JPH04349815A - Harvesting fruit for fruit tree of hedgerow training - Google Patents
Harvesting fruit for fruit tree of hedgerow trainingInfo
- Publication number
- JPH04349815A JPH04349815A JP12153591A JP12153591A JPH04349815A JP H04349815 A JPH04349815 A JP H04349815A JP 12153591 A JP12153591 A JP 12153591A JP 12153591 A JP12153591 A JP 12153591A JP H04349815 A JPH04349815 A JP H04349815A
- Authority
- JP
- Japan
- Prior art keywords
- fruit
- harvested
- harvesting
- fruits
- hedgerow
- 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.)
- Granted
Links
- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 61
- 238000003306 harvesting Methods 0.000 title claims abstract description 23
- 238000003384 imaging method Methods 0.000 claims description 17
- 238000000034 method Methods 0.000 claims description 6
- 238000009423 ventilation Methods 0.000 description 7
- 238000013459 approach Methods 0.000 description 3
- 241000132456 Haplocarpha Species 0.000 description 2
- 235000012055 fruits and vegetables Nutrition 0.000 description 2
- 208000019300 CLIPPERS Diseases 0.000 description 1
- 208000021930 chronic lymphocytic inflammation with pontine perivascular enhancement responsive to steroids Diseases 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
Landscapes
- Harvesting Machines For Specific Crops (AREA)
- Image Processing (AREA)
Abstract
Description
【０００１】0001
【産業上の利用分野】本発明は、撮像箇所を変更しなが
ら果樹を撮像手段によって撮像すると共に、その撮像手
段の画像情報に基づいて収穫対象果実の位置を特定して
前記収穫対象果実に対する収穫作動を実行する垣根仕立
の果樹用の果実収穫方法に関する。[Industrial Application Field] The present invention images a fruit tree using an imaging means while changing the imaging location, identifies the position of a fruit to be harvested based on the image information of the imaging means, and harvests the fruit to be harvested. The present invention relates to a fruit harvesting method for hedged fruit trees, which performs the operation.
【０００２】0002
【従来の技術】一般的に、果実を収穫すると枝の重量が
軽くなるため残りの果実の位置が変化する可能性がある
。そこで、従来、撮像手段にて１つあるいは複数の撮像
箇所を撮像した際の画像情報に複数の収穫対象果実が検
出されたときには、１つの果実に対する収穫作動を実行
する毎に再度同じ撮像箇所を撮像して、残りの収穫対象
果実の位置を特定するようにしていた。2. Description of the Related Art Generally, when fruits are harvested, the weight of the branches becomes lighter, which may cause the position of the remaining fruits to change. Therefore, conventionally, when multiple fruits to be harvested are detected in the image information obtained when one or more imaged locations are imaged by an imaging means, the same imaged location is re-detected each time a harvesting operation is performed for one fruit. Images were taken to locate the remaining fruits to be harvested.
【０００３】0003
【発明が解決しようとする課題】上記従来技術では、１
つの果実に対する収穫作動を実行する毎に果樹を撮像す
るため、収穫作業に時間がかかり作業効率を高めること
が困難である。本発明の目的は、上記従来欠点を解消し
て、作業効率の高い垣根仕立の果樹用の果実収穫方法を
得る点にある。[Problem to be solved by the invention] In the above conventional technology, 1
Since the fruit tree is imaged each time a fruit is harvested, the harvesting process takes a long time and is difficult to increase work efficiency. An object of the present invention is to eliminate the above-mentioned conventional drawbacks and to provide a method for harvesting fruit for hedged fruit trees with high work efficiency.
【０００４】0004
【課題を解決するための手段】この目的を達成するため
、本発明による垣根仕立の果樹用の果実収穫方法の特徴
は、前記撮像手段にて１つあるいは複数の撮像箇所を撮
像した際の前記画像情報に複数の収穫対象果実が検出さ
れたときには、それらの収穫対象果実すべてに対する収
穫作動を実行した後に前記撮像手段にて別の撮像箇所を
撮像することである。[Means for Solving the Problems] In order to achieve this object, the feature of the fruit harvesting method for hedged fruit trees according to the present invention is that when one or more imaged locations are imaged by the imaging means, When a plurality of fruits to be harvested are detected in the image information, after performing a harvesting operation for all of the fruits to be harvested, the imaging means images another imaging location.
【０００５】[0005]
【作用】垣根仕立の果樹においては、枝が固定されてい
るので果実を収穫しても残りの果実の位置が変化する可
能性が少ない。従って、１つの果実に対する収穫作動を
実行した後に、再度同じ撮像箇所を撮像することなく残
りの果実に対する収穫作動を実行しても確実に果実を収
穫できる。[Operation] In fruit trees built into hedges, the branches are fixed, so even if the fruit is harvested, there is little possibility that the position of the remaining fruit will change. Therefore, after performing the harvesting operation for one fruit, the fruits can be reliably harvested even if the harvesting operation is performed for the remaining fruits without imaging the same imaging location again.
【０００６】[0006]
【発明の効果】前記画像情報に複数の収穫対象果実が検
出されたときに、再度同じ撮像箇所を撮像することなく
それらの収穫対象果実すべてに対する収穫作動を実行で
きるので、作業効率を高めることができる。Effects of the Invention: When a plurality of fruits to be harvested are detected in the image information, the harvesting operation can be performed for all of the fruits to be harvested without having to image the same location again, so that work efficiency can be improved. can.
【０００７】[0007]
【実施例】以下、本発明の実施例を図面に基づいて説明
する。図６に示すように、左右一対の走行車輪１を前後
に備えた車体Ｖに、ブーム２が昇降駆動並びに旋回駆動
自在に取り付けられ、そのブーム２の先端部に、補助ブ
ーム３が水平方向に揺動駆動自在に取り付けられ、そし
て、果実収穫用のハンドＨを備えた作業用マニプレータ
４が、補助ブーム３の先端部に取り付けられている。
尚、図中、５はブーム昇降用油圧シリンダ、６はブーム
旋回用油圧シリンダ、７は補助ブーム揺動用油圧シリン
ダである。Embodiments Hereinafter, embodiments of the present invention will be explained based on the drawings. As shown in FIG. 6, a boom 2 is attached to a vehicle body V equipped with a pair of left and right running wheels 1 at the front and rear so that it can be driven up and down and rotated, and an auxiliary boom 3 is attached to the tip of the boom 2 in a horizontal direction. A working manipulator 4 is attached to the tip of the auxiliary boom 3 so as to be swingable and equipped with a hand H for harvesting fruit. In the figure, 5 is a hydraulic cylinder for lifting and lowering the boom, 6 is a hydraulic cylinder for swinging the boom, and 7 is a hydraulic cylinder for swinging the auxiliary boom.
【０００８】作業用マニプレータ４は、多関節型の伸縮
アーム８と、その伸縮アーム８の先端部に取り付けられ
たハンドＨとからなる。そして、伸縮アーム８は、電動
モータ９ａにて縦軸芯Ｙ周りで旋回操作され、且つ、電
動モータ９ｂにて横軸芯Ｘ周りで揺動操作され、さらに
電動モータ９ｃにて伸縮操作されるように構成されてい
る。The working manipulator 4 consists of a multi-jointed telescopic arm 8 and a hand H attached to the tip of the telescopic arm 8. The telescoping arm 8 is rotated around the vertical axis Y by the electric motor 9a, swung around the horizontal axis X by the electric motor 9b, and extended and retracted by the electric motor 9c. It is configured as follows.
【０００９】ハンドＨについて説明すれば、図４及び図
５に示すように、その先端部に、収穫対象としての果実
Ｆを吸着するためのバキュームパッド１０と、そのバキ
ュームパッド１０の吸引口１０ａに吸着された果実Ｆを
覆うための捕捉部ケース１２と、その捕捉部ケース１２
内に取り込んだ果実Ｆの柄部分を上下方向に挾み込んだ
状態で切断する柄切断装置１３とが設けられている。To explain the hand H, as shown in FIGS. 4 and 5, there is a vacuum pad 10 at its tip for sucking the fruit F to be harvested, and a suction port 10a of the vacuum pad 10. A trapping part case 12 for covering the adsorbed fruit F, and the trapping part case 12
A handle cutting device 13 is provided which cuts the handle part of the fruit F taken into the fruit while holding it in the vertical direction.
【００１０】バキュームパッド１０について説明を加え
ると、バキュームパッド１０は蛇腹状に形成されて、通
気管１１に対して向き変更自在に且つ前方向きに復帰付
勢された状態で取り付けられている。又、先端部の吸引
口１０ａと夫々ワイヤ２２を介して連結された３個のエ
アシリンダ２１と、３個の近接スイッチＳ４とが通気管
１１に取り付けられている。各エアシリンダ２１と近接
スイッチＳ４とは、夫々交互に同一円周上に６０度ごと
に配設されている。又、吸引口１０ａの近接スイッチＳ
４に対向する位置に夫々突起部１０ｂが設けられ、吸引
口１０ａの通気管１１に対する後退移動を各別に検出す
るようになっている。尚、各ワイヤ２２には、バキュー
ムパッド１０を前方に付勢するスプリング１８が介装さ
れている。又、各エアシリンダ２１のロッド２１ａにも
同様にスプリング１９が介装されている。ところで、３
個のエアシリンダ２１を同時に出退させることにより、
吸引口１０ａを前方向きにした状態で通気管１１に対し
て出退させることができる。又、１個或いは２個のエア
シリンダ２１を引退させ、且つ、他のエアシリンダ２１
を伸長させることによりバキュームパッド１０の通気管
１１に対する向きを変更できるようになっている。バキ
ュームパッド１０の内部には、ハンドＨが向いた方向に
位置する果実Ｆを撮像する撮像手段としてのカラー式の
イメージセンサＳ１と、ハンドＨが作業対象果実Ｆに対
して設定距離内に接近したことを検出する赤外光利用の
反射式近接センサＳ２とが設けられている。尚、１５は
イメージセンサＳ１の撮像処理に同期して作業用ハンド
Ｈの前方側を設定光量で照光するための照光装置であっ
て、一般的には、いわゆるストロボ発光装置が用いられ
ることになる。To further explain the vacuum pad 10, the vacuum pad 10 is formed into a bellows shape, and is attached to the ventilation pipe 11 so that its direction can be changed freely and is biased back forward. Further, three air cylinders 21 connected to the suction port 10a at the tip via wires 22, and three proximity switches S4 are attached to the ventilation pipe 11. The air cylinders 21 and the proximity switches S4 are alternately arranged at intervals of 60 degrees on the same circumference. In addition, the proximity switch S of the suction port 10a
A protrusion 10b is provided at a position facing each of the suction ports 10a and 4, respectively, and the backward movement of the suction port 10a with respect to the ventilation pipe 11 is detected separately. Note that each wire 22 is interposed with a spring 18 that urges the vacuum pad 10 forward. Further, a spring 19 is similarly installed in the rod 21a of each air cylinder 21. By the way, 3
By moving the air cylinders 21 in and out at the same time,
It can be moved in and out of the ventilation pipe 11 with the suction port 10a facing forward. Also, one or two air cylinders 21 may be retired, and the other air cylinders 21 may be retired.
The direction of the vacuum pad 10 with respect to the ventilation pipe 11 can be changed by extending it. Inside the vacuum pad 10, there is a color image sensor S1 serving as an image capturing means for capturing an image of the fruit F located in the direction in which the hand H is facing, and a color image sensor S1 as an imaging means for capturing an image of the fruit F located in the direction in which the hand H is facing. A reflective proximity sensor S2 using infrared light is provided to detect this. Reference numeral 15 denotes a lighting device for illuminating the front side of the working hand H with a set amount of light in synchronization with the imaging process of the image sensor S1, and generally a so-called strobe light emitting device is used. .
【００１１】捕捉部ケース１２は、ハンド前後方向にス
ライド移動自在に通気管１１に外嵌支持される基端部分
１２ａと、その先端部に果菜類の導入口ｄが開口してい
る上下左右に４分割されたカバー１２ｂ〜１２ｅとから
なる。上下のカバー１２ｂ、１２ｃは横軸芯回りに、左
右のカバー１２ｄ，１２ｅは縦軸芯回りに夫々背反揺動
自在に基端部分１２ａに取り付けられている。又、各カ
バー１２ｂ〜１２ｅはスプリング１７ａ，１７ｂにより
導入口ｄを狭くする側に付勢されている。つまり、各カ
バー１２ｂ〜１２ｅは、果菜類への押圧力の反作用で導
入口ｄが広がるように外方に変位自在に支持されている
。そして、バキュームパッド１０が果実Ｆを吸着するま
ではアプローチの邪魔にならないようにバキュームパッ
ド１０が導入口ｄを通して外部に突出する捕捉作用位置
に引退させ、且つ、バキュームパッド１９が果実Ｆを吸
着した後は、吸着された果実Ｆを覆うようにバキューム
パッド１０が捕捉部ケース１２内に引退する引退位置に
突出させるようになっている。The catcher case 12 has a proximal end portion 12a that is externally supported by the ventilation pipe 11 so as to be slidable in the front and rear directions of the hand, and a base end portion 12a that is externally supported by the ventilation pipe 11, and upper, lower, left, and right portions that have an inlet d for fruits and vegetables opened at the distal end thereof. It consists of four divided covers 12b to 12e. The upper and lower covers 12b and 12c are attached to the base end portion 12a so as to be swingable about the horizontal axis, and the left and right covers 12d and 12e are swingable about the vertical axis. Further, each of the covers 12b to 12e is biased by springs 17a and 17b toward the side that narrows the introduction port d. That is, each of the covers 12b to 12e is supported so as to be freely displaceable outward so that the inlet d widens due to the reaction of the pressing force on the fruits and vegetables. Then, until the vacuum pad 10 adsorbs the fruit F, the vacuum pad 10 is retired to the capture action position protruding to the outside through the inlet d so as not to interfere with the approach, and the vacuum pad 19 adsorbs the fruit F. Thereafter, the vacuum pad 10 is projected to a retracted position into the trapping part case 12 so as to cover the sucked fruit F.
【００１２】柄切断装置１３は、果実Ｆの柄を切断する
バリカン型の刃体１３ａと、その刃体１３ａに果実Ｆの
柄を下方側から押圧支持する柄支持部材１３ｂとからな
る。The handle cutting device 13 includes a clipper-shaped blade 13a that cuts the handle of the fruit F, and a handle support member 13b that presses and supports the handle of the fruit F from below on the blade 13a.
【００１３】尚、詳述はしないが、ハンドＨには、捕捉
部ケース１２を出退操作するためのアクチュエータや柄
切断装置１３を駆動するためのアクチュエータ等の収穫
作動用の各種空圧式のアクチュエータや、バキュームパ
ッド１０に果実Ｆを吸着したことを検出する負圧センサ
Ｓ３、捕捉部ケース１２の出退位置検出用のセンサ、及
び、柄切断装置１３の駆動状態検出用のセンサ等の各種
センサ類が設けられることになる。Although not described in detail, the hand H is equipped with various pneumatic actuators for harvesting operation, such as an actuator for moving the trap case 12 in and out, and an actuator for driving the handle cutting device 13. , various sensors such as a negative pressure sensor S3 that detects that the fruit F is adsorbed to the vacuum pad 10, a sensor that detects the exit/removal position of the trap case 12, and a sensor that detects the driving state of the handle cutting device 13. A category will be established.
【００１４】次に、垣根仕立の果樹に対する果実収穫を
行うための制御構成について説明する。図１に示すよう
に、マイクロコンピュータ利用の制御装置１６が設けら
れ、その制御装置１６に、前記各センサＳ１，Ｓ２，Ｓ
３，Ｓ４が接続されている。そして、制御装置１６は、
予め設定記憶された情報及び各種の入力情報に基づいて
、車体Ｖの走行、ブーム２の昇降、補助ブーム３の揺動
、及び作業用マニプレータ４の作動を制御するようにな
っている。[0014] Next, a control configuration for harvesting fruit from hedged fruit trees will be explained. As shown in FIG. 1, a control device 16 using a microcomputer is provided, and each of the sensors S1, S2, S
3, S4 is connected. Then, the control device 16
Based on information set and stored in advance and various input information, the traveling of the vehicle body V, the raising and lowering of the boom 2, the swinging of the auxiliary boom 3, and the operation of the work manipulator 4 are controlled.
【００１５】次に、図２及び図３に示すフローチャート
に基づいて制御装置１６の動作を説明する。制御が起動
するに伴って、先づ、初期設定を行う。つまり、ブーム
２を下限位置へ、補助ブーム３を基本位置へ夫々移動さ
せる。ここで基本位置とは、補助ブーム３の方向が車体
前後方向と一致する位置をいう。次に、近接センサＳ２
の情報に基づいて果樹と作業用マニプレータ４との距離
が設定距離となる作業位置まで補助ブーム３を水平揺動
させる。尚、補助ブーム３を揺動させるときには、作業
用ハンドＨは常にその先端を車体外方側に向け、且つ、
車体前後方向と直角を維持するように制御される。作業
位置に達すると、電動モータ９ａにて縦軸芯Ｙ周りで所
定角度づつスキャンさせながら作業用マニプレータ４の
作動による果実の収穫作業を行う。この作業を縦軸芯Ｙ
周りのスキャンが終了するまで繰り返す。以上の動作を
ブーム２を設定量づつ上昇させて上限位置に達するまで
繰り返し行う。ブーム２が上限位置に達すると、所定距
離車体Ｖを走行させる。マニプレータ４の作動について
説明を加えると、図３に示すように、作業用ハンドＨの
仰角θをー１０度から下から上へ上昇させながら１０度
ごとに２０度に達するまで撮像する。そして、それらの
撮像画像情報から明るさに基づいて果実に対するアプロ
ーチ順位を決定し、その順位の高い順にそれらの収穫対
象果実すべてに作業用ハンド７をアプローチさせて収穫
作動を行う。即ち、前記画像情報に複数の収穫対象果実
が検出されたときには、それらの収穫対象果実すべてに
対する収穫作動を実行した後にイメージセンサＳ１にて
別の撮像箇所を撮像することになる。Next, the operation of the control device 16 will be explained based on the flowcharts shown in FIGS. 2 and 3. When the control starts, initial settings are first performed. That is, the boom 2 is moved to the lower limit position, and the auxiliary boom 3 is moved to the basic position. Here, the basic position refers to a position where the direction of the auxiliary boom 3 coincides with the longitudinal direction of the vehicle body. Next, the proximity sensor S2
Based on this information, the auxiliary boom 3 is horizontally swung to a working position where the distance between the fruit tree and the working manipulator 4 is the set distance. Note that when swinging the auxiliary boom 3, the working hand H always points its tip toward the outside of the vehicle body, and
It is controlled to maintain a right angle to the longitudinal direction of the vehicle. When the work position is reached, the fruit harvesting work is performed by operating the work manipulator 4 while scanning at predetermined angles around the vertical axis Y using the electric motor 9a. Perform this work on the vertical axis Y
Repeat until the surrounding area has been scanned. The above operation is repeated by raising the boom 2 by a set amount until it reaches the upper limit position. When the boom 2 reaches the upper limit position, the vehicle body V is caused to travel a predetermined distance. To explain the operation of the manipulator 4, as shown in FIG. 3, images are taken every 10 degrees while raising the elevation angle θ of the working hand H from -10 degrees from bottom to top until it reaches 20 degrees. Then, the approach order for the fruits is determined based on the brightness from the captured image information, and the work hand 7 approaches all of the fruits to be harvested in order of the highest order to perform the harvesting operation. That is, when a plurality of fruits to be harvested are detected in the image information, after performing the harvesting operation for all of the fruits to be harvested, another imaging location is imaged by the image sensor S1.
【００１６】〔別実施例〕上記実施例では、撮像手段と
してイメージセンサＳ１を用いたがテレビカメラを用い
る等、各部の具体構成は各種変更できる。尚、特許請求
の範囲の項に図面との対照を便利にする為に符号を記す
が、該記入により本発明は添付図面の構成に限定される
ものではない。[Another Embodiment] In the above embodiment, the image sensor S1 is used as the imaging means, but the specific configuration of each part can be changed in various ways, such as using a television camera. Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.
【図１】制御構成のブロック図[Figure 1] Block diagram of control configuration
【図２】制御作動のフローチャート[Figure 2] Flowchart of control operation
【図３】制御作動のフローチャート[Figure 3] Flowchart of control operation
【図４】ハンドの要部側面図[Figure 4] Side view of the main parts of the hand
【図５】ハンドの要部平面図[Figure 5] Plan view of main parts of hand
【図６】収穫機の概略側面図[Figure 6] Schematic side view of harvester
Ｓ１ 撮像手段 S1 Imaging means
Claims (1)
段（Ｓ１）によって撮像すると共に、その撮像手段（Ｓ
１）の画像情報に基づいて収穫対象果実の位置を特定し
て前記収穫対象果実に対する収穫作動を実行する垣根仕
立の果樹用の果実収穫方法であって、前記撮像手段（Ｓ
１）にて１つあるいは複数の撮像箇所を撮像した際の前
記画像情報に複数の収穫対象果実が検出されたときには
、それらの収穫対象果実すべてに対する収穫作動を実行
した後に前記撮像手段（Ｓ１）にて別の撮像箇所を撮像
する垣根仕立の果樹用の果実収穫方法。Claim 1: A fruit tree is imaged by an image capturing means (S1) while changing the image capturing location, and the image capturing means (S1) is
1) A fruit harvesting method for a hedged fruit tree, in which a position of a fruit to be harvested is specified based on the image information and a harvesting operation is performed on the fruit to be harvested, wherein the imaging means (S
When a plurality of fruits to be harvested are detected in the image information obtained when one or more imaging locations are imaged in step 1), the imaging means (S1) executes a harvesting operation for all of the fruits to be harvested. A fruit harvesting method for hedged fruit trees in which images are taken at different locations.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3121535A JP2637636B2 (en) | 1991-05-28 | 1991-05-28 | Fruit harvesting method for fence tailored fruit trees |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3121535A JP2637636B2 (en) | 1991-05-28 | 1991-05-28 | Fruit harvesting method for fence tailored fruit trees |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH04349815A true JPH04349815A (en) | 1992-12-04 |
| JP2637636B2 JP2637636B2 (en) | 1997-08-06 |
Family
ID=14813652
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3121535A Expired - Lifetime JP2637636B2 (en) | 1991-05-28 | 1991-05-28 | Fruit harvesting method for fence tailored fruit trees |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2637636B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112115885A (en) * | 2020-09-22 | 2020-12-22 | 中国农业科学院农业信息研究所 | Fruit tree bearing branch shearing point positioning method for picking based on deep convolutional neural network |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6291116A (en) * | 1985-10-17 | 1987-04-25 | 株式会社クボタ | Fruit vegetable harvester |
-
1991
- 1991-05-28 JP JP3121535A patent/JP2637636B2/en not_active Expired - Lifetime
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6291116A (en) * | 1985-10-17 | 1987-04-25 | 株式会社クボタ | Fruit vegetable harvester |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112115885A (en) * | 2020-09-22 | 2020-12-22 | 中国农业科学院农业信息研究所 | Fruit tree bearing branch shearing point positioning method for picking based on deep convolutional neural network |
| CN112115885B (en) * | 2020-09-22 | 2023-08-11 | 中国农业科学院农业信息研究所 | Fruit tree fruiting branch shearing point positioning method based on deep convolutional neural network |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2637636B2 (en) | 1997-08-06 |
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