obtaining juice from black grapes to produce red wine. Figure 14 is a diagram showing an example of a tank equipped with multiple sub-tanks. Figure 15 is a diagram showing another example of a storage device. Figure 16 is a flowchart showing the flow of the fruit harvesting method. Figure 17 is a schematic diagram showing an example of a data acquisition device.Figure 18 is a schematic diagram showing an example of a blower having multiple blowing units. Figure 19 is a schematic diagram showing another example of a blower having multiple blowing units. Figure 20A is a diagram showing an example configuration of a sensing device including three sensors. Figure 20B is a diagram showing an example configuration of a sensing device including two sensors. Figure 20C is a diagram showing an example configuration of a sensing device including a single sensor. Figure 21 is a diagram showing an example of a data acquisition device equipped with a light-emitting device including one or more light sources. Figure 22 is a diagram showing an example of a light-emitting device. Figure 23 is a schematic diagram showing an example of a data acquisition device equipped with a sensing device that incorporates a blower. Figure 24 is a schematic diagram showing an example of the configuration of a sensing device. Figure 25 is a flowchart showing the flow of a data acquisition method performed by the data acquisition device. Figure 26A is a diagram showing the blower in a state where it has stopped blowing air. Figure 26B is a diagram showing the blower blowing a jet of air onto a bunch of grapes. Figure 27A is a diagram showing the blower in a state where it has stopped blowing air. Figure 27B shows a blower blowing a diffuse airflow onto a bunch of grapes. Figure 28 is a flowchart illustrating a more detailed example of the operation of the data acquisition device. Figure 29 is a schematic diagram showing an example of a work device that can move along rails positioned above a fruit tree.

[0032] Embodiments of the present disclosure are described below. However, descriptions that are unnecessarily detailed may be omitted. For example, detailed descriptions of already well-known matters and redundant descriptions of substantially identical configurations may be omitted. This is to avoid the following description becoming unnecessarily verbose and to facilitate understanding for those skilled in the art. The inventors provide the accompanying drawings and the following description so that those skilled in the art can fully understand the present disclosure, and not to limit the subject matter described in the claims. In the following description, components having the same or similar function are denoted by the same reference numerals.

[0033] The following embodiments are illustrative, and the technology of this disclosure is not limited to these embodiments. For example, the size, material, shape, relative arrangement of the components shown in the following embodiments, as well as the steps and sequence of steps of the method, are merely illustrative and can be modified in various ways. It is also possible to combine one embodiment with another. The size and positional relationships of the components shown in each drawing may be exaggerated for the sake of clarity.

[0034] One example of a “control device” in this disclosure is a computing device comprising at least one processor and at least one memory for storing a computer program (code) that defines a control process performed by the processor. Another example of a “control device” is a computing device comprising a hardware accelerator such as an FPGA (Field-Programmable Gate Array), ASSP (Application Specific Standard Product), or ASIC (Application-Specific Integrated Circuit) configured to perform the control process.

[0035] In this disclosure, “processor” refers to hardware electronic circuits such as a CPU (Central Processing Unit), GPU (Graphics Processing Unit), DSP (Digital Signal Processor), ISP (Image Signal Processor), or NPU (Neural Network Processing Unit). “Memory” refers to hardware electronic circuits such as ROM (Read Only Memory) or RAM (Random Access Memory). Part of the memory may be a storage medium connected to the processor by wiring or a network. These hardware electronic circuits may be implemented by one or more integrated circuits (ICs) or large-scale integrated circuits (LSIs). Each functional unit or block and associated components within the electronic circuit may be manufactured individually as separate integrated circuit chips, or some or all of these functional units or blocks may be combined and manufactured as a single integrated circuit chip.

[0036] A program defining the operation of the processor is designed to cause the processor to perform one or more functions, operations, steps, or processes in embodiments of the present invention.

[0037] The following describes embodiments of a fruit juice extraction device for extracting juice from fruit on a fruit tree, a harvesting device for harvesting fruit on a fruit tree, and a data acquisition device for obtaining data for estimating the quality of fruit on a fruit tree. In the following description, the fruit targeted for juice extraction, harvesting, or quality estimation will be mainly bunches of grapes (hereinafter also referred to as "grape bunches"). However, the fruit is not limited to grapes and may be other fruits (for example, berries such as strawberries or citrus fruits such as oranges).

[0038] [1. Fruit Juice Extraction Device] An exemplary embodiment of the present invention provides a fruit juice extraction device that extracts juice from fruits on fruit trees, such as grapes, by pressing or shredding each fruit or each bunch of fruit. The fruit juice extraction device can be mounted on a vehicle that travels through an orchard, such as a vineyard. The vehicle can be configured or programmed to travel automatically along rows of fruit trees. Alternatively, the fruit juice extraction device may be used while being held in the user's hand. The fruit juice extraction device may also be permanently installed in the orchard. As will be described later, the fruit juice extraction device may be suspended from a structure such as a frame or rail installed above rows of fruit trees.

[0039] A fruit juice extraction device may be configured to extract juice from specific fruits on a fruit tree (e.g., fruits judged to be in good condition) by applying mechanical processing such as pressing or shredding. The fruit juice extraction device can extract juice from fruits still on the fruit tree before they are cut down. The extracted juice is stored in a tank. The tank may be, for example, a refrigerated tank or a vacuum tank.

[0040] The above configuration makes it possible to suppress the deterioration of quality due to oxidation of the fruit juice compared to conventional methods in which the juice is extracted some time after harvesting. Furthermore, unlike methods that press many fruits at once, such as those disclosed in Patent Document 1, it is possible to select and press specific fruits (or bunches). This makes it possible to suppress the deterioration of the overall quality of the fruit juice due to the inclusion of juice from poorly grown fruits. The fruit juice extraction apparatus according to this embodiment can be used, for example, to obtain fruit juice for the production of high-quality wine.

[0041] Figure 1 is a schematic diagram showing the general configuration of a fruit juice extraction device 200 according to an exemplary embodiment of the present invention. Figure 2A is a diagram showing an example of a usage scenario for the fruit juice extraction device 200. As shown in Figures 1 and 2A, the fruit juice extraction device 200 can be mounted on a vehicle 100. The vehicle 100 may be, for example, a vehicle equipped with an autonomous driving function (also referred to as a "rover").

[0042] The juice extraction device 200 shown in FIGS. 1 and 2A includes a container 210 and a tank 220 connected to the container 210. The container 210 has a structure capable of accommodating fruits on a fruit tree. The container 210 can be configured to accommodate fruits (e.g., grapes, berries, oranges, or other fruits) or clusters of fruits (e.g., clusters of grapes or berries). In the example shown in FIG. 2A, the container 210 has a size and shape capable of accommodating a cluster of grapes.

[0043] The container 210 may include an actuator for extracting juice from fruits on a fruit tree. As will be described later, the actuator may include a device for squeezing or shredding the fruits. By the action of the actuator, mechanical processes such as squeezing or shredding are applied to the fruits on the fruit tree, and juice is extracted. The extracted juice is sent to the tank 220.

[0044] The tank 220 is a device for storing the extracted juice. In the example of FIG. 1, the tank 220 is provided inside the vehicle 100, but the tank 220 may be provided outside the vehicle 100. For example, a wheeled tank towed by the vehicle 100 may be used. The tank 220 may be a refrigerated tank equipped with a refrigerator. By using a refrigerated tank, the temperature of the juice can be kept low, and a decrease in the quality of the juice can be suppressed.

[0045] The fruit juice extraction apparatus 200 may further include a vacuum pump for evacuating (i.e., reducing the pressure) the inside of the tank 220, and / or a filling device for filling the inside of the tank 220 with an inert gas. The vacuum pump may be configured to evacuate not only the tank 220 but also the inside of the container 210 containing the fruit. Similarly, the filling device may be configured to fill not only the tank 220 but also the inside of the container 210 containing the fruit with an inert gas. Here, “vacuum” means a space filled with a gas at a pressure lower than normal atmospheric pressure (i.e., a low molecular density), and does not mean a perfect vacuum. The vacuum pump may be configured to reduce the pressure inside the tank 220 or the container 210 to a pressure lower than 100 kPa, for example. In the following description, an apparatus including a vacuum pump may be referred to as a “pressure reducing device”. “Inert gas” is a gas that is less reactive with fruit juice than oxygen. The inert gas may include, for example, nitrogen. By using a vacuum pump or filling device, the oxygen density in the tank 220 or container 210 is reduced, thereby suppressing oxidation of the fruit juice or harvested product.

[0046] The fruit juice extraction apparatus 200 shown in Figure 1 further comprises a manipulator 230 to which a container 210 can be attached, and a control device 250 for controlling the manipulator 230. In the example in Figure 1, the container 210 is attached to the tip of the manipulator 230 as an end effector. The container 210 can be attached to the manipulator 230, for example, by mechanical or magnetic connection. The manipulator 230 can change the position and orientation of the container 210 under the control of the control device 250.

[0047] The fruit juice extraction apparatus 200 includes a flow path 240 between the container 210 and the tank 220 that guides the fruit juice from the container 210 to the tank 220. The flow path 240 may be made up of, for example, a flexible or pliable tube or pipe. The flow path 240 may be arranged along the manipulator 230. The flow path 240 may be located inside the manipulator 230 or outside the manipulator 230.

[0048] The container 210 has a cylindrical structure having an opening 212 at one end through which fruits can pass. A filter 214 is provided between the container 210 and the tank 220. In the example of FIG. 1, the filter 214 is attached to the opposite side (i.e., the bottom) of the opening 212 in the container 210. The filter 214 is provided to prevent parts other than the fruit juice in the fruit (e.g., peel, seeds, axis, etc.) from flowing into the flow path 240.

[0049] The manipulator 230 has a mechanical structure capable of changing the position and orientation of the container 210. The manipulator 230 can be, for example, a robot arm having a plurality of joints. The manipulator 230 can be provided with an arm mechanism such as a vertically articulated robot or a snake-type robot having, for example, six or more rotational axes. The manipulator 230 can change the position and orientation of the end effector (the container 210 in the example of FIG. 1) within a predetermined movable range by a plurality of rotational axes. The manipulator 230 may include an extendable arm. The manipulator 230 may include a plurality of electric motors. Each electric motor may be configured to rotate the joints of the manipulator 230 or extend and contract the arm.

[0050] The control device 250 is electrically connected to a plurality of electric motors in the manipulator 230 via wiring. The control device 250 controls the operation of the manipulator 230 by sending control signals to each electric motor. The control device 250 may be configured to control the operation of the manipulator 230 according to a predetermined plan or based on commands from other control devices (e.g., control devices in the vehicle 100). For example, the control device 250 may identify the location of a fruit or cluster from which juice should be extracted from among a plurality of fruits on a fruit tree, and control the manipulator 230 to bring the container 210 closer to that location and to contain the fruit or cluster in the container 210. In one example, the control device 250 may acquire three-dimensional position information of a fruit or cluster selected from a plurality of fruits on a fruit tree, and based on this three-dimensional position information, bring the container 210 attached to the manipulator 230 closer to the fruit or cluster and contain the fruit or cluster in the container 210. The three-dimensional position information may be acquired based on sensor data output from one or more sensors, such as a camera or a LiDAR sensor. The selection of which fruits or fruit clusters will be used for juice extraction may be determined, for example, based on the results of prior quality measurements. Prior quality measurements may be performed by obtaining estimates of quality-indicating quantities such as sugar content or acidity of the fruit using sensors such as near-infrared spectrometers. Fruits or fruit clusters estimated to be of high quality or maturity based on these prior quality measurements may be selected for juice extraction.

[0051] In the example shown in Figure 1, the control device 250 is located below the manipulator 230. The control device 250 may be located in a different location. For example, a computer such as an electronic control unit (ECU) inside the vehicle 100, or an external computer installed away from the vehicle 100, may control the operation of the juice extraction device 200 via wired or wireless communication. Alternatively, a collection of multiple computers may function as the control device 250. The control device 250 may comprise one or more processors (e.g., CPUs) and one or more memories. The processor controls the operation of the juice extraction device 200 by executing computer programs stored in the memories.

[0052] Figure 2A schematically shows a bunch of grapes on a fruit tree contained within a container 210. The control device 250 may be configured to drive an actuator provided in the container 210 to compress or shred the fruit juice after the fruit or bunch has been placed inside the container 210. The actuator may include a compression device for squeezing the fruit or a shredding device for shredding the fruit. For example, the actuator may include an expansion-type compression device that surrounds the fruit and compresses it by increasing the internal pressure. Alternatively, the actuator may include a shredding device such as a rotary cutter to extract the juice by shredding or grating the fruit.

[0053] The extracted juice is stored in the tank 220 through the flow path 240. When the juice extraction is complete, the control device 250 may perform an operation to remove any residue (i.e., pomace) remaining in the container 210. The residue may be removed, for example, by shaking the container 210 with its opening 212 facing downwards to shake the residue onto the ground. Alternatively, the container 210 containing the residue may be moved to a predetermined collection position, and another cleaned container 210 may be attached to the tip of the manipulator 230.

[0054] The control device 250 may repeat the above operations for each fruit or bunch from which juice is to be extracted. By performing such operations, juice can be automatically extracted from multiple fruits or bunches.

[0055] As will be described later, the fruit juice extraction device 200 may include a cutting device for cutting the fruit from the fruit tree while the fruit is contained in the container 210. Such a cutting device may be provided, for example, on the lid of the container 210. The fruit may also be harvested using the cutting device without extracting the juice. In that case, the fruit juice extraction device 200 can be called a "harvesting device".

[0056] In the examples shown in Figures 1 and 2A, one fruit juice extraction device 200 is provided on the vehicle 100, but multiple fruit juice extraction devices 200 may be provided. In addition, a sensing device may be used separately from the fruit juice extraction device 200 to recognize the fruit, determine its three-dimensional position, and / or estimate the quality of the fruit. A blower may also be used to move leaves near the fruit that may interfere with fruit juice extraction, harvesting, or sensing. Several examples of such configurations are described below.

[0057] Figure 2B shows an example of a system in which multiple fruit juice extraction devices 200 are mounted on a vehicle 100. Figure 2C shows an example of a system equipped with a sensing device 300 that includes at least one sensor for fruit recognition, acquisition of three-dimensional position information, and quality measurement. Figures 2D and 2E show an example of a system equipped with a sensing device 300 and a blower 400.

[0058] As shown in Figure 2B, the juice extraction or harvesting operations may be performed simultaneously by multiple juice extraction devices 200. This configuration can improve work efficiency.

[0059] As shown in Figure 2C, the juice extraction device 200 (or harvesting device) and the sensing device 300 may be used in combination. The sensing device 300 may include one or more sensors, such as a camera, a distance sensor, or a near-infrared spectrometer. These sensors may be housed in a single housing and mounted on a single manipulator 330, as shown in Figure 2C. Alternatively, these sensors may be distributed at multiple locations. For example, multiple sensors, such as a camera, a distance sensor, and a near-infrared spectrometer, may be mounted on separate manipulators, and their positions and orientations may be controlled independently. In the example in Figure 2C, the sensing device 300 recognizes fruit (e.g., a bunch of grapes), acquires three-dimensional positional information of the fruit, and obtains a predicted value of the fruit's quality (e.g., sugar content). Based on the information acquired by the sensing device 300, the juice extraction device 200 may be configured to collect fruit that is judged to be in good condition into a container 210 and extract the juice. The sensing device 300 may be attached to a manipulator 230 that is common to the juice extraction device 200 (or harvesting device).

[0060] As shown in Figure 2D, the system may further include a blower 400. The blower 400 may include a fan, blower, or compressor. The blower 400 is used to generate an airflow and move the leaves near the fruit with the airflow. This prevents leaves from entering the container 210 of the fruit juice extraction device 200 or from obstructing the sensing of the fruit by the sensing device 300.

[0061] In the example shown in Figure 2D, the blower 400 is attached to a manipulator 430 that is independent of the juice extraction device 200 and the sensing device 300. However, the blower 400 may be attached to a manipulator shared with either the juice extraction device 200 or the sensing device 300. For example, as shown in Figure 2E, the blower 400 may be attached to the manipulator 230 of the juice extraction device 200. Alternatively, the blower 400 may be attached to a manipulator 330 shared with the sensing device 300.

[0062] Next, an example of the configuration and operation of the fruit juice extraction device 200 will be described in more detail.

[0063] Figure 3A is a schematic diagram illustrating a more detailed configuration and operation example of the fruit juice extraction device 200. In the example shown in Figure 3A, the container 210 is provided with a lid 211 having an opening 212. The opening 212 is large enough for a bunch of grapes 80 to pass through. As will be described later, the lid 211 may be equipped with a cutting device for cutting the fruit (in this example, the bunch of grapes 80) from the fruit tree. The cutting device may include, for example, a movable cutter provided on the edge of the opening 212. The cutting device may be configured to cut the fruit from the fruit tree by closing the opening 212. This cutting operation may be controlled by a control device 250. The fruit juice extraction device 200 may press the fruit without cutting it from the fruit tree, or it may press the fruit after cutting it from the fruit tree. Alternatively, the fruit juice extraction device 200 may cut the fruit from the fruit tree while holding it, without pressing it, and then transport the cut fruit to another location. In that case, the extraction of the fruit juice may be performed by another device. Such a fruit juice extraction device 200 can be called a "harvesting device" because it harvests fruit without extracting juice.

[0064] The control device 250 adjusts the position and orientation of the container 210 by controlling each motor of the manipulator 230 based on the three-dimensional position information of the grape bunch 80 acquired in advance, and inserts the container 210 from below the grape bunch 80. When the grape bunch 80 is placed in the container 210, the control device 250 may lift the leaves by generating an upward airflow from inside or to the side of the container 210. The airflow can be generated by a blower. The blower may be provided, for example, inside or to the side of the container 210. As shown in Figure 3A, one or more air valves 211a may be provided on the lid 211a of the container 210. The combination of the air valves 211a and the inflatable compression device 213, which will be described later, can function as a blower. In this example, a portion of the air sent into the airbag is sent upward to the container 210 via the air valves 211a. This makes it possible to generate an upward airflow from inside the container 210. Alternatively, as shown in Figure 3B, a small blower 211b (e.g., a fan) may be provided in or near the container 211. The blower may be attached to the manipulator 230 or other manipulator 430, as shown in the blower 400 in Figure 2D or Figure 2E. In the example in Figure 2D, the blower 400 is movable independently of the container 210. In the example in Figure 2E, the blower 400 moves together with the container 210. By using a blower, it is possible to prevent leaves from entering the container 210.

[0065] The fruit juice extraction apparatus 200 shown in Figure 3A includes an inflatable press 213. The inflatable press 213 may include an airbag that inflates by an increase in internal air pressure, such as a medical cuff. The airbag may be positioned to surround the fruit contained in the container 210. The press 213 may also have a structure that inflates by an increase in water pressure instead of air pressure.

[0066] Figures 4A to 5B schematically illustrate the operation of the grape cluster 80 being pressed by the pressing device 213. Figure 4A is a schematic side view showing the grape cluster 80 being placed inside the container 210. Figure 4B is a schematic side view showing the grape cluster 80 being pressed by the pressing device 213. Figure 5A is a schematic cross-sectional view corresponding to the state shown in Figure 4A. Figure 5B is a schematic cross-sectional view corresponding to the state shown in Figure 4B.

[0067] In this example, the juice extraction device 200 includes an air duct 218 and an air supply unit 219. Under the control of the control device 250, the air supply unit 219 supplies air to the airbag of the pressing device 213 via the air duct 218. The two arrows from the air duct 218 in Figure 4B schematically show the airflow. The supply of air inflates the airbag, compresses the grape bunch 80, and extracts the juice. Note that other gases or liquids such as water may be supplied instead of air.

[0068] Thus, the pressing device 213 may be configured to extract fruit juice by increasing the pressure (e.g., air pressure or water pressure) inside a bag-shaped member such as an airbag while surrounding the fruit (or fruit cluster). Alternatively, the pressing device 213 may have a structure that compresses the fruit using other members, such as a pair of parallel plates, instead of a bag-shaped member. Or, if the container 210 has a structure that allows it to be deformed, the fruit inside may be compressed by creating a vacuum in the container 210 and crushing it. The operation of the pressing device 213 is controlled by the control device 250.

[0069] Instead of the pressing device 213, a shredding device including a mechanism such as a rotary cutter or grater may be provided. The shredding device may be configured to extract juice by shredding or grating the fruit.

[0070] The fruit juice extraction apparatus 200 shown in Figure 3A includes a temporary storage section 215 for temporarily storing fruit juice between the filter 214 and the tank 220. The temporary storage section 215 may be equipped with a quality measuring instrument 216 for measuring the quality of the fruit juice. The quality measuring instrument 216 may be a sensor that measures quantities indicating the quality or state of the fruit juice in the temporary storage section 215 (e.g., sugar content, acidity, pH, anthocyanin content, and / or temperature). The measured values ​​from the measuring instrument 216 are sent to a control device 250. The control device 250 may be configured to record the measured values ​​in a storage device, associating them with an identifier (ID) of the fruit or fruit cluster from which the measured values ​​were obtained.

[0071] Below the temporary storage section 215 shown in Figure 3A, a supply device 217 is provided to supply fruit juice to the flow path 240. The supply device 217 may be configured to switch between an open state, which allows fruit juice to flow into the flow path 240, and a closed state, which prevents fruit juice from flowing into the flow path 240 and allows it to accumulate in the temporary storage section 215. The operation of the supply device 217 is controlled by a control device 250. The supply device 217 may be controlled to keep the on-off valve closed until, for example, the juice of one bunch of fruit is stored in the temporary storage section 215, and then open the on-off valve after the juice of one bunch has been stored in the temporary storage section 215 and its quality has been measured.

[0072] A depressurizing device 222 may be provided between the flow path 240 and the tank 220. The depressurizing device 222 may include, for example, a vacuum pump. The depressurizing device 222 creates a vacuum in the space inside the tank 220 by drawing in air from inside the tank 220 and discharging it to the outside. This suppresses oxidation of the fruit juice inside the tank 220. The depressurizing device 222 may also be configured to draw in air from the flow path 240, the temporary storage section 215, and the container 210 and discharge it to the outside. This draws in the fruit juice in the container 210, the temporary storage section 215, and the flow path 240, promoting the inflow of fruit juice into the tank 220. In Figure 3A, the airflow is illustrated by arrows.

[0073] In the example shown in Figure 3A, when the grape bunch 80 enters the container 210, the control device 250 controls the depressurization device 222 to suck air out of the container 210, and in this state inflates the airbag of the pressing device 213 to fix the grape bunch 80 in place with the pressing device 213. The airbag deforms to match the shape of the grape bunch and applies even pressure to extract the juice. The control device 250 can adjust the amount of juice extracted by controlling the pressure of the airbag. For example, the control device 250 may adjust the pressure according to the results of quality measurement of the extracted juice (e.g., sugar content, acidity, pH, etc.). Alternatively, the control device 250 may adjust the pressure to a value set in advance by the user. By keeping the pressure relatively low, it is also possible to hold the grape bunch 80 without pressing it. As will be described later, it is also possible to cut the grape bunch 80 from the fruit tree by driving a cutting device that may be provided on the lid 211 while the grape bunch 80 is held in place.

[0074] As shown in Figure 3A, the juice extraction device 200 may further include a sensor 224 for measuring the amount of juice in the tank 220. The juice extraction device 200 may further include a communication device 260 for transmitting information regarding the amount and / or quality of the juice in the tank 220 to an external computer. The information regarding the quality of the juice may be, for example, a measured value such as sugar content measured by a measuring instrument 216. Instead of the measuring instrument 216 in the temporary storage unit 215, the sensor 224 in the tank 220 may measure the quality of the juice. The communication device 260 may transmit information regarding the amount and / or quality of the juice in the tank 220 to an external computer after the amount of juice in the tank 220 measured by the sensor 224 has reached a threshold. The external computer may be, for example, a server computer that manages the quality of grapes in a vineyard (e.g., sugar content, acidity, pH, or anthocyanin content, etc.) on a bunch-by-bunch basis. The computer may perform processes such as comparing the predicted quality value, measured in advance, with the actual value for each bunch of grapes, and determining the future harvest plan based on the results of that comparison.

[0075] The tank 220 is, for example, a refrigerated tank and may be equipped with a refrigeration unit. The tank 220 may be configured to suppress the deterioration of the quality of the fruit juice by maintaining the internal temperature at a relatively low temperature suitable for storing the fruit juice.

[0076] In the example shown in Figure 3A, a single tank 220 is shown, but multiple tanks may be provided. For example, the tank 220 may include multiple sub-tanks, and the juice may be supplied to one sub-tank selected according to the quality of the juice.

[0077] Figure 6 shows an example configuration of a fruit juice extraction apparatus 200 having multiple sub-tanks. In the example shown in Figure 6, the tank 220 includes multiple sub-tanks 220A, 220B, and 220C. Sub-tanks 220A, 220B, and 220C are connected to a temporary storage unit 215 via flow paths 240A, 240B, and 240C (e.g., tubes), respectively. In this example, the fruit juice extraction apparatus 200 includes a supply device 217 that distributes the fruit juice in the temporary storage unit 215 to the multiple sub-tanks 220A, 220B, and 220C according to its quality. The supply device 217 supplies the fruit juice to one of the multiple sub-tanks 220A, 220B, and 220C selected according to the quality of the fruit juice measured by the measuring instrument 216. The supply device 217 includes a plurality of on-off valves 217A, 217B, and 217C, which can be opened and closed to distribute the fruit juice to a plurality of sub-tanks 220A, 220B, and 220C. The on-off valves 217A, 217B, and 217C are controlled by the control device 250.

[0078] In the example shown in Figure 6, the juice is distributed to three sub-tanks 220A, 220B, and 220C according to the measured quality of the juice. For example, if the measured value representing the quality of the juice (e.g., sugar content) measured by the measuring instrument 216 is higher than the first threshold, the control device 250 opens only the first on-off valve 217A to allow the juice in the temporary storage section 215 to flow into the first sub-tank 220A. If the measured value is below the first threshold and above the second threshold, the control device 250 opens only the second on-off valve 217B to allow the juice in the temporary storage section 215 to flow into the second sub-tank 220B. If the measured value is lower than the second threshold, the control device 250 opens only the third on-off valve 217C to allow the juice in the temporary storage section 215 to flow into the third sub-tank 220C. Through this operation, the juice can be divided and stored in multiple sub-tanks according to its quality.

[0079] In the example shown in Figure 6, the classification according to the quality of the fruit juice is divided into three stages, but the classification may also be divided into two stages (e.g., high / low) or four or more stages. Furthermore, the method of dividing the fruit juice into multiple sub-tanks is not limited to the method shown in Figure 6. For example, a mechanism may be provided to switch the tanks storing the fruit juice by moving (e.g., rotating) the multiple sub-tanks.

[0080] Figure 7 is a schematic diagram showing another example of the tank 220. In the example shown in Figure 7, the tank 220 has a cylindrical structure and includes two sub-tanks 220A and 220B. The juice extraction device 200 has one flow path 240. The tank 220 is configured to be rotatable by an electric motor 258. By rotating the tank 220, it is possible to switch between a state where sub-tank 220A is located below the flow path 240 and a state where sub-tank 220B is located below the flow path 240. In this example, the control device 250 controls the rotation of the tank 220 to switch the sub-tanks that store the juice according to the quality (e.g., sugar content) measured by the measuring instrument 216. This configuration also allows for the separate storage of juice according to quality. In the example in Figure 7, the tank 220 is not limited to two; it may be divided into three or more sub-tanks.

[0081] The juice stored in tank 220 can be transported to a winery, for example, and used as a raw material for wine. The juice can be used, for example, in the production of white wine. White wine is mainly made from white grapes and produced by fermenting only the juice. Red wine, on the other hand, is made from black grapes and produced by fermenting the juice together with the skins and seeds. The juice extraction apparatus 200 of this embodiment may be used not only to obtain juice for white wine, but also for red wine. In that case, the juice extraction apparatus 200 may further include a device for supplying residues such as skins and seeds remaining in container 210 to tank 220 after the juice has been extracted. The operation of supplying the residues to tank 220 may be performed by a person. This makes it possible to produce red wine by fermenting the juice together with residues such as skins.

[0082] Next, an example of a method for extracting juice from fruit on a fruit tree using a fruit juice extraction device 200 will be described.

[0083] Figure 8 is a flowchart showing the flow of a fruit juice extraction method according to an exemplary embodiment. In this method, the following operations are performed.

[0084] In step S11, three-dimensional positional information of multiple grape clusters on the fruit tree is acquired by one or more sensors. The sensors may include, for example, the sensing device 300 shown in Figures 2C to 2E. The sensing device 300 may include, for example, a visible light camera, an infrared camera, a stereo camera, a LiDAR sensor, or any combination thereof. The control device 250 can determine the three-dimensional positions of the multiple grape clusters based on the data output from these sensors.

[0085] In step S12, the control device 250 brings the container 210 attached to the manipulator 230 closer to the grape bunch selected from the multiple grape bunches, based on the three-dimensional position information of the grape bunch, and places the grape bunch inside the container 210. Which grape bunch is selected can be predetermined. For example, grape bunches with relatively high predicted values ​​such as sugar content, measured by a quality-measuring sensor (e.g., a near-infrared spectrometer) in the sensing device 300, may be preferentially selected.

[0086] In step S13, the control device 250 mechanically processes the grape bunches in the container 210 to extract juice from the grape bunches. The mechanical processing may be, for example, the aforementioned pressing or shredding. The control device 250 can extract juice from the grape bunches by, for example, controlling a pressing device or a shredding device.

[0087] In step S14, the control device 250 transfers the fruit juice from the container 210 to the tank 220. For example, the control device 250 opens the on / off valve of the supply device 217 shown in Figure 3A and drives the pressure reducing device 222 to allow the fruit juice to flow from the container 210, the temporary storage unit 215, and the flow path 240 to the tank 220.

[0088] Through the above series of operations, the juice extraction device 200 can extract fruit from grape bunches on the fruit tree and store it in the tank 220. The above operations can be repeated for multiple grape bunches. The control device 250 may, if necessary, switch the tanks storing the juice based on the quality of the juice measured by the measuring instrument 216, or have the communication device 260 transmit data regarding the quality and / or quantity of the juice to an external computer.

[0089] As shown in Figure 1, when the juice extraction device 200 is mounted on the vehicle 100, the above operation is performed while the vehicle 100 is stationary. Once the extraction of juice from all the target grape bunches at the current location is complete, the vehicle 100 moves, and the same operation may be performed at the next location.

[0090] [2. Harvesting Apparatus] Next, an embodiment of a harvesting apparatus that cuts fruit from the fruit tree and transports it to another location without extracting juice from the fruit will be described.

[0091] The harvesting device has a configuration similar to that of the juice extraction device 200 described above (for example, Figure 3A). The container 210 in the harvesting device is equipped with a cutting device for cutting the fruit from the fruit tree. The cutting device may have, for example, a movable cutter provided on the edge of the opening 212. The cutting device may be configured to cut the fruit from the fruit tree by closing the opening 212. The aforementioned pressing device 213 is used as a holding device for holding the fruit. Hereinafter, the pressing device 213 may be referred to as the "holding device 213".

[0092] Figures 9A to 9C illustrate the operation of the cutter 226 and holding device 213 of the cutting device in the container 210 of the harvesting device. As explained with reference to Figure 1, the control device 250 controls the manipulator 230 to bring the container 210 closer to the fruit on the fruit tree (grape bunches in this example) and to house the grape bunches inside the container 210 as shown in Figure 9A. Once the grape bunches are housed inside the container 210, the control device 250 injects air into the airbag of the holding device 213 via the duct 218, as shown in Figure 9B. The inflated airbag then holds the grape bunches in place. The airbag deforms to conform to the shape of the grape bunches and applies even pressure to hold them in place. The control device 250 adjusts the airbag pressure to a value sufficient to hold the grape bunches without crushing them. In this state, the control device 250 drives the cutter 226 provided on the lid 211 of the container 210 to close the opening 212, as shown in Figure 9C. This causes the grape bunch to be cut from the fruit tree. The holding device 213 may also be configured to expand by an increase in water pressure instead of air pressure.

[0093] The harvesting apparatus may include a vacuum pump for creating a vacuum inside the container 210 containing the fruit, and / or a filling device for filling the container with an inert gas. In this case, after the grape bunches are cut from the fruit tree, the air can be discharged from the container 210 to create a vacuum inside the container 210, or an inert gas such as nitrogen can be filled inside the container 210. This helps to suppress the deterioration of quality due to oxidation of the grape bunches inside the container 210.

[0094] Figures 10A and 10B show an example of the configuration of a cutting device in the lid 211 of a container 210. The cutting device in this example has a mechanism similar to the iris mechanism of a camera. The cutting device comprises a plurality of cutters 226 arranged circumferentially and a rotating plate 228 that changes the angle of each of the plurality of cutters 226. The rotating plate 228 can be driven by an electric motor. The control device 250 can change the angle of each of the plurality of cutters 226 by controlling the electric motor to rotate the rotating plate 228, thereby closing the opening 212. Through this operation, the fruit is cut from the fruit tree by the cutters 226.

[0095] The structure of the cutting device is not limited to the examples above, and any structure can be adopted. For example, the fruit may be cut from the fruit tree by driving one or two cutters with actuators to close the opening. Alternatively, the cutting device may have a mechanism that cuts the fruit from the fruit tree by twisting it off.

[0096] According to this embodiment, since the cutting device is driven while the fruit is held in place by the holding device 213, the fruit can be stably cut from the fruit tree. Furthermore, since the cut fruit is held in place by the holding device 213 without falling to the bottom of the container 210, damage to the fruit can be avoided.

[0097] The cut grape bunches are transported to a designated location by the manipulator 230 along with the container 210. The grape bunches may be shipped as table grapes as is, or the juice may be extracted at the harvest site.

[0098] The harvesting device may include a storage device having one or more storage compartments capable of accommodating the container 210. The storage device may also have a function for extracting juice by mechanically processing the stored container 210, such as by pressing or shredding. The storage device may further include a mechanism for discharging any residue remaining in the container 210 after the juice has been extracted. The storage device may further include a mechanism for washing the container after discharging the residue.

[0099] Figure 11 is a perspective view showing an example of a harvesting device 201 equipped with a storage device 270. The storage device 270 has a plurality of storage compartments 274 capable of accommodating containers 210 containing cut fruit (e.g., bunches of grapes). The storage device 270 shown in Figure 11 is configured to be towed by a vehicle 100. Both the vehicle 100 and the storage device 270 are equipped with a running gear including a plurality of wheels 104. The running gear includes various devices necessary for movement, such as a plurality of wheels with tires and axles. The running gear may be equipped with tracks (crawlers) instead of tires.

[0100] The storage device 270 shown in Figure 11 has a plurality of storage compartments 274. Each storage compartment 274 is sized to fit a container 210. Figure 11 illustrates a state in which the storage device 270 has six storage compartments 274, and four of these compartments 274 already contain containers 210.

[0101] In the example shown in Figure 11, the manipulator 230 is equipped with an end effector 232, which is like a robot hand. The end effector 232 has a structure for gripping the container 210. The control device 250 controls the manipulator 230 and the end effector 232 to bring the container 210 closer to the fruit on the fruit tree (e.g., a bunch of grapes) and to place the fruit inside the container 210. The control device 250 controls a cutting device in the container 210 to cut the fruit from the fruit tree and places the container 210 containing the fruit into one of the multiple storage compartments 274. The control device 250 can control the cutting device by, for example, a wired connection via wiring provided along the manipulator 230 and the end effector 232, or by a wireless connection.

[0102] The storage device 270 may include a mechanism that causes a plurality of storage units 274 to circulate along a predetermined path. While each of the plurality of storage units 274 completes one circuit of the path, juice extraction, residue discharge, and cleaning of the storage unit may be performed.

[0103] In the example shown in Figure 11, the storage device 270 includes a rotating part 272 that rotates around a rotating shaft 276. The rotating part 272 is driven by an electric motor. The electric motor may be controlled by a control device 250 or other control device (for example, a control device in the vehicle 100 or within the storage device 270). In the example in Figure 11, a plurality of storage compartments 274 are arranged on the rotating part 272 along a circle centered on the rotating shaft 276. Each storage compartment 274 is, for example, a recess provided in the rotating part 272, and may contain at least one of the following: a mechanism for extracting fruit juice, a mechanism for discharging residue remaining after juice extraction, and a mechanism for cleaning the container 210. For example, at least one of the following may be performed during one rotation of each of the plurality of storage compartments 274: juice extraction, residue discharge, and cleaning of the storage compartment.

[0104] A tank 280 may be provided below the rotating part 272. The tank 280 may be, for example, a refrigerated tank. The harvesting device 201 may also include a vacuum pump for evacuating or depressurizing the inside of the tank 280, or a filling device for filling the inside of the tank 280 with an inert gas such as nitrogen.

[0105] After the control device 250 has placed container 210 in the storage unit 274, it may attach other containers (i.e., empty containers) that have been processed, such as discharge of residue and washing, to the manipulator 230 to cut other fruits from the fruit tree. The control device 250 may further place the container containing the other fruits into one of the other storage units. By repeating such operations, it is possible to harvest multiple fruits (e.g., bunches of grapes) from the fruit tree and extract their juice. In the example shown in Figure 11, one manipulator 230 is shown, but as shown in Figures 2B to 2E, multiple manipulators may be used simultaneously to improve work efficiency.

[0106] Figure 12 shows a specific example of the function of a storage device 270 having multiple storage compartments 274. In Figure 12, the positions of the six storage compartments 274 are numbered (1) to (6). (1) indicates the position of the storage compartment 274 for collecting containers 210 containing harvested fruit. (2) indicates the position of the storage compartment 274 equipped with a mechanism for extracting juice from the fruit in the container 210. (3) indicates the position of the storage compartment 274 equipped with a mechanism for discharging residue remaining in the container 210 after juice extraction. (4) indicates the position of the storage compartment 274 equipped with a mechanism for washing the container 210. (5) and (6) indicate the positions for storing the empty containers 210 after washing. The number of storage compartments 274 is not limited to six; it may be five or less, or seven or more. If the number of storage compartments 274 is five, the number of storage compartments 274 for storing the empty containers 210 may be one. If the number of storage compartments 274 is seven or more, the number of storage compartments 274 that accommodate empty containers 210 may be three or more.

[0107] Figures 13A and 13B show examples of processes performed within the containment section 274 at positions (2), (3), and (4). Figure 13A shows an example of the process for obtaining white or black grape juice to produce white wine. Figure 13B shows an example of the process for obtaining black grape juice to produce red wine.

[0108] In the example shown in Figure 13A, the tank 280 is provided with one or more sub-tanks 281 and a waste tray 282. At position (2), a pressing device (holding device) 213 provided in the container 210 is driven to press the grape bunch and extract the juice. The pressing mechanism is the same as the mechanism described with reference to Figures 4A to 5B. Note that the method of pressing is not limited to the method using an expansion-type pressing device, but other methods may also be used. For example, the fruit may be passed between two rollers or the fruit may be sandwiched between two plates to press it. The juice is stored in the sub-tank 281 directly below position (2). After the juice extraction is complete, residues 82 such as skins and seeds remain in the container 210. In this example, the filter 214 has an openable and closable structure. The opening and closing of the filter 214 can be performed by an actuator provided in the container 210 or the storage device 270 under the control of the control device. At position (3), the control device opens the filter 214 and collects the residue 82 into the waste tray 282. The residue 82 is then discarded. At position (4), a washing device 284 is provided. The washing device 284 may be, for example, a device that sprays water or air. The washing device 284 washes the container 210 under the control of the control device.

[0109] In the example in Figure 13B, the processing at positions (2) and (4) is the same as in the example in Figure 13A, but at position (3), the residue 82 is added to the partial tank 281. In this example, the partial tank 281 is provided spanning positions (2) and (3), and both the fruit juice and the residue 82 are stored in the partial tank 281. This makes it possible to produce red wine by fermenting the fruit juice together with residues such as skins.

[0110] In the examples in Figures 13A and 13, the partial tank 281 may be equipped with a sensor for measuring the amount of juice and / or a quality measuring instrument for measuring the quality of the juice (such as sugar content, acidity, pH, or anthocyanin content). When the measured amount of juice reaches a predetermined threshold, the harvesting operation is completed. Subsequently, a communication device (see Figure 3A) installed in the vehicle 100 or storage device 270 may transmit data indicating the amount and / or quality of the juice to an external computer (e.g., a cloud server or a computer in the winery).

[0111] In the examples shown in Figures 11 to 13B, the tank 280 may include multiple sub-tanks. Similar to the example shown in Figure 3A, a temporary storage section 215 may be provided below the container 210, and a measuring instrument 216 for measuring the quality of the fruit juice may be installed therein. The storage device 270 may further include a supply device that supplies fruit juice to one of the multiple sub-tanks selected according to the quality of the fruit juice measured by the measuring instrument 216. The supply device may have a mechanism similar to the one described with reference to Figures 6 and 7, for example, or it may have a different mechanism.

[0112] Figure 14 shows an example of a tank 280 having multiple sub-tanks 281. In this example, the tank 280 has four sub-tanks 281. The tank 280 can be rotated by an electric motor 288. The electric motor 288 is controlled by a control device 290. At least one of the multiple storage sections 274 may have a juice extraction function and include a temporary storage section 215 for temporarily storing the extracted juice. A measuring instrument 216 for measuring the quality of the juice is provided in the temporary storage section 215. The control device 290 determines which of the multiple sub-tanks 281 to store the juice based on the quality of the juice (e.g., sugar content) measured by the measuring instrument 216. The control device 290 drives the electric motor 288 so that the determined sub-tank 281 is located directly below the temporary storage section 215. This allows the juice to be stored in different sub-tanks 281 according to the quality of the juice. Each sub-tank 281 may be equipped with a sensor for measuring the amount and / or quality of the juice. The control device 290 may transmit data indicating the amount and quality of fruit juice accumulated in each sub-tank 281 to an external computer via the communication device 292.

[0113] Figure 15 shows another example of the storage device 270. The storage device 270 shown in Figure 15 includes a conveying device 278 that circulates a plurality of storage units 274 along a predetermined path in a manner different from rotation. The conveying device 278 shown in Figure 15 has a structure similar to a belt conveyor and, under the control of a control device, moves the position of each of the plurality of storage units 274 along the predetermined path. With this configuration as well, processing such as juice extraction, residue discharge, and / or cleaning of the storage units can be performed while each of the plurality of storage units 274 completes one rotation of the path.

[0114] As described above, the harvesting apparatus according to this embodiment comprises a container 210 equipped with a cutting device for receiving fruit from a fruit tree and cutting the fruit from the fruit tree, a manipulator 230 to which the container 210 can be attached, and a control device 250 that controls the manipulator 230 to change the position and orientation of the container 210. The container 210 is equipped with a holding device (or pressing device) 213 for holding the fruit. The holding device 213 may be an inflatable holding device that surrounds the fruit and holds it by increasing the internal pressure. The control device 250 can control the holding device 213 to hold or press the fruit. The harvesting apparatus may also include a tank 280 for storing the juice produced by pressing the fruit. The storage device 270 may include at least one of the following: a mechanism for extracting juice from the fruit in the container 210, a mechanism for discharging any residue remaining in the container 210 after the juice has been extracted, or a mechanism for washing the container 210 after the residue has been discharged. The storage device 270 may further include a device for supplying the residue remaining in the container 210 after the fruit juice has been extracted to the tank 280.

[0115] The harvesting apparatus of this embodiment may be used for purposes other than obtaining juice for wine or juice. For example, the harvesting apparatus of this embodiment may be used to harvest table grapes for fresh consumption, rather than to obtain juice. In that case, neither the harvesting apparatus nor the vehicle may be equipped with a juice extraction device.

[0116] Figure 16 is a flowchart illustrating the flow of a fruit harvesting method according to an exemplary embodiment. In this method, the following actions are performed.

[0117] In step S21, three-dimensional positional information of multiple grape clusters on the fruit tree is acquired by one or more sensors. This operation is the same as the operation in step S11 shown in Figure 8.

[0118] In step S22, the control device 250, based on the three-dimensional position information of the grape bunch selected from the multiple grape bunches, brings the container 210 attached to the manipulator 230 closer to the grape bunch and places the grape bunch inside the container 210. This operation is the same as the operation in step S21 shown in Figure 8.

[0119] In step S23, the control device 250 cuts the grape clusters from the fruit trees inside the container 210 using a cutting device provided in the container 210. The control device 250 can drive the cutting device to cut the grape clusters from the fruit trees inside the container 210 in the manner described with reference to, for example, Figures 9A to 10B.

[0120] In step S24, the control device 250 moves the container 210 containing the grape bunches to a predetermined storage position using the manipulator 230. For example, as shown in Figure 11, the control device 250 may be configured to control the manipulator 230 to move the container 210 to a predetermined storage section 274 in the storage device 270.

[0121] Through the above operations, the harvesting device can harvest grape clusters from the fruit tree into the container 210 and move the container 210 containing the grape clusters to a predetermined storage position. The above operations can be repeatedly performed for multiple grape clusters, with the container 210 being replaced for each cluster.

[0122] As shown in the example in Figure 1, when the harvesting device is mounted on the vehicle 100, the above operation is performed while the vehicle 100 is stationary. Once all the grape bunches at the current location have been harvested, the vehicle 100 moves, and the same operation may be performed at the next location.

[0123] [3. Data Acquisition Device] Next, an embodiment of a data acquisition device for acquiring data for determining the three-dimensional position of fruit on a fruit tree and estimating its quality will be described.

[0124] The data acquisition device according to this embodiment can be used, for example, to acquire three-dimensional positional data of fruit (e.g., bunches of grapes) and / or predictive data of fruit quality prior to juice extraction or harvesting using the aforementioned juice extraction or harvesting device. Based on this data, the fruit to be juice extracted or harvested can be determined. To acquire this data, the data acquisition device includes a sensing device that includes at least one sensor. The sensing device may include, for example, at least one of a visible light camera, a near-infrared camera, a stereo camera, a distance measuring sensor such as LiDAR, or a near-infrared spectrometer. Each sensor may be mounted on a manipulator such as a robotic arm.

[0125] When using a data acquisition device, the fruit may be obscured by leaves located near it, making it impossible to properly recognize the fruit, determine its three-dimensional position, or estimate its quality. To solve this problem, the data acquisition device in this embodiment is equipped with a blower. Sensing is performed while the leaves located near the fruit are moved by the airflow generated by the blower. This improves the accuracy of fruit recognition, determination of its three-dimensional position, and estimation of its quality.

[0126] Figure 17 is a schematic diagram showing an example of a data acquisition device 500. The data acquisition device 500 comprises a sensing device 300 including at least one sensor and at least one manipulator 530 to which the at least one sensor can be attached. Although one manipulator 530 is shown in Figure 16, multiple manipulators may be used, as in the examples shown in Figures 2B to 2E. The data acquisition device 500 shown in Figure 17 is mounted on a vehicle 100, but it does not necessarily have to be mounted on a vehicle 100. For example, the data acquisition device 500 may be used while being held in the hand of a user, or it may be permanently installed in an orchard. The data acquisition device 500 may be suspended from a structure such as a frame or rail installed above a row of fruit trees.

[0127] The sensing device 300 may include one or more sensors that output one or more types of sensor data used for recognizing fruit on a fruit tree, determining the three-dimensional position of the fruit, and estimating the quality of the fruit. If the sensing device 300 includes multiple sensors, these sensors may be mounted on one manipulator 530 or distributed across multiple manipulators. When multiple sensors are distributed across multiple manipulators, the collection of these sensors is called a "sensing device". Thus, a "sensing device" is not limited to a single device, but may also be a collection of multiple devices.

[0128] In the example shown in Figure 17, the data acquisition device 500 includes one manipulator 530. An end effector 532 having a sensing device 300 is attached to the tip of the manipulator 530.

[0129] The data acquisition device 500 further includes a blower 400. The blower 400 may include a fan, blower, or compressor. The blower 400 generates an airflow to move leaves located near the fruit. This prevents the sensing device 300 from being obstructed by the leaves.

[0130] In the example shown in Figure 17, the blower 400 is attached to the manipulator 530. More specifically, the blower 400 is attached to the end effector 532 at the tip of the manipulator 530. In this example, the blower 400 is positioned near the sensing device 300. This allows for the effective removal of leaves that may obstruct sensing.

[0131] The data acquisition device 500 may be equipped with multiple blowers (or blower units). For example, the configuration shown in Figure 18 or Figure 19 may be adopted.

[0132] Figures 18 and 19 schematically show examples in which the blower 400 comprises multiple blower units 410. In the example in Figure 18, an array of multiple blower units 410 arranged in a row is attached to the base of the manipulator 530. In the example in Figure 19, an array of multiple blower units 410 arranged in a row is attached to the vehicle 100 instead of the manipulator 530. Thus, the number and arrangement of blower units 410 included in the blower 400 are diverse, and any configuration can be adopted.

[0133] In the examples shown in Figures 17 to 19, the blower 400 may be equipped with a mechanism for changing the direction of the airflow. In the examples shown in Figures 18 and 19, a desired airflow may be generated by adjusting the airflow from a plurality of blower units 410.

[0134] The data acquisition device 500 further comprises a control device 550. The control device 550 is wired or wirelessly connected to and controls the sensing device 300, the manipulator 530, and the blower 400. In the example shown in Figures 17 to 19, the control device 550 is mounted on the vehicle 100. The control device 550 may be mounted in other locations. For example, the control device 550 may be mounted inside the vehicle 100 or on the manipulator 530. Multiple computers may cooperate to function as the control device 550. The control device 550 may comprise one or more processors (e.g., CPUs) and one or more memories. The processor controls the operation of the sensing device 300, the blower 400, and the manipulator 530 and processes the data output from the sensing device 300 by executing computer programs stored in the memories.

[0135] Vehicle 100 may include a GNSS unit 570. The GNSS unit 570 may include a GNSS receiver. The GNSS receiver may include an antenna that receives signals from GNSS satellites and a processor that calculates the position of vehicle 100 based on the signals received by the antenna. The GNSS unit 570 receives satellite signals transmitted from multiple GNSS satellites and performs positioning based on the satellite signals. GNSS is a general term for satellite positioning systems such as GPS (Global Positioning System), QZSS (Quasi-Zenith Satellite System, e.g., Michibiki), GLONASS, Galileo, and BeiDou. The GNSS unit 120 may also include an inertial measurement unit (IMU). Signals from the IMU can be used to supplement position data. The IMU can measure the tilt and minute movements of vehicle 100. By using data acquired by the IMU to supplement position data based on satellite signals, positioning performance can be improved. The IMU may be located in a different position from the GNSS unit 120. The GNSS unit 570 can measure the position and orientation of the vehicle 100.

[0136] The control device 550 recognizes the fruit and performs a process to determine the three-dimensional position of the fruit based on sensor data output from one or more sensors in the sensing device 300. For example, the control device 550 may recognize the target fruit by classifying it from other objects through segmentation processing based on image data output from a camera that may be included in the sensing device 300. Alternatively, the control device 550 may determine the three-dimensional position of the fruit based on data output from a distance measuring sensor such as a LiDAR sensor and data output from a GNSS unit 570 installed on the vehicle 100. The three-dimensional position can be represented, for example, by three-dimensional coordinate values ​​in a world coordinate system fixed to the Earth. Or, the three-dimensional position can be represented by three-dimensional coordinate values ​​in a vehicle coordinate system fixed to the vehicle 100.

[0137] When the control device 550 recognizes a fruit and / or determines its three-dimensional position, it uses the airflow generated by the blower 400 to move the leaves covering at least a portion of the fruit. In this state, the control device 550 causes the sensing device 300 to output sensor data for recognition and three-dimensional position determination. This prevents the leaves from interfering with sensing.

[0138] The control device 550 may further be configured to bring the sensing device 300 attached to the manipulator 530 closer to the fruit based on the determined three-dimensional position, and to cause the sensing device 300 to output sensor data used for estimating the quality of the fruit in that state. If the sensing device 300 includes multiple sensors and they are attached to multiple different manipulators, the control device 550 may be configured to control the manipulator to which the sensor that outputs the sensor data used for quality estimation is attached, based on the determined three-dimensional position, to bring that sensor closer to the fruit and cause that sensor to output the sensor data.

[0139] The control device 550 may further estimate the quality of the fruit based on the sensor data and generate output data indicating the estimation result. Alternatively, the control device 550 may transmit the sensor data output from the sensor to an external computer (e.g., a cloud server) via the communication device 560. In this case, the external computer may be configured to estimate the quality of the fruit based on the sensor data and generate output data indicating the estimation result.

[0140] In this embodiment, various modifications to the configuration of the sensing device 300 are possible. Hereinafter, several configuration examples of the sensing device 300 will be described with reference to Figures 20A to 20C.

[0141] Figure 20A shows an example configuration of a sensing device 300A including three sensors. In this example, the sensing device 300A includes a first sensor 301 that outputs first sensor data used for recognizing fruit on a fruit tree, a second sensor 302 that outputs second sensor data used for determining the three-dimensional position of the fruit, and a third sensor 303 that outputs third sensor data used for estimating the quality of the fruit. The first sensor 301 may be, for example, a camera. The camera may be a visible light camera or an infrared camera. The second sensor 302 may be, for example, a distance measuring sensor or a stereo camera. The distance measuring sensor is a sensor that measures the distance to an object using distance measuring techniques such as ToF (Time of Flight) or FMCW (Frequency Modulated Continuous Wave). The distance measuring sensor may be, for example, a LiDAR sensor configured to acquire distance distribution data in multiple different directions by beam scanning. The third sensor 303 may be, for example, a near-infrared spectrometer. A near-infrared spectrometer includes a light source that emits near-infrared light and a photodetector that detects near-infrared light reflected or scattered back from an object. Based on the spectrum of the near-infrared light detected by the photodetector, values ​​such as sugar content or acidity can be estimated. In the example shown in Figure 20A, the first sensor 301, the second sensor 302, and the third sensor 303 may be mounted on multiple different manipulators. In that case, the control device 550 can independently control the position and orientation of the first sensor 301, the second sensor 302, and the third sensor 303.

[0142] Figure 20B shows an example configuration of a sensing device 300B including two sensors. In this example, the sensing device 300B includes a first sensor 311 that outputs first sensor data used for recognizing fruit on a fruit tree and determining the three-dimensional position of the fruit, and a second sensor 312 that outputs second sensor data used for estimating the quality of the fruit. The first sensor 311 may be, for example, a stereo camera. By using a stereo camera, image data and distance data can be acquired simultaneously. This enables fruit recognition and determination of its three-dimensional position. The second sensor 302 may be, for example, a near-infrared spectrometer. The estimated fruit quality may be, for example, sugar content or acidity. In the example of Figure 20B, the first sensor 311 and the second sensor 312 may be mounted on two different manipulators. In that case, the control device 550 can independently control the position and orientation of the first sensor 311 and the second sensor 312.

[0143] Figure 20C shows an example configuration of a sensing device 300C including a single sensor. In this example, the sensing device 300C includes a single sensor 321 that outputs sensor data used for recognizing fruit on a fruit tree, determining the three-dimensional position of the fruit, and estimating the quality of the fruit. Sensor 321 may be, for example, a stereo camera that acquires visible light and infrared images. The stereo camera may also have the functionality of a multispectral or hyperspectral camera. By using a camera capable of acquiring images of many wavelengths, quality estimation can be performed more accurately in addition to fruit recognition and three-dimensional position determination.

[0144] The end effector 532 shown in Figures 17 to 19 has a sensing device 300. The end effector 532 may further have one or more light sources. One or more light sources may be provided in the sensing device 300. The light sources may be configured to emit, for example, visible light or near-infrared light. Harvesting or juice extraction of fruits such as grapes is often carried out at night or in the early morning when temperatures are low in order to suppress the deterioration of the quality of the fruit or juice. In such dark environments, the accuracy of fruit recognition generally decreases. By providing a light source, the accuracy of fruit recognition in dark environments can be improved.

[0145] Figure 21 shows an example of a data acquisition device 500 equipped with a light-emitting device 340 containing one or more light sources. Figure 22 shows an example of the light-emitting device 340. The light-emitting device 340 shown in Figure 22 includes a plurality of light sources 342 and a light receiver 344. The light sources 342 may be light sources such as light-emitting diodes. The light receiver 344 includes, for example, a photodiode and outputs a signal according to the intensity of the received light. The light-emitting device 340 may be equipped with an automatic dimming function. The light environment at the site where sensing is performed may change depending on the distance between the trees and the sensing device 300 or the intensity of moonlight. The light intensity at which fruits are easily recognized may always change depending on the environment. Therefore, the light-emitting device 340 may control the light intensity of each light source 342 so that the light intensity detected by the light receiver 344 is close to a preset light intensity. This makes it possible to realize a light environment at which fruits are easily recognized even in dark environments such as at night. As a result, the accuracy of segmentation of objects such as fruits, leaves, and trees based on differences in light reflectivity can be improved.

[0146] In the examples shown in Figures 17 to 19 and Figure 21, the blower 400 is a separate device from the sensing device 300, but the function of the blower 400 may be integrated into the sensing device 300.

[0147] Figure 23 is a schematic diagram showing an example of a data acquisition device 500 equipped with a sensing device 300 that incorporates a blower 400. Figure 24 is a schematic diagram showing an example of the configuration of the sensing device 300. In the example of Figure 24, the sensing device 300 comprises a plurality of light sources 342, a sensor 311 for recognition and three-dimensional position measurement, a sensor 312 for quality estimation, and a blower 400 including a plurality of air blow nozzles 412. The plurality of light sources 342 may be light sources such as light-emitting diodes. The sensor 311 may be a sensor capable of acquiring image data and distance data, such as a stereo camera. The sensor 312 may be a sensor capable of acquiring data for fruit quality estimation, such as a near-infrared spectrometer. The air blow nozzles 412 are nozzles that spray airflow from the blower 400, such as a blower, built into the sensing device 300, to the outside.

[0148] By using a sensing device 300 equipped with such a blower 400 function, the leaves near the fruit can be effectively moved, improving the accuracy of sensing. In the example shown in Figure 24, the sensing device 300 is equipped with two sensors 311 and 312, but as shown in Figure 20A or Figure 20C, the sensing device 300 may be equipped with one or more sensors.

[0149] In the example shown in Figure 24, as in the example shown in Figure 22, the control device 550 may control the light intensity of each light source 342 so that the light intensity detected by the sensor 311 is close to a preset light intensity. This makes it possible to create a light environment that makes it easy to recognize fruit even in dark environments such as at night.

[0150] Next, the operation of the data acquisition device 500 of this embodiment will be described in more detail.

[0151] Figure 25 is a flowchart showing the flow of the data acquisition method performed by the data acquisition device 500. The control device 550 may be configured or programmed to perform the following operations.

[0152] In step S31, the control device 550 generates an airflow in the blower 400. More specifically, the control device 550 controls the blower 400 to blow an airflow onto the leaves covering at least a portion of the fruit (e.g., bunches of grapes) on the fruit tree.

[0153] In step S32, the control device 550, with the leaves moved by the airflow from the blower 400, recognizes the fruit on the fruit tree and determines its three-dimensional position based on sensor data output from at least one sensor in the sensing device 300. For example, if the sensing device 300 includes a camera, the control device 550 can recognize the fruit by segmentation processing based on image data output from the camera. Also, if the sensing device 300 includes a distance-measuring sensor such as a stereo camera or a LiDAR sensor, the control device 550 can determine the three-dimensional position of the fruit based on distance data output from the sensor and position and orientation data of the vehicle 100 output from the GNSS unit 570 installed on the vehicle 100.

[0154] In step S33, the control device 350 controls the manipulator 530 to bring the sensing device 300 closer to the fruit based on the determined three-dimensional position. If multiple sensors are distributed across multiple manipulators, the control device 550 controls the manipulator on which the quality estimation sensor is located to bring that sensor closer to the fruit.

[0155] In step S34, the control device 550 causes the sensor for quality estimation in the sensing device 300 to output sensor data used for fruit quality estimation. For example, if the sensor is a sensor that measures the sugar content, acidity, or pH of the fruit, the control device 550 causes the sensor to output the measured values ​​of sugar content, acidity, or pH.

[0156] In step S35, the control device 550 estimates the quality of the fruit based on the output sensor data and generates output data showing the estimation result. For example, the control device 550 may calculate a score indicating the quality of the fruit using a predetermined algorithm based on the measured values ​​of sugar content, acidity, or pH shown by the sensor data, and generate output data including the score. The control device 550 records the output data in an internal or external storage device.

[0157] The processing in step S35 may be performed by a computer other than the control device 550. For example, the control device 550 may transmit the sensor data output in step S34 to an external cloud server via the communication device 560, and the cloud server may generate output data indicating the estimated quality of the fruit based on the sensor data and record it in a storage device.

[0158] The output data showing the estimated quality (i.e., predicted values) can be compared, for example, with actual quality values ​​measured in the aforementioned juice extraction or harvesting apparatus. The comparison results can be used to create future cultivation or harvesting plans.

[0159] In step S32, the control device 550 may perform the operation of acquiring sensor data from the sensing device 300 multiple times, changing the position and orientation of the sensing device 300, while the leaves are being moved by the airflow from the blower 400. The control device 550 may determine the three-dimensional position of the fruit based on the multiple sensor data acquired through the multiple operations. Such an operation makes it possible to determine the three-dimensional position of the fruit more accurately, even if the three-dimensional position of the fruit cannot be determined with a single sensing.

[0160] After step S32, the control device 550 may stop or continue blowing air from the blower 400. If the blower is stopped, step S34 is performed with the blower 400 stopped. If the blower is continued, step S34 is performed with air being blown from the blower 400. In this way, the control device 550 may generate an airflow from the blower 400 with the sensing device 300 (or a sensor for quality estimation) in close proximity to the fruit, and acquire sensor data for quality estimation from the sensing device 300 while the leaves are being moved by the airflow.

[0161] As mentioned above, the sensing device 300 may include a camera as one of its sensors to acquire images used for recognizing fruit on a fruit tree. In that case, the control device 550 may recognize the fruit based on the difference between two images acquired under two different conditions where the strength of the airflow generated by the blower 400 is different. For example, the control device 550 may recognize the fruit based on the difference between two images acquired under two different conditions where the blower 400 is turned off and on. Leaves are lighter than fruits, so they are easily moved by airflow. Therefore, fruits can be distinguished from leaves and recognized more accurately based on the difference between two images acquired under two different conditions where the strength of the airflow is different.

[0162] Figures 26A and 26B schematically illustrate the effects of this embodiment. Figure 26A shows the state in which the blower 400 has stopped blowing air. Figure 26B shows the state in which the blower 400 is blowing a highly directional airflow (jet) onto the grape cluster. In the state of Figure 26A, the grape cluster 80 is hidden by the leaves 90, so the recognition of the grape cluster 80 based on the image acquired by the sensing device 300 fails (NG). On the other hand, in the state of Figure 26B, the leaves 90 are lifted by the jet from the blower 400, so the recognition of the grape cluster 80 based on the image acquired by the sensing device 300 is successful (OK). Conversely to this example, depending on the positional relationship between the blower 400 and the leaves 90, sensing may be more difficult when the blower 400 is ON than when it is OFF. Therefore, by comparing two images taken with the blower 400 turned off and turned on (or with a low and high airflow setting), the likelihood of more accurately recognizing fruits such as grape clusters 80 increases.

[0163] The control device 550 may generate information indicating at least one estimated value of the fruit's size, weight, growth stage, and hardness based on the difference between two images acquired under two different conditions where the airflow strength generated from the blower 400 is different, and output this information. The amount of movement of the fruit due to the airflow differs depending on the fruit's size, weight, and growth stage. Therefore, the fruit's size, weight, or growth stage can be estimated based on the amount of movement of the area recognized as a fruit in two images acquired under two different conditions where the airflow strength is different. In addition, the size of the surface indentation caused by the airflow differs depending on the fruit's hardness. Therefore, the hardness of the fruit can be estimated by detecting the size of the indentation on the fruit caused by the airflow from the blower 400 from the difference between the two images.

[0164] The control device 550 may generate output data indicating the estimated fruit quality, including at least one estimate of fruit size, weight, growth stage, and hardness, as estimated by the method described above. In this case, the fruit quality may be estimated based on image data output from the camera, rather than from the near-infrared spectrometer. The control device 550 may also estimate the fruit quality comprehensively based on both the data from the near-infrared spectrometer and the data from the camera.

[0165] The blower 400 may be capable of operating in multiple modes with different properties of the generated airflow. For example, the blower 400 may be capable of operating in a mode that generates a jet and a mode that generates a diffuse airflow. A jet has relatively high directivity, while a diffuse airflow has relatively low directivity. The control device 550 may be configured to move the leaves by generating a jet from the blower 400, and to recognize the fruit and determine its three-dimensional position in that state.

[0166] The control device 550 may remove frost or dew (i.e., moisture) adhering to the surface of the fruit by generating a diffuse airflow from the blower 400. In low-temperature environments, frost (ice) or dew (water) may adhere to the surface of the fruit. This moisture may reduce the accuracy of sensing. By generating a diffuse airflow from the blower 400, moisture on the surface of the fruit can be effectively removed, improving the accuracy of sensing.

[0167] Figures 27A and 27B schematically illustrate the effect of removing moisture from the fruit surface by a diffuse airflow. Figure 27A shows the state when the blower 400 is stopped. Figure 27B shows the state when the blower 400 is blowing a diffuse airflow onto the grape cluster 80. In the state shown in Figure 27A, moisture 84 such as frost or dew is attached to the grape cluster 80. If sensing is performed by the sensing device 300 in this state, accurate sensing results may not be obtained. Therefore, it is effective to remove the moisture 84 by generating a diffuse airflow from the blower 400 as shown in Figure 27B. By removing the moisture 84, the accuracy of recognition or quality estimation can be improved.

[0168] If the sensing device 300 includes a camera, the control device 550 may control the blower 400 and the camera so that the underside of the leaves is photographed by the airflow from the blower 400. Based on the image of the underside of the leaves output from the camera, the control device 550 may detect diseases on the fruit and output information indicating the detection result of the disease.

[0169] The control device 550 may be configured to perform recognition, three-dimensional position determination, and quality estimation data acquisition for each of the multiple fruits or clusters of fruit in multiple fruit trees, as shown in Figure 25. In this case, the control device 550 can also generate a map showing the distribution of the multiple fruits or clusters of fruit based on the three-dimensional position of each of the multiple fruits or clusters of fruit. Such a map may be referenced, for example, in the aforementioned juice extraction or harvesting device to identify the location of the fruit or cluster to be juiced or harvested.

[0170] Next, with reference to Figure 28, another example of the operation of the data acquisition device 500 will be described.

[0171] Figure 28 is a flowchart showing a more detailed example of the operation of the data acquisition device 500. In the example in Figure 28, the fruit to be sensed is a bunch of grapes, and the control device 550 is configured or programmed to perform the following operations.

[0172] In step S101, the control device 550 stops the vehicle 100 at the observation point. The observation point is a location where multiple grape bunches for which three-dimensional positional information acquisition or quality estimation is required can be sensed, and is predetermined.

[0173] In step S102, the control device 550 performs the processes of grape cluster recognition and 3D position detection. Specifically, with the blower 400 turned off, the control device 550 causes at least one sensor included in the sensing device 300 to perform sensing and output sensor data. For example, the control device 550 causes image data and distance data to be output from sensors such as a camera and a distance measuring sensor. Based on this data, the control device 550 recognizes each grape cluster within the sensor's field of view and calculates the 3D position of each grape cluster.

[0174] In step S103, the control device 550 determines whether the three-dimensional position of each recognized grape cluster has been determined. For example, the control device 550 may determine that the three-dimensional position has been determined if the probability value indicating the reliability of the recognition of each grape cluster recognized in step S102 is greater than or equal to a predetermined value, and the three-dimensional position of each grape cluster is within the normal range. If the three-dimensional position of each grape cluster has been determined, the process proceeds to step S109. If the three-dimensional position has not been determined, the process proceeds to step S104.

[0175] In step S104, the control device 550 turns on the blower 400 and generates an airflow (e.g., a jet) from the blower 400.

[0176] In step S105, the control device 550 performs the process of recognizing the grape cluster and detecting its three-dimensional position. This process is the same as the process in step S102. However, since the blower 400 is turned on, the leaves move due to the airflow from the blower 400, which may improve the recognition probability of grape clusters that previously had a low recognition probability.

[0177] In step S106, the control device 550 turns off the blower 400.

[0178] In step S107, the control device 550 determines whether the three-dimensional position of each grape cluster recognized in step S105 has been determined. This process is the same as the process in step S103. If the three-dimensional position of each grape cluster has been determined, the process proceeds to step S109. If the three-dimensional position has not been determined, the process proceeds to step S108.

[0179] In step S108, the control device 550 controls the manipulator 530 to change the position and orientation of one or more sensors for recognition and three-dimensional position detection. The amount of change in position and orientation can be, for example, preset. After step S108, the process returns to step S102.

[0180] The processes from steps S102 to S108 are repeated until it is determined in step S103 or S107 that the three-dimensional position of each grape cluster has been determined. Once the three-dimensional position of each grape cluster is determined, the process in step S109 is executed.

[0181] In step S109, the control device 550 brings a quality estimation sensor close to the recognized grape bunch. If multiple grape bunches are recognized, for example, an unmeasured grape bunch closest to the current sensor position may be selected.

[0182] In step S110, the control device 550 causes the sensor to perform quality measurement. For example, the control device 550 causes a sensor, such as a near-infrared spectrometer, to output measured values ​​such as sugar content, acidity, or pH of the grape bunch. These measured values ​​are used as predicted values ​​for quality. The control device 550 records the measured values ​​in a storage device (for example, the memory within the control device 550 or an external storage medium).

[0183] In step S111, the control device 550 determines whether the quality measurement of all recognized grape bunches has been completed. If the measurement is completed, the process ends. If there are grape bunches for which the quality measurement has not been completed, the process returns to step S109 and the quality measurement is performed on the unmeasured grape bunches.

[0184] In step S111, after it is determined that the measurement of all recognized grape bunches has been completed, the control device 550 may move the vehicle 100 to the next observation point (for example, a few meters away) and repeat the operation shown in Figure 28. The operation shown in Figure 28 may be repeated until the quality measurement of all grape bunches to be measured in the orchard is completed.

[0185] Through the above operations, three-dimensional positional information and quality measurements can be obtained for all grape bunches being measured. The control device 550 may generate map data including the three-dimensional positional information of each grape bunch and record it in a storage device. Such map data may be referenced, for example, when the control device of the juice extraction device or harvesting device described above determines the position of the target grape bunch.

[0186] [4. Other Embodiments] In the embodiments described above, the juice extraction device, harvesting device, and data acquisition device are mounted on a vehicle, but these devices do not necessarily have to be mounted on a vehicle. For example, the user may use the juice extraction device, harvesting device, or data acquisition device while holding it in their hand. Alternatively, these devices may be permanently installed in the orchard. For example, the juice extraction device, harvesting device, or data acquisition device may be suspended from a structure such as a frame or rail positioned above the fruit trees along a row of fruit trees.

[0187] Figure 29 schematically shows an example of a work device 600 that is movable along a rail 70 positioned above a fruit tree. In this example, the work device 600 has the functions of the aforementioned fruit juice extraction device, harvesting device, and data acquisition device. The work device 600 is suspended from the rail 70 positioned above the fruit tree along a row of fruit trees. The rail 70 may be part of a frame for supporting other devices, such as solar power generation panels.

[0188] The work apparatus 600 shown in Figure 29 comprises a manipulator 630, a container 210 and a sensing device 300 attached to the manipulator 630, and a control device 650. The container 210 has the function of extracting fruit juice, similar to the container 210 shown in Figure 3A. The container 210 also has the function of cutting the fruit inside the container 210 from the fruit tree, as explained with reference to Figures 9A to 10B. The sensing device 300 may comprise one or more sensors and a blower, for example, as shown in Figure 23.

[0189] The control device 650 can control each motor in the manipulator 630 to change the position and orientation of the container 210 and the sensing device 300. The control device 650 can also drive actuators in the container 210 to hold or compress the fruit inside the container 210, or to close the opening to cut the fruit from the fruit tree. The control device 650 can also cause the sensing device 300 to acquire data for fruit recognition, three-dimensional position measurement, and / or quality estimation. The control device 650 can adjust the position and orientation of the container 210 based on that data to accommodate the fruit on the fruit tree into the container 210. Furthermore, the control device 650 can also use a blower to move leaves that may be obstructing sensing or the accommodation of fruit into the container 210.

[0190] Below the working device 600 is a vehicle 100 having a tank 220. The vehicle 100 is equipped with a running gear such as a plurality of wheels. The vehicle 100 may be configured or programmed to automatically travel along the rail 70, for example, following the movement of the working device 600. A flow path 240 (e.g., a tube) for carrying fruit juice may be connected between the container 210 and the tank 220. The fruit juice extracted in the container 210 is sent into the tank 220 through the flow path 240.

[0191] As shown in Figure 29, a work device 600 equipped with the functions of a juice extraction device or harvesting device and a data acquisition device can realize sensing and juice extraction or fruit harvesting in a single device. Such an integrated work device 600 may be mounted on a vehicle.

[0192] Each of the fruit juice extraction device, harvesting device, and data acquisition device according to the embodiments of the present invention may be mounted on a mobile body other than a vehicle. For example, these devices may be mounted on an unmanned aerial vehicle (drone). These devices may be mounted not only on a mobile body that can move autonomously, but also on a mobile body that is driven or operated by a person.

[0193] In the embodiments described above, the container, sensing device, or blower attached to the manipulator can all be configured as interchangeable end effectors. For example, by replacing the container in a juice extraction device or harvesting device with a sensing device, the device can be made to function as a data acquisition device. Conversely, by replacing the sensing device in a data acquisition device with a container, the device can be used as a juice extraction device or harvesting device.

[0194] The technology disclosed herein can be used in orchards such as vineyards for purposes such as extracting juice from fruit, harvesting fruit, obtaining three-dimensional location information of fruit, and estimating fruit quality.

[0195] 70: Rail, 80: Grape bunch, 82: Residue, 84: Moisture, 90: Leaves, 100: Vehicle, 104: Wheels, 200: Juice extraction device, 201: Harvesting device, 210: Container, 211: Lid, 212: Opening, 213: Pressing device (actuator), 214: Filter, 215: Temporary storage section, 216: Quality measuring instrument, 217: Supply device (on / off valve), 218: Air duct, 219: Air supply machine, 220: Tank, 222: Pressure reducing device, 224: Sensor, 226: Cutter, 228: Rotating plate, 230: Manipulator, 232: End effector, 240: Flow path, 250: Control device, 258: Electric motor, 260: Communication device, 270: Storage device, 272: Rotating part, 274: Storage part, 276: Rotating shaft, 278: Conveying device, 280: Tank, 281: Partial tank, 282: Waste tray, 284: Washing device, 288: Electric motor, 290: Control device, 300: Sensing device, 301: Sensor (for recognition), 302: Sensor (for position determination), 303: Sensor (for quality estimation), 311: Sensor (for recognition and position determination), 312: Sensor (for quality estimation), 321: Sensor (for recognition, position determination, and quality estimation), 330: Manipulator, 340: Light-emitting device, 342: Light source, 344: Photodetector, 400: Blower, 410: Blower unit, 412: Air blow nozzle, 430: Manipulator, 500: Data acquisition device, 530: Manipulator 532: End effector, 550: Control device, 560: Communication device, 570: GNSS unit, 600: Working device, 630: Manipulator, 650: Control device

Claims

1. A fruit juice extraction apparatus comprising: a container capable of holding fruit from a fruit tree, the container equipped with an actuator for extracting juice from the fruit from the fruit on the fruit tree; and a tank connected to the container for storing the extracted juice.

2. The fruit juice extraction apparatus according to claim 1, wherein the container has a structure capable of accommodating bunches of grapes.

3. The fruit juice extraction apparatus according to claim 1, further comprising: a manipulator capable of attaching the container; and a control device for controlling the manipulator to change the position and orientation of the container.

4. The fruit juice extraction apparatus according to claim 3, further comprising a flow path for guiding the fruit juice from the container to the tank, the flow path provided along the manipulator, either inside or outside the manipulator.

5. The fruit juice extraction apparatus according to claim 3, wherein the control device acquires three-dimensional positional information of a fruit or cluster of fruit selected from a plurality of fruits on the fruit tree, and based on the three-dimensional positional information, brings the container attached to the manipulator closer to the fruit or cluster of fruit, and places the fruit or cluster of fruit inside the container.

6. The fruit juice extraction apparatus according to claim 3, further comprising a blower, wherein the control device generates an airflow from the blower and moves the leaves covering at least a portion of the fruit with the airflow, while accommodating the fruit or the cluster of fruit in the container.

7. The fruit juice extraction apparatus according to claim 1, wherein the actuator comprises a device for pressing or shredding the fruit.

8. The fruit juice extraction apparatus according to claim 1, wherein the actuator comprises an expansion-type pressing device that surrounds the fruit and compresses the fruit by increasing the internal pressure.

9. The fruit juice extraction apparatus according to claim 1, wherein the container further comprises a cutting device for cutting the fruit from the fruit tree.

10. The fruit juice extraction apparatus according to claim 1, wherein the tank is a refrigerated tank.

11. The fruit juice extraction apparatus according to claim 1, further comprising a vacuum pump for creating a vacuum inside the tank, and / or a filling device for filling the inside of the tank with an inert gas.

12. The fruit juice extraction apparatus according to claim 1, further comprising a filter between the container and the tank.

13. The fruit juice extraction apparatus according to claim 12, wherein the container has a cylindrical structure with an opening at one end through which the fruit passes, and the filter is attached to the opposite side of the opening in the container.

14. The fruit juice extraction apparatus according to claim 12, further comprising: a temporary storage section located between the filter and the tank for temporarily storing the fruit juice; and a measuring instrument for measuring the quality of the fruit juice in the temporary storage section.

15. The juice extraction apparatus according to claim 14, wherein the tank comprises a plurality of sub-tanks, and further comprises a supply device that supplies the juice to one of the plurality of sub-tanks selected according to the measured quality of the juice.

16. The fruit juice extraction apparatus according to claim 14, further comprising a communication device for transmitting information regarding the quality of the fruit juice in the tank to an external computer.

17. The fruit juice extraction apparatus according to claim 16, further comprising a sensor for measuring the amount of fruit juice in the tank, wherein the communication device transmits information regarding the amount and quality of the fruit juice in the tank to the external computer after the amount of fruit juice in the tank reaches a threshold.

18. The fruit juice extraction apparatus according to claim 1, further comprising a device for discharging any residue remaining in the container and / or washing the container after the fruit juice has been extracted.

19. The fruit juice extraction apparatus according to claim 1, further comprising a device for supplying the residue remaining in the container after the fruit juice has been extracted to the tank.

20. A vehicle comprising a fruit juice extraction device according to any one of claims 1 to 19, and a running device.

21. A method for extracting fruit juice, comprising: acquiring three-dimensional positional information of multiple grape clusters on a fruit tree using sensors; bringing a container attached to a manipulator closer to the grape cluster based on the three-dimensional positional information of a grape cluster selected from the multiple grape clusters, and placing the grape cluster inside the container; mechanically processing the grape cluster inside the container to extract juice from the grape cluster; and transferring the juice from the container to a tank.

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