JP2000092952A - Fruit controlling and harvesting robot - Google Patents
Fruit controlling and harvesting robotInfo
- Publication number
- JP2000092952A JP2000092952A JP10268468A JP26846898A JP2000092952A JP 2000092952 A JP2000092952 A JP 2000092952A JP 10268468 A JP10268468 A JP 10268468A JP 26846898 A JP26846898 A JP 26846898A JP 2000092952 A JP2000092952 A JP 2000092952A
- Authority
- JP
- Japan
- Prior art keywords
- fruit
- hook
- harvesting
- strawberry
- peduncle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
Landscapes
- Manipulator (AREA)
- Image Processing (AREA)
- Harvesting Machines For Specific Crops (AREA)
- Catching Or Destruction (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明はイチゴなどの果実収
穫作業を自動的に行うことができる果実管理収穫用ロボ
ットに関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a fruit management and harvesting robot that can automatically perform a fruit harvesting operation for strawberries and the like.
【従来の技術】果実と果柄とが切断され易い果実、例え
ばイチゴなどがある。イチゴを例に以下説明すると、イ
チゴ栽培は５月から翌年４月まで年間を通して作業が行
われる。このうち、収穫作業は約５カ月と長期にわたっ
ており、収穫作業の占める労働の割合は全作業の約１／
４（２４％）と著しく高く、しかもこの間に稲作と麦作
の作業と競合する場合が多く、この回避のための省力化
技術の確立が必要とされている。2. Description of the Related Art There are fruits whose fruits and stalks are easily cut, such as strawberries. Taking strawberry as an example, strawberry cultivation is performed throughout the year from May to April of the following year. Of these, the harvesting work is long, about 5 months, and the labor share of the harvesting work is about 1/1 of the total work.
4 (24%), which is extremely high, and in the meantime, there are many cases of competing with the operations of rice cultivation and barley cultivation. Therefore, it is necessary to establish a labor-saving technique for avoiding this.
【０００２】従来のイチゴ栽培における省力化技術とし
てはハウス内移動ロボットがある。このロボットは土畝
間を自在に自律走行するタイヤ付きの運搬車であり、畝
間走行時の姿勢制御と畝端での旋回などを行うものであ
り、例えば養液を遠心式の噴霧機を搭載して無人での消
毒防除作業を行うものである。[0002] As a labor-saving technique in the conventional strawberry cultivation, there is a mobile robot in a house. This robot is a transport vehicle with tires that can autonomously travel between ridges and ridges, and performs posture control and gyration at ridge ends when traveling between ridges.For example, it is equipped with a centrifugal sprayer for nutrient solution. And perform the disinfection control work unattended.
【０００３】また、重労働を解消するためのイチゴ管理
収穫用ロボットの開発気運が高まり、最近はロボットの
試作や果実及び果梗などの認識のための視覚センサの研
究が精力的に行われている。[0003] In addition, there has been an increasing tendency to develop a strawberry management and harvesting robot for eliminating heavy labor, and recently, researches on a prototype of the robot and a visual sensor for recognizing fruits and fruit stalks have been made vigorously. .
【０００４】[0004]
【発明が解決しようとする課題】しかし、これらイチゴ
管理収穫用ロボットの開発研究は、軟弱なイチゴ果実を
対象とするので容易ではなく、特にハンド部の開発に苦
慮しているのが現状である。However, research and development of these strawberry management and harvesting robots are not easy because they target soft strawberry fruits, and at present the development of hand parts is particularly difficult. .
【０００５】本発明の課題は、耕うん、施肥、畦立て、
定植、病害虫防除、収穫などの諸作業が１台でできる果
実管理収穫用ロボットを提供することである。本発明の
課題は前述のような背景の下に簡単な機構で、かつ果実
を傷つけず、確実に果実の収穫ができる果実管理収穫用
ロボットを提供することである。The object of the present invention is to cultivate, fertilize, ridge,
An object of the present invention is to provide a fruit management and harvesting robot that can perform various operations such as planting, pest control and harvesting with one unit. An object of the present invention is to provide a fruit management and harvesting robot that can reliably harvest fruits with a simple mechanism under the above-described background and without damaging the fruits.
【０００６】[0006]
【課題を解決するための手段】本発明の上記課題は次の
構成によって解決される。The above object of the present invention is attained by the following constitution.
【０００７】すなわち、畝を跨いで走行するガントリタ
イプの走行装置と、該走行装置に設けられる三次元の各
座標軸であるＸ、Ｙ、Ｚ軸方向への移動が可能なスライ
ド機構と、該スライド機構に設けられるイチゴの果実の
認識と位置検出を行う視覚センサと、同じく前記スライ
ド機構に取り付けられたエンドエフェクタと、該エンド
エフェクタの先端部に設けられる昇降自在の果実収穫用
のフックと、該昇降自在のフックを囲んで設けられ、下
端部分に開閉自在のシャッタを備えた果実管理収穫用ロ
ボットである。That is, a gantry-type traveling device that travels across a ridge, a slide mechanism provided on the traveling device that can move in the three-dimensional coordinate axes X, Y, and Z axes; A visual sensor provided in the mechanism for recognizing and detecting a strawberry fruit, an end effector also attached to the slide mechanism, a vertically movable fruit harvesting hook provided at the end of the end effector, A fruit management and harvesting robot provided around a vertically movable hook and having a shutter which can be freely opened and closed at a lower end portion.
【０００８】上記本発明の果実管理収穫用ロボットは、
視覚センサにより検出された位置でフックを降下させ、
該フックにより果柄を引っかけた後、フックを上昇させ
て、エンドエフェクタの先端部に設けられる果実受け箱
のシャッタを閉じ、果柄を切断して果実受け内に果実を
離脱させる一連の動作の制御機構を備えた構成とするこ
とができる。[0008] The fruit management and harvesting robot of the present invention comprises:
Lower the hook at the position detected by the visual sensor,
After the handle is hooked by the hook, the hook is raised, the shutter of the fruit receiving box provided at the tip of the end effector is closed, and a series of operations for cutting the handle and releasing the fruit into the fruit receiver are performed. A configuration including a control mechanism can be adopted.
【０００９】さらに具体的に本発明を説明するとエンド
エフェクタのＸ軸スライド機構の先端にはＣＣＤカメラ
などの視覚センサを設け、視覚センサによりイチゴの果
実などの認識を行う。またエンドエフェクタのＺ軸スラ
イド機構の先端部には昇降自在のイチゴ摘み取り用のフ
ックと当該フックを中央部に配置した果実受け箱が設け
られている。また、果実受け箱の下端部には一対の開閉
シャッタが設けられていて、開閉シャッタがフックの上
下動によって開閉するように構成されている。そして、
エンドエフェクタは、Ｚ軸スライド機構の下端部に設け
られた果実摘み取り用のフックを果実の果柄にフックを
引っかけ、上方へ引き上げることにより、果柄が伸びき
ってフックを支点として切断されるように構成してい
る。More specifically, the present invention will be described. A visual sensor such as a CCD camera is provided at the end of the X-axis slide mechanism of the end effector, and a strawberry fruit or the like is recognized by the visual sensor. At the tip of the Z-axis slide mechanism of the end effector, a strawberry picking hook which can be moved up and down and a fruit receiving box in which the hook is arranged at the center are provided. Further, a pair of opening / closing shutters are provided at a lower end portion of the fruit receiving box, and the opening / closing shutters are configured to open and close by a vertical movement of a hook. And
The end effector hooks the fruit picking hook provided at the lower end of the Z-axis slide mechanism on the fruit handle and pulls it upward, so that the fruit handle is fully extended and the hook is used as a fulcrum to be cut. It is composed.
【００１０】果実と果柄の境界部分が切断される前には
エンドエフェクタの昇降自在のフックを内部に有する果
実受け箱の下端部の開閉シャッタが閉じて切断された果
実を受けとる。Ｚ軸スライド機構の上下動によってシャ
ッタが開閉するように構成したが、この時、果実が果実
受け箱内に達した後にシャッタが閉まるようにしてあ
る。Before the boundary between the fruit and the stem is cut, the opening / closing shutter at the lower end of the fruit receiving box having the end effector's vertically movable hook inside is closed to receive the cut fruit. The shutter is opened and closed by the vertical movement of the Z-axis slide mechanism. At this time, the shutter is closed after the fruit reaches the inside of the fruit receiving box.
【００１１】果実受け箱の果実は所定高さにＺ軸スライ
ド機構が上昇するとシャッタが開き、収穫した果実をエ
ンドエフェクタ近傍に設けた果実収納コンベアと果実収
納かご内に移す。When the Z-axis slide mechanism raises the fruit in the fruit receiving box to a predetermined height, the shutter opens, and the harvested fruit is transferred to a fruit storage conveyor and a fruit storage basket provided near the end effector.
【００１２】また、本発明は畝を跨いで走行するガント
リタイプの自走式の走行装置と該走行装置に薬液噴霧の
ための薬液タンクと薬液噴霧設備を載置し、該薬液噴霧
設備には作物とほぼ同一高さに位置して水平方向に噴出
する噴霧ノズルを設けた果実管理収穫用ロボットを含
む。The present invention also provides a gantry-type self-propelled traveling device that travels across a ridge, and a chemical solution tank and a chemical solution spray device for spraying a chemical solution mounted on the traveling device. Includes a fruit management and harvesting robot provided with a spray nozzle that is located at approximately the same height as the crop and that sprays out horizontally.
【００１３】さらに、本発明は畝を跨いで走行するガン
トリタイプの自走式の走行装置と該走行装置に作物の栽
培用の各種装置を載置し、かつ作業車の着席台を設けた
果実管理収穫用ロボットも含む。The present invention further provides a gantry-type self-propelled traveling device that runs across a ridge, a fruit on which various devices for cultivating crops are mounted on the traveling device, and a seat for a working vehicle is provided. Includes controlled harvesting robots.
【００１４】本発明の果実管理収穫用ロボットは果実と
果柄とが切断され易い果実、例えばイチゴなどに適用可
能である。The robot for fruit management and harvesting of the present invention is applicable to fruits whose fruits and stalks are easily cut, such as strawberries.
【００１５】[0015]
【発明の実施の形態】本発明の実施の形態について説明
する。図１に外観図を、図２に正面図（図２（ａ））と
側面図（図２（ｂ））を示す装置は畝溝中央に設置され
た一対のレール１を設け、該レール１上を走行する車輪
２を設けた収穫果実のイチゴ管理収穫用ロボットであ
る。Embodiments of the present invention will be described. The apparatus shown in FIG. 1 is an external view, and FIG. 2 is a front view (FIG. 2 (a)) and a side view (FIG. 2 (b)) provided with a pair of rails 1 installed in the center of a groove. The robot is a strawberry management and harvesting robot for harvesting fruits provided with wheels 2 running thereon.
【００１６】イチゴ管理収穫用ロボットはグリーンハウ
ス内に栽培された作物が栽培される畝を跨ぐように門型
に構成された走行フレーム３を有する走行台車５と、該
門型の走行フレーム３上には動力噴霧器６及び薬液タン
ク７などイチゴの栽培又は収穫作業に用いる各種設備を
載置可能にし、また走行台車５には走行フレーム３の側
面に設けた走行台車５駆動用の無断変速機付きの電動モ
ータ９が配置されている。また、走行フレーム３の中央
部にはイチゴの植え付け、収穫作業やその他管理作業用
の椅子１０と、該椅子１０に着席したオペレータの手の
届く範囲内に各種作業用道具の設置部１１が設けられて
いる。The strawberry management and harvesting robot comprises a traveling carriage 5 having a traveling frame 3 formed in a gate shape so as to straddle a ridge on which crops cultivated in the greenhouse are cultivated, and a trolley 5 on the portal traveling frame 3. Can be equipped with various equipment used for cultivation or harvesting of strawberries, such as a power sprayer 6 and a chemical liquid tank 7, and the traveling vehicle 5 has a continuously variable transmission for driving the traveling vehicle 5 provided on the side surface of the traveling frame 3. Of electric motors 9 are arranged. In the center of the traveling frame 3, a chair 10 for strawberry planting, harvesting and other management work, and an installation section 11 for various working tools within a reach of an operator seated on the chair 10 are provided. Have been.
【００１７】前記椅子１０と道具設置部１１は定植、摘
葉、摘芽及び収穫などの作業を人力で行う場合に用い
る。走行台車５は畝溝中央に設置した簡易なレール１を
ガイドとして畝に追従し、電動モータ９により、図示し
ないチェーンカップリングを介して左右の走行フレーム
３に設けられた図示しないドライブシャフトへ動力を伝
達し、さらにチェーン伝動により走行用車輪２を駆動さ
せて、走行するように構成している。The chair 10 and the tool setting section 11 are used when performing operations such as planting, leaf removal, bud removal and harvesting by human power. The traveling carriage 5 follows the ridge with the simple rail 1 installed at the center of the ridge groove as a guide, and is driven by an electric motor 9 to drive shafts (not shown) provided on the left and right traveling frames 3 via a chain coupling (not shown). Is transmitted, and the traveling wheels 2 are driven by chain transmission to travel.
【００１８】図２に示すように走行フレーム３に動力噴
霧器６及び薬液タンク７を載せて薬液を噴霧する場合に
は、走行フレーム３の下側には薬液タンク７からの薬液
を噴霧するためのパイプ１５とその先端部にノズル１６
を設け、薬液タンク７内の薬液を動力噴霧器６の動力で
噴霧する。このとき、ノズル１６からの薬液噴霧方向は
イチゴの側面から薬液を噴霧できるように水平方向に噴
霧口を設ける。As shown in FIG. 2, when the power sprayer 6 and the chemical liquid tank 7 are mounted on the traveling frame 3 to spray the chemical liquid, the chemical liquid from the chemical liquid tank 7 is sprayed below the traveling frame 3. Nozzle 16 at the end of pipe 15
Is provided, and the chemical in the chemical tank 7 is sprayed by the power of the power sprayer 6. At this time, the spraying direction of the chemical from the nozzle 16 is provided in a horizontal direction so that the chemical can be sprayed from the side surface of the strawberry.
【００１９】このようなノズル１６を配置することでイ
チゴの側方から薬液を噴霧し、ガイドレール１により追
従走行することにより、各作物に均一に葉の裏面ま薬液
噴霧ができるようになった。By arranging such a nozzle 16, the chemical is sprayed from the side of the strawberry, and by following the guide rail 1, it is possible to uniformly spray the chemical to the back of the leaves on each crop. .
【００２０】これに対して従来技術の前記畝溝間を走行
するハウス内移動ロボットを用いて当該ロボット上に載
せた薬液タンクから薬液を噴霧するにはイチゴの上方か
ら噴霧するしかなく、そのため葉の裏面には薬液が当た
らない欠点があった。もし従来のハウス内移動ロボット
を用いて葉の裏面に薬液を当てるには、多量の薬液を噴
霧させて土面から跳ね返る薬液で葉の裏面に当てるしか
無かった。また、従来のハウス内移動ロボットは本発明
のようにガイドレール１を走行するものでないので、薬
液などの散布位置がばらつき、薬液などの散布されない
イチゴが生じることがあった。On the other hand, in order to spray a chemical solution from a chemical solution tank mounted on the robot using a conventional mobile robot in a house running between the ridges, it is necessary to spray the strawberry from above the strawberries. Had a drawback that the chemical solution did not hit the back surface. If a chemical solution is applied to the back surface of a leaf using a conventional in-house mobile robot, a large amount of the chemical solution must be sprayed and applied to the back surface of the leaf with a chemical solution that rebounds from the soil surface. Further, since the conventional in-house mobile robot does not travel on the guide rail 1 unlike the present invention, the position where the chemical solution is sprayed may vary, and a strawberry that does not spray the chemical solution may occur.
【００２１】これに対して、本発明のロボットでは葉の
裏面に確実に薬液噴霧することができ、しかもまんべん
なく定量的に、しかも少量散布が可能となり、イチゴの
生育には多大の効果があるだけでなく、従来腰を屈めて
の作業で重労働であったイチゴの栽培の管理・収穫作業
を改善してオペレータは作業用椅子１０に座って全ての
作業を行うことができるようになった。On the other hand, in the robot of the present invention, the chemical solution can be reliably sprayed on the back surface of the leaves, and evenly and quantitatively, and a small amount can be sprayed, which has a great effect on the growth of strawberries. In addition, the strawberry cultivation management and harvesting work, which has conventionally been a heavy labor due to the work of bending down, has been improved, and the operator can sit on the work chair 10 and perform all the work.
【００２２】イチゴの病害虫防除のため、１００リット
ルの薬液タンク７、ガソリンエンジン駆動による動力噴
霧器６を用いて１２頭口の薬液噴霧用のノズル１６から
構成される２畦用薬液散布システムを搭載して、ノズル
１６を畦幅１４０ｃｍの２条植えイチゴに対して、畦
間、中央及び条間側に各２個、計６頭口を使用し、うど
んこ病に対する防除効果について検討した。In order to control strawberry pests, a two-row chemical spraying system comprising a chemical spray tank 7 of 100 liters and a chemical spray nozzle 16 of 12 heads using a power sprayer 6 driven by a gasoline engine is mounted. Then, the nozzle 16 was used for two rows of strawberries planted with a row width of 140 cm, two for the row, the center, and the side between the rows, a total of 6 heads, and the control effect on powdery mildew was examined.
【００２３】自動防除はプログラマブルコントローラを
用い、往路のみ自動走行しながら散布し、復路は動力噴
霧駆動エンジンを停止させて走行させた。供試薬液はト
リフミゾール水和剤３０００倍液で、１９９７年４月１
６、２３、３０日及び５月７日の計４回散布した。発病
調査は上位５複葉について、小葉の裏面の発病（菌叢発
生）程度別（０〜４）に調べ、発病度及び防除価を求め
た。In the automatic control, a programmable controller was used, and spraying was performed while automatically traveling only on the outward route. On the return route, the vehicle was driven with the power spray drive engine stopped. The reagent solution was Triflumizole wettable powder 3000-fold solution.
The spraying was performed four times in total on 6, 23, 30 and May 7. In the disease investigation, the top five compound leaves were examined according to the degree of disease (occurrence of microflora) on the back surface of the leaflet (0 to 4), and the degree of disease and the control value were determined.
【００２４】表１はガントリ及び手散布による散布の小
葉裏面における発病度の推移を無散布の場合と比較した
ものである。ガントリによる防除効果は、無散布区に比
較して顕著であり、対照の手散布によるものと同等の高
い効果であった。ガントリでは均一に散布できるので、
慣行の散布量より少なくしても、高い防除効果が期待で
きると考えられる。そこで、散布量を２００ｍｌ／ｍ2
にして同様の実験を行ったが、この場合の効果は手散布
の３００ｍｌ／ｍ2の場合と同等であった。Table 1 shows the change in the degree of disease on the back surface of the leaflets in the spraying by gantry and manual spraying, compared with the case without spraying. The control effect by the gantry was remarkable as compared with the non-sprayed section, and was as high as that by the control hand spraying. In the gantry, it can be sprayed evenly,
It is considered that a high control effect can be expected even if the application amount is less than the conventional application amount. Therefore, the spray amount was set to 200 ml / m 2
And the same experiment was performed, but the effect in this case was equivalent to the case of 300 ml / m 2 of manual spraying.
【００２５】[0025]
【表１】 また、ガントリ前部（進行方向）に図１に示す椅子１０
と道具設置部１１を装着し、これに乗車して手動で速度
調整しながら株間１５ｃｍの外成りイチゴを摘み取ると
きの作業者の身体負担を調査した。その結果を表２に示
す。この実験では短時間作業（４〜５分間）で収穫個数
も少なかったが（３８〜５６個）、乗車による作業者の
酸素消費量（採集量１００ｇ当たり）は、手取り収穫の
約半分であった。また、乗車では腰部から下肢部にかけ
て表面筋電図の放電量が小さく、作業台車による身体負
担の軽減効果が明らかとなった。[Table 1] The chair 10 shown in FIG.
And the tool installation part 11 was mounted, and while riding on this, manually adjusting the speed, the physical burden of the worker when picking out an external strawberry of 15 cm between the stocks was investigated. Table 2 shows the results. In this experiment, although the number of harvests was small (38 to 56) in a short time (4 to 5 minutes), the oxygen consumption (per 100 g of collected amount) by the rider was about half that of manual harvesting. . In addition, the amount of discharge of the surface electromyogram from the waist to the lower limb during riding was small, and the effect of reducing the physical burden by the work cart became clear.
【００２６】[0026]
【表２】 次に、前述のガントリタイプの走行装置を基本ベースに
して、これに装着するロボットシステム、特に軟弱なイ
チゴ果実を傷つけず、確実に収穫できるロボットハンド
部を有するイチゴ管理収穫ロボットを開発した。[Table 2] Next, based on the above-mentioned gantry-type traveling device as a basic base, a robot system to be mounted on the gantry-type traveling device, in particular, a strawberry management and harvesting robot having a robot hand portion capable of reliably harvesting soft strawberry fruits without damaging them was developed.
【００２７】図３（図３（ａ）は正面図、図３（ｂ）は
側面図）に示すように、イチゴ管理収穫ロボットの走行
フレーム３に沿った水平方向（Ｘ軸方向）と地面に垂直
な方向（Ｚ軸方向）と走行フレーム３に垂直な水平方向
（Ｙ軸方向）に駆動する各軸方向のスライド機構１７
ａ、１７ｂ、１７ｃとそれぞれの駆動モータ１８ａ、１
８ｂ、１８ｃと前記Ｚ軸スライド機構１７ｃにエンドエ
フェクタ１９を設けている。As shown in FIG. 3 (FIG. 3 (a) is a front view, FIG. 3 (b) is a side view), the strawberry management and harvesting robot moves horizontally (X-axis direction) along the traveling frame 3 and on the ground. A sliding mechanism 17 in each axial direction that is driven in a vertical direction (Z-axis direction) and a horizontal direction (Y-axis direction) perpendicular to the traveling frame 3
a, 17b, 17c and respective drive motors 18a, 1
8b and 18c and the Z-axis slide mechanism 17c are provided with an end effector 19.
【００２８】図４（図４（ａ）は正面図、図４（ｂ）は
側面図）には本発明の実施の形態のエンドエフェクタ１
９部分の詳細な側面図を示す。エンドエフェクタ１９の
Ｘ軸スライド機構１７ａの先端にはＣＣＤカメラからな
る視覚センサ２０を設け、視覚センサ２０によりイチゴ
の果実などの認識を行う。またエンドエフェクタ１９の
Ｚ軸スライド機構（上下スライドロッド）１７ｃの下端
部には昇降自在のイチゴ摘み取り用のフック２２と当該
フック２２を中央部に配置した果実受け箱２５が設けら
れている。また、果実受け箱２５の下端部には一対の開
閉シャッタ２５ａが設けられていて、開閉シャッタ２５
ａがフック２２の上下動によって開閉するように構成さ
れている。FIG. 4 (FIG. 4 (a) is a front view, FIG. 4 (b) is a side view) shows an end effector 1 according to an embodiment of the present invention.
9 shows a detailed side view of the nine parts. A visual sensor 20 composed of a CCD camera is provided at the end of the X-axis slide mechanism 17a of the end effector 19, and the visual sensor 20 recognizes a strawberry fruit or the like. At the lower end of the Z-axis slide mechanism (vertical slide rod) 17c of the end effector 19, a strawberry picking hook 22 that can be moved up and down and a fruit receiving box 25 in which the hook 22 is arranged at the center are provided. A pair of opening / closing shutters 25a are provided at the lower end of the fruit receiving box 25.
a is opened and closed by the vertical movement of the hook 22.
【００２９】そして、本実施の形態のエンドエフェクタ
１９は、そのＺ軸スライド機構１７ｃの下端部に設けら
れたイチゴ摘み取り用のフック２２をイチゴの果柄に引
っかけ、上方へ引き上げることにより、果柄が伸びきっ
てフック２２を支点として切断されるように構成したこ
とを特徴とするものである。The end effector 19 according to the present embodiment hooks the strawberry picking hook 22 provided at the lower end of the Z-axis slide mechanism 17c on the strawberry handle, and pulls the strawberry handle upward. Are extended and cut around the hook 22 as a fulcrum.
【００３０】ロボットでイチゴ収穫するには、フィンガ
で細い果梗を摘み、カッタで切断する、吸引しながらも
ぎ取るなどの方法が考えられるが、本発明ではフック２
２による摘み取り機構を採用した。In order to harvest strawberries with a robot, a method of picking a thin stalk with a finger, cutting it with a cutter, or tearing it off with suction can be considered.
A picking mechanism by 2 was adopted.
【００３１】本発明者はイチゴの果実と果柄の境の部分
は引っ張り強度が弱く、フック２２で果柄を引っかけて
Ｚ軸スライド機構１７ｃを上方へ移動すれば、必ずこの
境界部分で切断することができることを見い出し、本発
明を完成させた。The inventor of the present invention has found that the boundary between the strawberry fruit and the peduncle has low tensile strength, and if the pedestal is hooked by the hook 22 and the Z-axis slide mechanism 17c is moved upward, the strawberry is always cut at this boundary. The inventors have found out that they can do this and completed the present invention.
【００３２】エンドエフェクタ１９のＸ軸スライド機構
１７ａの先端に設けた視覚センサ２０で収穫すべき果実
の位置を認識し、当該位置でＺ軸スライド機構１７ｃを
降下させると、果実受け箱２５の下端部の開閉シャッタ
２５ａが開き、摘み取り用フック２２の先端を収穫対象
果実の果柄近傍に移動させ、フック２２が地表面から数
ｍｍの位置に達するまで下方へスライドさせる。次い
で、フック２２を果柄の直下へ水平スライドさせて、フ
ック２２で果柄を引っかけ、Ｚ軸スライド機構１７ｃを
上方へスライドさせると、果柄が伸びきって果実と果柄
の境界部分が切断される。When the position of the fruit to be harvested is recognized by the visual sensor 20 provided at the end of the X-axis slide mechanism 17a of the end effector 19, and the Z-axis slide mechanism 17c is lowered at this position, the lower end of the fruit receiving box 25 The opening / closing shutter 25a of the part is opened, the tip of the picking hook 22 is moved to the vicinity of the fruit handle of the fruit to be harvested, and the hook 22 is slid downward until it reaches a position several mm from the ground surface. Next, the hook 22 is slid horizontally just below the fruit handle, the handle is hooked by the hook 22, and the Z-axis slide mechanism 17c is slid upward. Is done.
【００３３】果実と果柄の境界部分が切断される前には
エンドエフェクタ１９の昇降自在のフック２２を内部に
有する果実受け箱２５の下端部の開閉シャッタ２５ａが
閉じて切断された果実を受けとる。Ｚ軸スライド機構１
７ｃの上下動によってシャッタ２５ａが開閉するように
構成した。この時、果実が果実受け箱２５内に達した後
にシャッタ２５ａが閉まるようにした。Before the boundary between the fruit and the handle is cut, the opening / closing shutter 25a at the lower end of the fruit receiving box 25 having the liftable hook 22 of the end effector 19 therein is closed to receive the cut fruit. . Z axis slide mechanism 1
The shutter 25a is opened and closed by the vertical movement of the shutter 7c. At this time, the shutter 25a was closed after the fruit reached the inside of the fruit receiving box 25.
【００３４】図４（ａ）はＺ軸スライド機構１７ｃを最
上位に配置させたときのエンドエフェクタ１９部分の側
面図、図４（ｂ）はＺ軸スライド機構１７ｃを最下位に
移動させ、さらにフック２２を下げてイチゴの果実部分
を摘み取る動作をしている時のエンドエフェクタ１９部
分の側面図である。また、図５（ａ）はフック２２を上
昇させて果実を摘み取り、果実受け箱２５のシャッタ２
５ａを閉じた状態を示すエンドエフェクタ１９の側面図
であり、図５（ｂ）はＺ軸スライド機構１７ｃをさらに
上昇させて、果実受け箱２５のシャッタ２５ａを開き、
収穫した果実をエンドエフェクタ１９近傍に設けた果実
収納コンベア２７と果実収納かご２８内に移している時
のエンドエフェクタ１９部分の側面図である。FIG. 4A is a side view of the end effector 19 when the Z-axis slide mechanism 17c is arranged at the highest position, and FIG. 4B is a diagram in which the Z-axis slide mechanism 17c is moved to the lowest position. It is a side view of the end effector 19 part at the time of the operation | movement which lowers the hook 22 and picks the fruit part of a strawberry. FIG. 5A shows a state in which the hook 22 is raised to pick up the fruit, and the shutter 2 of the fruit receiving box 25 is moved.
FIG. 5B is a side view of the end effector 19 showing a state in which the end effector 5a is closed, and FIG. 5B further raises the Z-axis slide mechanism 17c to open the shutter 25a of the fruit receiving box 25;
FIG. 9 is a side view of the end effector 19 when the harvested fruit is being transferred into a fruit storage conveyor 27 and a fruit storage basket 28 provided near the end effector 19.
【００３５】次に本実施の形態のイチゴ管理収穫用ロボ
ットの果実の収穫時の動作をフローチャートで示す。ま
ず、メインの動作フローを図６に示す。初期設定の後
に、全マニピレータのサーボ機構を作動状態とさせ、視
覚カメラ２０を畝の中央にくるようにＸ軸スライド機構
１７ａをスライドさせ、図４（ａ）に示すようにＹ軸ス
ライド機構１７ｂは後方端（原点位置）に、Ｚ軸スライ
ド軸１７ｃは上方端（原点位置）に位置させて、画像入
力姿勢（図４（ａ））に入る。Next, the operation of the strawberry management and harvesting robot according to the present embodiment at the time of harvesting fruits will be shown in a flowchart. First, a main operation flow is shown in FIG. After the initial setting, the servo mechanisms of all the manipulators are activated, and the visual camera 20 is slid so that the X-axis slide mechanism 17a is positioned at the center of the ridge. As shown in FIG. Is located at the rear end (origin position) and the Z-axis slide shaft 17c is located at the upper end (origin position), and enters the image input posture (FIG. 4A).
【００３６】次いで、視覚カメラ２０であるカラーＣＣ
Ｄカメラにより画像入力を行い、果実の認識とその位置
を検出する。その詳細は後述する。そして、各関節（Ｘ
軸とＹ軸）の移動量を計算し、Ｘ軸とＹ軸スライド機構
１７ａ、１７ｂを移動させて収穫果実の上方へエンドエ
フェクタ１９を配置する。ついで、果実の収穫ができる
ように果柄の方向へフック２２の引っかけ部が向くよう
にフック２２の方向を修正するためにフック２２のリス
トロール２９（図４（ａ））をモータで水平回転させ
る。Next, the color CC which is the visual camera 20 is used.
Image input is performed by the D camera, and the recognition of the fruit and its position are detected. The details will be described later. Then, each joint (X
The amount of movement of the X-axis and the Y-axis) is calculated, and the end effector 19 is arranged above the harvested fruit by moving the X-axis and Y-axis slide mechanisms 17a and 17b. Then, the wrist roll 29 (FIG. 4 (a)) of the hook 22 is horizontally rotated by a motor in order to correct the direction of the hook 22 so that the hooked portion of the hook 22 faces in the direction of the fruit handle so that the fruits can be harvested. Let it.
【００３７】こうして、Ｚ軸スライド機構１７ｃを降下
させ、エンドエフェクタ１９の先端に設けられた図示し
ない近接センサが畝の地表面から数ｃｍの位置でＯＮに
なると、Ｚ軸スライド機構１７ｃが低速での下降に移行
し、所定量だけ下降した後、停止する。これにより、摘
み取りフック２２の先端は、畝の地表面から数ｍｍの位
置に停止する。その後、摘み取りフック２２はＸ軸、Ｙ
軸スライド機構１７ａ、１７ｂのスライドにより果柄の
下方へ水平移動させる（図４（ｂ））。In this way, when the Z-axis slide mechanism 17c is lowered and the proximity sensor (not shown) provided at the end of the end effector 19 is turned on at a position several cm from the ground surface of the ridge, the Z-axis slide mechanism 17c operates at a low speed. And after stopping by a predetermined amount, it stops. As a result, the tip of the picking hook 22 stops at a position several mm from the ground surface of the ridge. After that, the picking hook 22 is moved to the X axis, Y
The stems are horizontally moved below the stem by sliding the shaft slide mechanisms 17a and 17b (FIG. 4B).
【００３８】そして、摘み取りフック２２を上昇させる
と、果柄がフック２２に引っかかっているので、果柄は
引っ張っられて果実は果実受け箱２５内へ捕捉され、シ
ャッタ２５ａが閉じる。シャッタ２５ａが閉じた直後に
は果柄が切断され、果実が果実受け箱２５内に留まる
（図５（ａ））。When the picking hook 22 is raised, the fruit handle is hooked on the hook 22, so that the fruit handle is pulled, the fruit is captured in the fruit receiving box 25, and the shutter 25a is closed. Immediately after the shutter 25a is closed, the stalk is cut and the fruit remains in the fruit receiving box 25 (FIG. 5 (a)).
【００３９】ついで、Ｚ軸スライド機構１７ｃが最上端
の原点までスライドし、以下果実のリリース動作に入
る。まず、Ｙ軸スライド機構１７ｂを原点復帰させ（図
５（ａ））、Ｚ軸スライド機構１７ｃを下降させる。次
に受け取り箱ストッパ（図示せず）に設けられた図示し
ないリリースポイントスイッチ（近点式スイッチ）がＯ
Ｎになると、果実受け箱ストッパ３１（図４（ｂ））で
果実受け箱２５を固定し、エンドエフェクタ１９がリリ
ースポイントに来たと判断される。つぎに、果実収納コ
ンベア２７をＯＮとして、受け箱２５を固定したままＺ
軸スライド機構１７ｃを設定量下降させ、フック２２を
下降させ、シャッタ２５ａを開く。こうして果実は果実
収納コンベア２７上にリリースされ、果実収納かご２８
内に収まる（図５（ｂ））。Next, the Z-axis slide mechanism 17c slides to the origin at the uppermost end, and the fruit releasing operation starts. First, the Y-axis slide mechanism 17b is returned to the origin (FIG. 5A), and the Z-axis slide mechanism 17c is lowered. Next, a release point switch (near point switch) (not shown) provided on a receiving box stopper (not shown) is turned on.
When N is reached, the fruit receiving box 25 is fixed by the fruit receiving box stopper 31 (FIG. 4B), and it is determined that the end effector 19 has reached the release point. Next, the fruit storage conveyor 27 is turned on, and the receiving box 25 is fixed.
The shaft slide mechanism 17c is lowered by a set amount, the hook 22 is lowered, and the shutter 25a is opened. Thus, the fruits are released on the fruit storage conveyor 27 and the fruit storage basket 28
(FIG. 5B).
【００４０】ここで、視覚センサ２０による果実の認識
方法についてのフローを図７に示す。画像入力がある
と、各画素毎に濃度値（Ｒ）／濃度値（Ｇ）の計算を
し、赤色を強調した演算画像を得る。演算画像は２値化
処理（Ｋ＞設定値）され、赤色部分が抽出される。さら
にノイズクリア処理がされ、面積とフェレ長比を計算す
る。面積が設定範囲内であり、フェレ長比（縦横比）が
１に近い場合は赤く熟した果実と認識される。次に熟果
と認識された画素の周辺画素において、濃度値（Ｇ）／
濃度値（Ｒ）の計算をし、緑を強調した演算画像を得
る。これを２値化処理（Ｋ＞設定値）とノイズクリア処
理して面積とフェレ長比の計算により、面積が設定範囲
内で、フェレ長比が設定値以下の場合はガクと認識され
る。そしてガクの認識位置から果柄の位置は果実の反対
側でガク中央付近にあると推定することができる。FIG. 7 shows a flow of a method of recognizing fruits by the visual sensor 20. When an image is input, a density value (R) / density value (G) is calculated for each pixel to obtain a calculation image in which red is emphasized. The operation image is subjected to a binarization process (K> set value), and a red portion is extracted. Further, noise clear processing is performed, and the area and the Feret length ratio are calculated. When the area is within the set range and the Feret length ratio (aspect ratio) is close to 1, it is recognized as a red ripe fruit. Next, in the peripheral pixels of the pixel recognized as ripe, the density value (G) /
The density value (R) is calculated to obtain a calculation image in which green is emphasized. This is binarized (K> set value) and noise-cleared, and the area and feret length ratio are calculated. If the area is within the set range and the feret length ratio is equal to or less than the set value, it is recognized as a jerk. From the recognition position of gaku, it can be estimated that the position of the fruit handle is near the center of gaku on the opposite side of the fruit.
【００４１】また、黒の部分（果実がなく地表が見えて
いる部分）を抽出するために、Ｒ＋Ｇ＋Ｂ（ガク周辺の
み）処理をして、これを２値化処理（Ｋ＜設定値）をし
た後、黒色部の面積とガクからの距離を計算する。こう
して、設定面積以上で推定された果柄の位置から最も近
い黒色部（地表部分を覆うマルチフィルム）をアプロー
チ位置と判断して前述のようにフック２２をその上方へ
移動させ、水平回転を行う。Further, in order to extract a black portion (a portion where there is no fruit and the ground surface is visible), R + G + B (only around gaku) is processed, and this is binarized (K <set value). Then, the area of the black portion and the distance from the gaku are calculated. In this manner, the black portion (multi-film covering the ground surface portion) closest to the position of the fruit handle estimated above the set area is determined to be the approach position, and the hook 22 is moved upward as described above to perform horizontal rotation. .
【００４２】以上のように、本実施の形態では、イチゴ
収穫ロボットの視覚センサ２０で、ガク近傍に未熟果が
検出された場合、ガク中央から設定面積以上ある最短の
黒色部分を、フック２２の第一アプローチ地点とするよ
うに構成した。前記第一アプローチ地点へフック２２の
先端が地上面数ｍｍの所へ到達すれば、ガク中央方向へ
水平スライドさせ、果柄の直下にフック２２が位置する
ように移動し、果柄を引っかけることができる。As described above, in this embodiment, when the immature fruit is detected in the vicinity of the gaku by the visual sensor 20 of the strawberry harvesting robot, the shortest black portion having a set area or more from the gaku center is replaced with the hook 22. It was configured to be the first approach point. When the tip of the hook 22 reaches the place of a few mm above the ground surface to the first approach point, it is slid horizontally toward the center of the gak, moved so that the hook 22 is located immediately below the fruit handle, and hooked the fruit handle. Can be.
【００４３】黒色部分は畝の地表面を覆っているマルチ
フィルムを示しており、黒色の部分には収穫対象外の果
実も花も存在しないことを示す。したがって、他の果実
等を傷つけることがない。The black portion indicates the multi-film covering the ground surface of the ridge, and the black portion indicates that there are no fruits and flowers that are not to be harvested. Therefore, other fruits and the like are not damaged.
【００４４】また、フック２２の先端を地表面から数ｍ
ｍのところで水平スライドさせることで障害物（未熟果
等）を押しのけながら果柄の直下へ確実に移動すること
ができ、収穫率を向上できる。Further, the tip of the hook 22 is several meters from the ground surface.
By sliding horizontally at m, obstacles (such as immature fruits) can be reliably moved to the position directly below the stem while pushing away, and the yield can be improved.
【００４５】このとき、イチゴ収穫ロボットの視覚セン
サ２０では、果柄の検出は行わず、果実及びガクを検出
し、果柄はガクを挟んで果実と反対側の中央付近に位置
すると判断するよう構成している。At this time, the visual sensor 20 of the strawberry harvesting robot does not detect the fruit pattern, but detects the fruit and gaku, and judges that the fruit pattern is located near the center on the opposite side of the fruit with the gaku interposed therebetween. Make up.
【００４６】その理由は、イチゴの果柄径は平均１．７
ｍｍしかなく、標準的なカメラで画像入力した場合、果
柄の幅は１ピクセルにも満たない場合が多く、果柄の検
出には高画素のカメラを必要とする。The reason is that the stalk diameter of strawberry is 1.7 on average.
mm, when images are input with a standard camera, the width of the fruit pattern is often less than one pixel, and a high pixel camera is required to detect the fruit pattern.
【００４７】果実・ガクは果柄に比べて面積が大きいた
め、標準的なカメラでも認識は容易に行える。果柄はガ
クの上方中央付近に常に存在するため直接果柄を検出し
なくても、果柄の位置検出の概算は行える。また、果柄
の検出アルゴリズムが簡単で、短時間で位置検出ができ
る効果もある。Since fruits and gaku have a larger area than fruit stalks, recognition can be easily performed even with a standard camera. Since the peduncle is always present near the upper center of the gaku, the position of the peduncle can be roughly estimated without directly detecting the peduncle. Moreover, there is an effect that the detection algorithm of the fruit pattern is simple and the position can be detected in a short time.
【００４８】以上のような機構によりイチゴの果実を自
動的に収穫でき、作業性が著しく改善できるだけでな
く、果柄を果実部に残さないため、他の果実を傷つけな
い利点もある。また、切断機構を必要としないので、危
険がなく、切断機構として鋭利な刃部を常に容易してお
く必要が無い。さらにイチゴの果実部を把持しないでイ
チゴの果実のみを切断できることから、果実に損傷がな
い。With the above-described mechanism, the strawberry fruit can be automatically harvested, so that not only the workability can be remarkably improved, but also the fruit handle is not left in the fruit portion, so that other fruits are not damaged. Further, since a cutting mechanism is not required, there is no danger and it is not necessary to always provide a sharp blade as a cutting mechanism. Further, since only the strawberry fruit can be cut without grasping the strawberry fruit portion, the fruit is not damaged.
【００４９】また、果実を把持することなく、果実受け
箱２５内へ誘導でき、果実の損傷がない。さらにＺ軸ス
ライド機構１７ｃの上下運動のみで果柄の支持・切断、
果実受け箱のシャッタ２５ａの開閉を行うことができる
構成であるので、安価なロボットが得られる。Further, the fruit can be guided into the fruit receiving box 25 without grasping the fruit, and the fruit is not damaged. Furthermore, only by the vertical movement of the Z axis slide mechanism 17c, the support and cutting of the fruit
Since the shutter 25a of the fruit receiving box can be opened and closed, an inexpensive robot can be obtained.
【００５０】[0050]
【発明の効果】本発明の果実管理収穫用ロボットによれ
ば、耕うん、施肥、畦立て、定植、病害虫防除、収穫な
どの諸作業が１台ででき、かつ果実を傷つけず、確実に
果実を自動的に収穫ができて、作業性が手作業に比べて
著しく改善される。According to the robot for fruit management and harvesting of the present invention, various operations such as tillage, fertilization, furrowing, planting, pest control and harvesting can be performed by one unit, and the fruit can be surely harvested without damaging the fruit. Automatic harvesting is possible, and workability is significantly improved compared to manual work.
【図１】 本発明の実施の形態のイチゴ管理収穫用ロボ
ットの畝に配置した状態での斜視図である。FIG. 1 is a perspective view of a strawberry management and harvesting robot according to an embodiment of the present invention in a state where it is arranged on a ridge.
【図２】 本発明の実施の形態のイチゴ管理収穫用ロボ
ットの正面図（図２（ａ））と側面図（図２（ｂ））で
ある。FIG. 2 is a front view (FIG. 2A) and a side view (FIG. 2B) of a strawberry management and harvesting robot according to an embodiment of the present invention.
【図３】 本発明の実施の形態のイチゴ管理収穫用ロボ
ットの正面図（図３（ａ））と側面図（図３（ｂ））で
ある。FIG. 3 is a front view (FIG. 3A) and a side view (FIG. 3B) of the strawberry management and harvesting robot according to the embodiment of the present invention.
【図４】 本発明の実施の形態のイチゴ管理収穫用ロボ
ットの正面図（図４（ａ））と側面図（図４（ｂ））で
ある。FIG. 4 is a front view (FIG. 4 (a)) and a side view (FIG. 4 (b)) of the strawberry management and harvesting robot according to the embodiment of the present invention.
【図５】 本発明の実施の形態のイチゴ管理収穫用ロボ
ットの正面図（図５（ａ））と側面図（図５（ｂ））で
ある。FIG. 5 is a front view (FIG. 5 (a)) and a side view (FIG. 5 (b)) of the strawberry management and harvesting robot according to the embodiment of the present invention.
【図６】 本発明の実施の形態のイチゴ管理収穫用ロボ
ットのメインの動作フローチャートである。FIG. 6 is a main operation flowchart of the strawberry management and harvesting robot according to the embodiment of the present invention.
【図７】 本発明の実施の形態のイチゴ管理収穫用ロボ
ットの視覚センサ２０による果実の認識方法についての
フローチャートである。FIG. 7 is a flowchart illustrating a method for recognizing fruits by the visual sensor 20 of the strawberry management and harvesting robot according to the embodiment of the present invention.
１ レール ２ 車輪 ３ 走行フレーム ５ 走行台車 ６ 動力噴霧器 ７ 薬液タン
ク １０ 作業用の椅子 １１ 各種作
業用道具の設置部 １５ パイプ １６ ノズル １７ａ Ｘ軸スライド機構 １７ｂ Ｙ軸
スライド機構 １７ｃ Ｚ軸スライド機構 １８ａ、１８ｂ、１８ｃ 各スライド機構駆動モータ １９ エンドエフェクタ ２０ 視覚セ
ンサ ２２ イチゴ摘み取り用のフック ２５ 果実受
け箱 ２５ａ 開閉シャッタ ２７ 果実収
納コンベア ２８ 果実収納かごDESCRIPTION OF SYMBOLS 1 Rail 2 Wheel 3 Traveling frame 5 Traveling trolley 6 Power sprayer 7 Chemical tank 10 Working chair 11 Installation part of various working tools 15 Pipe 16 Nozzle 17a X-axis slide mechanism 17b Y-axis slide mechanism 17c Z-axis slide mechanism 18a, 18b, 18c Each slide mechanism drive motor 19 End effector 20 Visual sensor 22 Strawberry picking hook 25 Fruit receiving box 25a Opening / closing shutter 27 Fruit storing conveyor 28 Fruit storing basket
───────────────────────────────────────────────────── フロントページの続き Ｆターム(参考） 2B075 AA10 JF01 JF02 JF05 JF06 JF07 2B121 AA11 CB02 CB24 CB33 CB34 CC02 EA12 FA04 3F059 AA09 BA01 BA08 BB05 DB05 DB09 FB12 3F061 AA01 BA02 5B057 AA05 AA15 BA29 DA07 DB02 DB06 DC04 DC09 DC25 ────────────────────────────────────────────────── ─── Continuing on the front page F term (reference) 2B075 AA10 JF01 JF02 JF05 JF06 JF07 2B121 AA11 CB02 CB24 CB33 CB34 CC02 EA12 FA04 3F059 AA09 BA01 BA08 BB05 DB05 DB09 FB12 3F061 AA01 BA02 DC02A05 DCA
Claims (4)
行装置と、該走行装置に設けられる三次元の各座標軸で
あるＸ、Ｙ、Ｚ軸方向への移動が可能なスライド機構
と、該スライド機構に設けられるイチゴの果実の認識と
位置検出を行う視覚センサと、同じく前記スライド機構
に取り付けられたエンドエフェクタと、該エンドエフェ
クタの先端部に設けられる昇降自在の果実収穫用のフッ
クと、該昇降自在のフックを囲んで設けられ、下端部分
に開閉自在のシャッタを備えたことを特徴とする果実管
理収穫用ロボット。1. A gantry-type traveling device that travels across a ridge, a slide mechanism provided on the traveling device that can move in X, Y, and Z-axis directions that are three-dimensional coordinate axes; A visual sensor provided in the mechanism for recognizing and detecting a strawberry fruit, an end effector also attached to the slide mechanism, a vertically movable fruit harvesting hook provided at the end of the end effector, A fruit management and harvesting robot provided around a vertically movable hook and having a shutter which can be opened and closed at a lower end portion.
クを降下させ、該フックにより果柄を引っかけた後、フ
ックを上昇させて、エンドエフェクタの先端部に設けら
れる果実受け箱のシャッタを閉じ、果柄を切断して果実
受け内に果実を離脱させる一連の動作の制御機構を備え
た請求項１記載の果実管理収穫用ロボット。2. A hook is lowered at a position detected by a visual sensor, a hook is hooked by the hook, the hook is raised, and a shutter of a fruit receiving box provided at a tip end portion of the end effector is closed. 2. The fruit management and harvesting robot according to claim 1, further comprising a control mechanism for a series of operations for cutting the peduncle and releasing the fruit into the fruit tray.
走式の走行装置と、該走行装置に薬液噴霧のための薬液
タンクと薬液噴霧設備を載置し、該薬液噴霧設備には作
物とほぼ同一高さに位置して水平方向に噴出する噴霧ノ
ズルを設けたことを特徴とする果実管理収穫用ロボッ
ト。3. A gantry-type self-propelled traveling device that runs across a ridge, and a chemical tank and a chemical spraying device for spraying a chemical solution are mounted on the traveling device. A fruit management and harvesting robot, which is provided with a spray nozzle which is located at substantially the same height and which jets horizontally.
走式の走行装置と、該走行装置に作物の栽培用の各種装
置を載置し、かつ作業車の着席台を設けたことを特徴と
する果実管理収穫用ロボット。4. A gantry-type self-propelled traveling device that runs across a ridge, and various devices for cultivating crops are mounted on the traveling device, and a seat for a work vehicle is provided. Fruit management and harvesting robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP26846898A JP4013351B2 (en) | 1998-09-22 | 1998-09-22 | Fruit harvesting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP26846898A JP4013351B2 (en) | 1998-09-22 | 1998-09-22 | Fruit harvesting robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2000092952A true JP2000092952A (en) | 2000-04-04 |
| JP4013351B2 JP4013351B2 (en) | 2007-11-28 |
Family
ID=17458931
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP26846898A Expired - Fee Related JP4013351B2 (en) | 1998-09-22 | 1998-09-22 | Fruit harvesting robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP4013351B2 (en) |
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| WO2010043740A1 (en) * | 2008-10-16 | 2010-04-22 | Soluciones Roboticas Agricolas Slu | Machine for automatically harvesting fruit cultivated in rows |
| KR101191100B1 (en) | 2012-04-10 | 2012-10-18 | (주)오씨티 | Harvestng end-effector for melon |
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1998
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|---|---|---|---|---|
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| JP2007200309A (en) * | 2005-12-28 | 2007-08-09 | Utsunomiya Univ | Position specification method and apparatus for plant target part, and working robot using the same apparatus |
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