JP7581115B2 - Harvesting Equipment - Google Patents

Description

This disclosure relates to a harvesting device for harvesting agricultural crops.

There are harvesting devices for harvesting agricultural crops. For example, Patent Document 1 describes a harvesting device that includes a support mechanism for supporting the agricultural crops and a cutting mechanism for cutting a target portion of the agricultural crop.

Patent No. 6749720

The harvesting device described in Patent Document 1 performs the same cutting control regardless of the crop. Therefore, with the harvesting device described in Patent Document 1, for example, there are cases where the target part of the crop is not properly cut or the cutting mechanism is overloaded.

One aspect of the present disclosure provides a harvesting device that can perform cutting control according to the crop.

One aspect of the present disclosure is a harvesting device for harvesting agricultural crops, comprising a cutting blade, a load sensor, and a control unit. The cutting blade is supported so as to be displaceable so as to penetrate a target portion of the agricultural crop. The load sensor is configured to be capable of detecting a load acting from the outside. The control unit is configured to execute cutting control for displacing the cutting blade to cut the target portion when the target portion is in contact with the load sensor. The control unit is also configured to displace the cutting blade based on the load detected by the load sensor.

With this configuration, it is possible to execute cutting control according to the crop.
In one aspect of the present disclosure, the control unit may be configured to stop the cutting blade when an amount of change in the load caused by execution of the cutting control reaches a predetermined cutting failure threshold.

With this configuration, for example, the cutting blade stops if there is a poor cutting of the target area or if the load on the harvesting device becomes too large, preventing damage to the crops or overloading the harvesting device.

An aspect of the present disclosure may further include a first clamping member having a first clamping surface, and a second clamping member having a second clamping surface. A load sensor may be provided on at least one of the first clamping surface and the second clamping surface. The control unit may execute clamping control to displace the second clamping member so that the second clamping surface approaches the first clamping surface based on the load detected by the load sensor, and to clamp the target area with the first clamping surface and the second clamping surface. The control unit may also be configured to execute cutting control in a state in which the target area is clamped with the first clamping surface and the second clamping surface.

According to such a configuration, it is possible to execute clamping control according to the crop, without a separate sensor for grasping the clamping state of the target part.
In one aspect of the present disclosure, the control unit may be configured to stop the second clamping member when the load during execution of the clamping control reaches a predetermined clamping threshold.

With this configuration, it is possible to prevent the target site from being clamped with an excessively large force.
An aspect of the present disclosure may further include a moving member configured to be movable relative to the crop. The first clamping member and the second clamping member may be supported by the moving member. The load sensor may be provided on the first clamping surface. The control unit may be configured to move the moving member so that the first clamping surface approaches the target site, and when the load reaches a predetermined contact threshold, to stop the moving member and execute clamping control.

According to this configuration, the first clamping surface can be disposed at an appropriate position for clamping the target portion without calculating the distance from the first clamping surface to the target portion.
In one aspect of the present disclosure, the control unit may be configured to displace the cutting blade from the first clamping member side to the second clamping member side to cut the target site.

An aspect of the present disclosure may further include a support member. The cutting blade may be supported by the support member such that the cutting edge does not protrude from the support member when cutting control is not being performed.

This configuration helps prevent the cutting edge from getting caught on the crops and damaging them.

FIG. 2 is a schematic diagram showing the appearance of the harvesting device. Figure 2A is a schematic top view of the harvesting head according to the first embodiment with the first clamping surface moving closer to the target site, and Figure 2B is a schematic side view corresponding to Figure 2A. 3A is a schematic top view of the harvesting head with a target site in contact with a first clamping surface, and FIG 3B is a schematic side view corresponding to FIG 3A. FIG. 2 is a schematic top view showing the harvesting head according to the first embodiment in a state in which the second clamping member is being displaced; Fig. 5A is a schematic cross-sectional view showing the harvesting head according to the first embodiment in a state before the second clamping member presses the target part in the state of Fig. 4. Fig. 5B is a schematic cross-sectional view showing the harvesting head according to the first embodiment in a state in which the second clamping member presses the target part in the state of Fig. 4. FIG. 2 is a schematic top view of the harvesting head according to the first embodiment in a state in which the cutting blade is displaced; FIG. 2 is a schematic top view showing the harvesting head according to the first embodiment in a state in which the cutting blade has been displaced to an end position of displacement. FIG. 2 is a block diagram showing the electrical configuration of the harvesting device. 1 is a flowchart showing a harvesting process. Fig. 10A is a graph showing an example of a change in detection load associated with the displacement of the cutting blade, and Fig. 10B is a graph showing another example of a change in detection load associated with the displacement of the cutting blade. 11A and 11B are schematic top views showing the harvesting head according to the second embodiment and the displacement direction of the second clamping member and the cutting blade in the harvesting head according to the second embodiment; FIG. 13 is a schematic top view showing a harvesting head according to a third embodiment.

Hereinafter, exemplary embodiments of the present disclosure will be described with reference to the drawings.
[1. First embodiment]
[1-1. Configuration]
The harvesting device 1 shown in Fig. 1 is used to harvest a crop 90. The crop 90 referred to here refers to, for example, fruit vegetables (eggplant, tomato, strawberry, etc.) and fruits (apples, mandarin oranges, etc.). Specifically, harvesting the crop 90 referred to here means cutting a part of the crop 90 that is continuous with a fruit part 91 and that is suitable for cutting in terms of thinness, hardness, etc., and harvesting the fruit part 91. Hereinafter, the part of the crop 90 that is suitable for cutting is referred to as a target part 92. Examples of the target part 92 include a branch, a stalk, a stalk, etc., of the crop 90.

The harvesting device 1 includes a cart 10, a robotic arm 20, a harvesting head 30, a camera 40, a storage basket 50, and a control unit 60.
The cart 10 is configured to be able to run by driving a plurality of wheels 11 provided on the bottom of the cart 10. A flat top plate 12 is disposed on the top of the cart 10.

The robot arm 20 is placed on the top plate 12 of the cart 10. The robot arm 20 has multiple links 22 connected by multiple joints 21, and the tip member 23 that constitutes the tip of the robot arm 20 is configured to be movable with six degrees of freedom. The tip member 23 corresponds to an example of a moving member. The operation of the robot arm 20 is electrically controlled by the control unit 60.

The harvesting head 30 is attached to the tip member 23. The harvesting head 30 is configured to be able to clamp a target portion 92 of the crop 90 and cut the clamped target portion 92. As shown in FIG. 2A, the harvesting head 30 has a first clamping member 31, a second clamping member 32, a load sensor 33, an elastic member 34, a cutting blade 35, and two guide members 36A and 36B. Although the material of the harvesting head 30 is not limited, in the harvesting head 30 of this embodiment, the elastic member 34 is made of an elastic resin and the other members are made of metal (specifically, stainless steel).

The first clamping member 31 is a generally flat plate-like member. In this embodiment, the first clamping member 31 is a generally rectangular flat plate-like member having a front surface, a back surface, and four side surfaces. The back surface of the first clamping member 31 is fixed to the tip member 23 and is supported by the tip member 23. Hereinafter, the front surface of the first clamping member 31 is referred to as the first clamping surface 311.

The second clamping member 32 is a curved plate-like member. The second clamping member 32 of this embodiment is a curved plate-like member having a substantially rectangular shape. The second clamping member 32 of this embodiment is curved with a predetermined curvature in the longitudinal direction, and has an outer surface and an inner surface (i.e., a convex surface and a concave surface) that constitute the curved shape, as well as four side surfaces. Hereinafter, the concave surface of the second clamping member 32 is referred to as the second clamping surface 321. One end of the second clamping member 32 along the longitudinal direction is connected to one end of the first clamping member 31 along the longitudinal direction. The second clamping member 32 is configured to be rotatable, i.e., displaceable with respect to the first clamping member 31, so as to change the opening degree between the first clamping surface 311 and the second clamping surface 321, with the connecting portion X with the first clamping member 31 as the rotation axis.

The operation of the second clamping member 32 is electrically controlled by the control unit 60. Specifically, the control unit 60 controls the operation of the second clamping member 32 so that the second clamping member 32 rotates between a predetermined open position and a closed position with the connecting portion X as a rotation axis. The open position of the second clamping member 32 is a position of the second clamping member 32 where the opening between the first clamping surface 311 and the second clamping surface 321 is sufficiently large. The open position of the second clamping member 32 in this embodiment is the position of the second clamping member 32 in FIG. 2A. In this embodiment, the state in which the second clamping member 32 is in the open position can also be said to be a state in which most of the first clamping surface 311 is exposed and not covered by the second clamping member 32 when the first clamping member 31 is viewed from the first clamping surface 311 side. The detection surface 331 of the load sensor 33 is also exposed in the same manner. The closed position of the second clamping member 32 is a position of the second clamping member 32 where the opening between the first clamping surface 311 and the second clamping surface 321 is sufficiently small. The closed position of the second clamping member 32 may be a position of the second clamping member 32 where the first clamping surface 311 and the second clamping surface 321 are in contact with each other.

The load sensor 33 is configured to be able to detect a load acting from the outside. In this embodiment, the load sensor 33 is provided on the first clamping surface 311 of the first clamping member 31 as shown in FIG. 2A and FIG. 5A. Specifically, the load sensor 33 is provided so as to protrude from the center of the first clamping surface 311. In other words, the load sensor 33 in a state where no load is acting from the outside has a predetermined height H1 based on the first clamping surface 311. This height H1 can also be said to be the height H1 from the first clamping surface 311 to the detection surface 331 of the load sensor 33 in a state where no load is acting from the outside on the load sensor 33. When the detection surface 331 is pressed from the outside toward the first clamping surface 311 as shown in FIG. 5B, the load sensor 33 detects a load according to the amount of pressing of the detection surface 331.

The elastic member 34 is a plate-like member arranged to surround the load sensor 33 when viewed from the detection surface 331 side of the load sensor 33. In this embodiment, since the load sensor 33 is provided on the first clamping surface 311, the elastic member 34 is also provided on the first clamping surface 311 so as to surround the load sensor 33. Hereinafter, the surface of the elastic member 34 opposite the first clamping surface 311 side is referred to as the abutment surface 341.

As shown in FIG. 2A, the thickness of the elastic member 34, i.e., the height H2 of the elastic member 34 based on the first clamping surface 311, is lower than the height H1 of the load sensor 33 described above. The height H2 of the elastic member 34 based on the first clamping surface 311 can also be said to be the height H2 from the first clamping surface 311 to the abutment surface 341. The difference ΔH (= H1 - H2) between the height H1 of the load sensor 33 and the height H2 of the elastic member 34 when no external load is applied is designed to be the amount of depression of the detection surface 331 corresponding to the clamping threshold F2 described later.

The cutting blade 35 is a member for cutting the target portion 92 of the crop 90. The cutting blade 35 is arranged along the side surface 312 of the first clamping member 31. The side surface 312 of the first clamping member 31 refers to one of the two side surfaces along the longitudinal direction of the first clamping member 31. When the cutting blade 35 is arranged along the side surface 312 of the first clamping member 31, the cutting edge 351 of the cutting blade 35 faces the first clamping surface 311.

The position of the cutting blade 35 when it is arranged along the side surface 312 of the first clamping member 31, i.e., the position of the cutting blade 35 shown in FIG. 2A, is hereinafter referred to as the reference position of the cutting blade 35. The reference position of the cutting blade 35 is also a position where the cutting edge 351 of the cutting blade 35 does not protrude from the first clamping member 31. Furthermore, in this embodiment, the reference position of the cutting blade 35 is also a position where the outer edge of the cutting blade 35 is included in the outer edge of the side surface 312 when viewed perpendicularly to the side surface 312 of the first clamping member 31. The cutting blade 35 of this embodiment is designed so that its size in a plan view is smaller than the side surface 312 of the first clamping member 31.

One end of the cutting blade 35 along the longitudinal direction is connected to one end of the side surface 312 of the first clamping member 31 along the longitudinal direction. In this embodiment, one end of the cutting blade 35 is connected to the end of the side surface 312 of the first clamping member 31 opposite the connection portion X side of the first clamping member 31 and the second clamping member 32. The cutting blade 35 is supported by the first clamping member 31 by being connected to the side surface 312 of the first clamping member 31. In other words, the first clamping member 31 also functions as a support member for supporting the cutting blade 35. The cutting blade 35 is configured to be rotatable around the connection portion Y with the first clamping member 31 as a rotation axis, that is, to be displaceable relative to the first clamping member 31. The operation of the cutting blade 35 is electrically controlled by the control unit 60.

The two guide members 36A and 36B are rod-shaped members having an approximately L-shape. The two guide members 36A and 36B are attached to the side surface 313 of the first clamping member 31 so as to extend into the space facing the first clamping surface 311. The side surface 313 of the first clamping member 31 refers to the side surface opposite to the side surface 312 to which the cutting blade 35 is connected, among the two side surfaces along the longitudinal direction of the first clamping member 31, as shown in FIG. 5A. The two guide members 36A and 36B are attached to the side surface 313 of the first clamping member 31 with a predetermined interval in the longitudinal direction of the first clamping surface 311, as shown in FIG. 2A. When viewed perpendicularly to the side surface 313 of the first clamping member 31, that is, when viewed in the direction of FIG. 2A, at least a part (all of the detection surface 331 in this embodiment) of the load sensor 33 is located between the two guide members 36A and 36B. The distance between the two guide members 36A, 36B is designed to be larger than the diameter of the target portion 92 of the crop 90. When the distance between the two guide members 36A, 36B is not constant, as in this embodiment, the distance at each point is designed to be larger than the diameter of the target portion 92.

Returning to FIG. 1, the camera 40 is attached to the tip member 23 of the robot arm 20 or in its vicinity. The camera 40 is configured to be able to capture an image in front of the tip member 23, i.e., the harvesting head 30 side of the tip member 23. The image captured by the camera 40 is transmitted to an external terminal by a communication unit (not shown). The operator of the harvesting device 1 selects the fruit part 91 to be harvested based on the captured image displayed on the external terminal.

The storage basket 50 is a member for storing the fruit portion 91 of the agricultural product 90. In this embodiment, the storage basket 50 is a box-shaped member that is open at the top. The storage basket 50 is placed on the top plate 12 of the cart 10.

As shown in FIG. 8, the control unit 60 is mainly composed of a well-known microcomputer having a CPU 61 and a semiconductor memory 62 such as ROM and RAM. The control unit 60 electrically controls the operation of the robot arm 20, the second clamping member 32, and the cutting blade 35 based on the load detected by the load sensor 33. Each function of the control unit 60 is realized by the CPU 61 executing a program stored in the semiconductor memory 62. Furthermore, by executing this program, a method corresponding to the program is performed. The control unit 60 may include one microcomputer or multiple microcomputers.

[1-2. Processing]
The harvesting process executed by the control unit 60 to harvest the agricultural products 90 will be described with reference to Fig. 9. The harvesting process is executed when the fruit part 91 to be harvested is selected by the operator of the harvesting device 1. When the harvesting process is executed, the second clamping member 32 is in the open position described above, and the cutting blade 35 is in the reference position described above.

First, in S101, the control unit 60 adjusts the orientation of the tip member 23 so that the cutting blade 35 is positioned on the upper side of the harvesting head 30, i.e., so that the side surface 312 of the first clamping member 31 faces upward, as shown in Figures 2A and 2B. Then, the control unit 60 moves the tip member 23 so that the first clamping surface 311 approaches the target part 92 that is continuous with the selected fruit part 91.

Next, in S102, the control unit 60 determines whether the load F detected by the load sensor 33 (hereinafter referred to as the detection load F) has reached a predetermined contact threshold F1. In other words, the control unit 60 determines whether the detection load F is equal to or greater than the contact threshold F1. The contact threshold F1 is set to a load that can detect the contact of the target part 92 with the detection surface 331 of the load sensor 33.

If it is determined in S102 that the detection load F has not reached the contact threshold F1, in other words, that the detection load F is less than the contact threshold F1, the control unit 60 returns the process to S101. In other words, the control unit 60 continues to move the tip member 23.

On the other hand, if it is determined in S102 that the detection load F has reached the contact threshold F1, in other words, if it is determined that the detection load F is equal to or greater than the contact threshold F1, the control unit 60 stops the tip member 23 in S103. When it is determined in S102 that the detection load F has reached the contact threshold F1 and the tip member 23 is stopped in S103, the target part 92 is in contact with the detection surface 331 of the load sensor 33 as shown in Figures 3A and 3B.

9, the control unit 60 displaces the second clamping member 32 so that the second clamping surface 321 approaches the first clamping surface 311, as shown in FIG. 4. In other words, the control unit 60 rotates the second clamping member 32, which is in the open position, toward the closed position, with the connecting portion X as the rotation axis. As the control unit 60 displaces the second clamping member 32 in this manner, the second clamping surface 321 comes into contact with the target area 92 midway. Then, the second clamping surface 321 presses the target area 92 toward the first clamping surface 311, so that the target area 92 is clamped by the first clamping surface 311 and the second clamping surface 321. That is, in S104, the control unit 60 executes clamping control to displace the second clamping member 32 so that the second clamping surface 321 approaches the first clamping surface 311, and clamp the target portion 92 between the first clamping surface 311 and the second clamping surface 321. Note that clamping the target portion 92 between the first clamping surface 311 and the second clamping surface 321 here includes clamping the target portion 92 between the first clamping surface 311 and the second clamping surface 321 themselves, as well as clamping the target portion 92 between a member provided on the first clamping surface 311 or the second clamping surface 321. In this embodiment, the target portion 92 is clamped by the load sensor 33 and the elastic member 34 provided on the first clamping surface 311 and the second clamping surface 321.

As described above, when the clamping control is executed, the target portion 92 is in contact with the detection surface 331 of the load sensor 33 provided on the first clamping surface 311. Therefore, as shown in Figures 5A and 5B, when the second clamping surface 321 presses the target portion 92 toward the first clamping surface 311 in S104, the target portion 92 presses the detection surface 331 of the load sensor 33. That is, in S104, the detection load F increases with the displacement of the second clamping member 32.

9, the control unit 60 determines whether the detection load F has reached a predetermined clamping threshold F2. In other words, the control unit 60 determines whether the detection load F is equal to or greater than the clamping threshold F2. The clamping threshold F2 is set to a load capable of supporting the fruit part 91 through the clamped target part 92 while clamping the target part 92 without excessively pressing the target part 92. The mass of the fruit part 91 and the properties of the target part 92 that affect the clamping threshold F2 differ depending on the type of crop 90, the growth state, etc. In other words, the clamping threshold F2 is set according to the type of crop 90, etc. In this embodiment, the clamping threshold F2 is set to a load capable of supporting a fruit part 91 with a mass equivalent to 1.5 to 2 times the maximum mass of the fruit part 91 expected from the type of crop 90.

If it is determined in S105 that the detection load F has not reached the clamping threshold F2, in other words, that the detection load F is less than the clamping load F2, the control unit 60 returns the process to S104. In other words, the control unit 60 continues to displace the second clamping member 32.

On the other hand, if it is determined in S105 that the detection load F has reached the clamping threshold F2, in other words, that the detection load F is equal to or greater than the clamping threshold F2, the control unit 60 stops the second clamping member 32 in S106.

10A and 10B show examples in which it is determined that the detection load F has reached the clamping threshold F2 at time ta1 and time tb1, respectively, and the second clamping member 32 is stopped. Until time ta1 and time tb1, the detection load F increases with the displacement of the second clamping member 32, but when the second clamping member 32 stops at time ta1 and time tb1, respectively, the detection load F does not increase from that point on and remains roughly constant.

As described above, in this embodiment, the difference ΔH between the height H1 of the load sensor 33 and the height H2 of the elastic member 34 when no external load is applied is designed to be the amount of depression of the detection surface 331 corresponding to the clamping threshold F2. Therefore, when it is determined in S105 that the detection load F has reached the clamping threshold F2 and the second clamping member 32 is stopped in S106, the detection surface 331 of the load sensor 33 is approximately flush with the contact surface 341 of the elastic member 34 as shown in Figures 4 and 5B.

Subsequently, in S107 shown in FIG.
Next, in S108, the control unit 60 executes cutting control to displace the cutting blade 35 from the reference position so as to penetrate the target portion 92 in a state where it is clamped by the first clamping surface 311 and the second clamping surface 321, and cut the target portion 92, as shown in Fig. 6. In this embodiment, when the cutting blade 35 is in the reference position, the blade tip 351 of the cutting blade 35 faces the first clamping surface 311 side, i.e., the second clamping member 32 side in a state where the target portion 92 is clamped. Therefore, the control unit 60 displaces the cutting blade 35 from the first clamping member 31 side to the second clamping member 32 side as cutting control.

As described below, the control unit 60 displaces the cutting blade 35 from a reference position to a displacement end position as cutting control. The displacement end position is set to a position where at least the blade tip 351 of the cutting blade 35 that has penetrated the target area 92 has passed through the target area 92. In this embodiment, the displacement end position is set to a position where the entire cutting blade 35 that has penetrated the target area 92 has passed through the target area 92, specifically, a position where the cutting blade 35 has rotated approximately 90 degrees from the initial position with the connecting portion Y as the rotation axis. Figure 7 shows the state where the cutting blade 35 has been displaced to this displacement end position.

9, the control unit 60 determines whether the load change amount ΔF, which is the change amount of the detected load F accompanying the execution of the cutting control, has reached a predetermined cutting failure threshold ΔF3. In other words, the control unit 60 determines whether the load change amount ΔF is equal to or greater than the cutting failure threshold ΔF3. The load change amount ΔF is specifically the change amount of the detected load F from the time when the displacement of the cutting blade 35 is started in S108. The load change amount ΔF is expressed as an absolute value. The cutting failure threshold ΔF3 is set based on, for example, the load normally required to cut the target portion 92. The load differs depending on the type of the agricultural product 90, etc. In other words, the cutting failure threshold ΔF3 is set according to the type of the agricultural product 90, etc. In this embodiment, the cutting failure threshold ΔF3 is set to a load that is to a certain extent greater than the load normally required to cut the target portion 92.

If it is determined in S109 that the load change amount ΔF has not reached the cutting failure threshold ΔF3, in other words, that the load change amount ΔF is less than the cutting failure threshold ΔF3, the control unit 60 determines in S110 whether the cutting blade 35 has reached the displacement end position. In other words, the control unit 60 determines whether the cutting blade 35 has been displaced to the displacement end position.

When it is determined in S110 that the cutting blade 35 has not reached the displacement end position, the control unit 60 returns the process to S108.
On the other hand, when it is determined in S110 that the cutting blade 35 has reached the displacement end position, the control unit 60 returns the cutting blade 35 to the reference position in S111. Specifically, the control unit 60 rotates the cutting blade 35 about the connecting portion Y as the rotation axis in the opposite direction to the rotation direction in the cutting control, i.e., rotates the cutting blade 35 in the opposite direction to the cutting control, and returns the cutting blade 35 to the reference position.

In the example shown in FIG. 10A, the cutting of the target portion 92 by the cutting blade 35 is completed at time ta3, and it is determined that the cutting blade 35 has reached the displacement end position at time ta4. Completion of the cutting of the target portion 92 refers to the cutting edge 351 of the cutting blade 35 having passed the target portion 92. Once the cutting of the target portion 92 is completed, the detection load F returns to the same load as when the displacement of the cutting blade 35 began in S109. Furthermore, once the cutting of the target portion 92 is completed, the target portion 92 is cut along the cutting line L shown in FIG. 5B.

When the cutting blade 35 has been returned to the reference position in S111, the control unit 60 ends this process as shown in FIG. 9. The control unit 60 then moves the tip member 23 onto the storage basket 50 and displaces the second clamping member 32 so that the second clamping surface 321 moves away from the first clamping surface 311, thereby releasing the state in which the target part 92 is clamped by the first clamping surface 311 and the second clamping surface 321. As a result, the fruit part 91 is stored in the storage basket 50.

Furthermore, if it is determined in S109 that the load change amount ΔF has reached the defective cutting threshold ΔF3, in other words, if it is determined that the load change amount ΔF is equal to or greater than the defective cutting threshold ΔF3, the control unit 60 stops the cutting blade 35 in S112. In other words, the control unit 60 interrupts cutting control. In the example shown in FIG. 10B, the displacement of the cutting blade 35 starts at time tb2, and the load change amount ΔF is determined to have reached the defective cutting threshold ΔF3 at time tb3, and the cutting blade 35 is stopped.

Next, in S113 shown in FIG. 9, the control unit 60 returns the cutting blade 35 to the reference position. Specifically, the control unit 60 rotates the cutting blade 35 around the connecting portion Y as the rotation axis in the opposite direction to the cutting control, and returns the cutting blade 35 to the reference position. When the cutting blade 35 is returned to the reference position, the detection load F returns to the same load as when the displacement of the cutting blade 35 started in S109.

Next, in S114, it is determined whether the value of the counter N has reached a predetermined number of iterations Ns, in other words, whether the value of the counter N is equal to or greater than the number of iterations Ns. The number of iterations Ns indicates the number of times the cutting control is repeated, and can be set to any positive number. In this embodiment, as an example, the value of the number of iterations Ns is set to 5.

If it is determined in S114 that the value of the counter N has not reached the number of iterations Ns, in other words, that the value of the counter N is less than the number of iterations Ns, the control unit 60 increments the value of the counter N by one in S115. Then, the control unit 60 returns the process to S108.

On the other hand, if it is determined in S112 that the value of the counter N has reached the number of iterations Ns, in other words that the value of the counter N is equal to or greater than the number of iterations Ns, or in other words that the target portion 92 cannot be cut even after repeating the cutting control for the number of iterations Ns, the control unit 60 ends this process. Then, the control unit 60 displaces the second clamping member 32 so that the second clamping surface 321 moves away from the first clamping surface 311, and the state in which the target portion 92 is clamped by the first clamping surface 311 and the second clamping surface 321 is eliminated.

[1-3. Effects]
According to the first embodiment described above in detail, the following effects can be obtained.
(1a) The harvesting device 1 is configured to execute cutting control in a state in which the target site 92 is in contact with the load sensor 33. The harvesting device 1 is configured to displace the cutting blade 35 based on the detected load F.

Since the detection load F may differ depending on the cutting state of the target portion 92 , the above-described configuration makes it possible to execute cutting control according to each individual crop 90 .
(1b) The harvesting device 1 is configured to stop the cutting blade 35 when the load change amount ΔF reaches the defective cutting threshold value ΔF3.

With this configuration, for example, if there is a poor cutting of the target area 92 or if the load on the harvesting device 1 becomes too large, the cutting blade 35 is stopped, thereby preventing damage to the crop 90 or overloading the harvesting device 1.

(1c) In the harvesting device 1, the load sensor 33 is provided on the first clamping surface 311. The harvesting device 1 is configured to execute clamping control based on the detected load F, and execute cutting control when the target portion 92 is clamped by the first clamping surface 311 and the second clamping surface 321.

With this configuration, both the clamping state and the cutting state of the target portion 92 can be grasped by a single load sensor 33. In other words, it is possible to execute clamping control according to each individual crop 90 without providing a separate sensor for grasping the clamping state of the target portion 92.

(1d) The harvesting device 1 is configured to stop the second clamping member 32 when the detected load F during clamping control reaches the clamping threshold F2.
This configuration can prevent target portion 92 from being gripped with an excessively large force, thereby making it possible to prevent crop 90 from being damaged.

(1e) The harvesting device 1 is configured to move the tip member 23 so that the first clamping surface 311 approaches the target area 92, and when the detection load F reaches the contact threshold F1, to stop the tip member 23 and execute clamping control.

With this configuration, the first clamping surface 311 can be positioned at an appropriate position to clamp the target area 92 without having to calculate the distance from the first clamping surface 311 to the target area 92.

(1f) In the harvesting device 1, the cutting blade 35 is supported by the first clamping member 31 so that the blade tip 351 does not protrude from the first clamping member 31 when cutting control is not being executed.
With this configuration, it is possible to prevent the cutting edge 351 from getting caught on the crop 90 and damaging the crop 90.

(1g) In the harvesting device 1, the elastic member 34 is arranged so as to surround the load sensor 33 when viewed from the detection surface 331 side of the load sensor 33. The elastic member 34 has elasticity. When it is determined that the detection load F has reached the clamping threshold F2 and the second clamping member 32 is stopped, the target site 92 is clamped by the load sensor 33 and elastic member 34 provided on the first clamping surface 311 and the second clamping surface 321.

This configuration can reduce the load on the load sensor 33 when clamping the target area 92, compared to a configuration that does not have the elastic member 34 and clamps the target area 92 between the load sensor 33 and the second clamping surface 321. In addition, because the elastic member 34 has elasticity, it can prevent the target area 92 from shifting position while being clamped. Furthermore, it can also prevent the target area 92 from being injured by clamping.

[2. Second embodiment]
[2-1. Configuration]
The second embodiment has a basic configuration similar to that of the first embodiment, and therefore differences between the first embodiment and the second embodiment will be described below. Note that the same reference numerals as those in the first embodiment indicate the same configuration, and the preceding description will be referred to.

The harvesting device according to the second embodiment is equipped with a harvesting head 30A shown in FIG. 11A instead of the harvesting head 30 described above. The harvesting head 30A is basically configured similarly to the harvesting head 30 of the first embodiment. However, in the harvesting head 30 of the first embodiment, the second clamping member 32 is connected to one end along the longitudinal direction of the side surface 312 of the first clamping member 31, and the cutting blade 35 is connected to the other end, whereas in the harvesting head 30A, both the second clamping member 32 and the cutting blade 35 are connected to one end along the longitudinal direction of the side surface 312 of the first clamping member 31. In this embodiment, one end along the longitudinal direction of the second clamping member 32 is also connected to the connection part Y between the first clamping member 31 and the cutting blade 35 described above. That is, the second clamping member 32 and the cutting blade 35 are configured to be rotatable around the same connection part Y as a rotation axis, as shown in FIG. 11B. In FIG. 11B, the open position of the second clamping member 32 and the reference position of the cutting blade 35 are shown by dashed lines.

[2-2. Processing]
The harvesting process executed by the control unit 60 in the second embodiment is basically the same as that in the first embodiment. However, in the above-mentioned S104, as the clamping process, the control unit 60 rotates the second clamping member 32, which is in the open position, toward the closed position, around the coupling part Y, not the coupling part X, as the rotation axis.

[2-3. Effects]
According to the second embodiment described above in detail, the same effects as those of the first embodiment described above are achieved, and further, the following effects are achieved.

In the harvesting device according to the second embodiment, both the second clamping member 32 and the cutting blade 35 are configured to be rotatable around the connecting portion Y as a rotation axis. This harvesting device is configured to displace the second clamping member 32 in a direction approaching the first clamping member 31 around the connecting portion Y as a rotation axis for clamping control. This harvesting device is also configured to displace the cutting blade 35 from the first clamping member 31 side to the second clamping member 32 side around the connecting portion Y as a rotation axis for cutting control.

With this configuration, as shown in FIG. 11B, the displacement direction S1 of the second clamping member 32 in clamping control and the displacement direction S2 of the cutting blade 35 in cutting control tend to be in opposing directions. In other words, the tangential direction of rotation of the second clamping member 32 in clamping control and the tangential direction of rotation of the cutting blade 35 in cutting control tend to be in opposing directions. This makes it possible to improve the cutting ability of the cutting blade 35 on the target area 92 in the clamped state.

[3. Third embodiment]
[3-1. Configuration]
The third embodiment has a basic configuration similar to that of the first embodiment, and therefore differences between the first and second embodiments will be described below. Note that the same reference numerals as those in the first embodiment indicate the same configurations, and the preceding description will be referred to.

The harvesting device according to the third embodiment is equipped with a harvesting head 30B shown in FIG. 12 instead of the harvesting head 30 described above. The harvesting head 30B is basically configured similarly to the harvesting head 30 of the first embodiment. However, the harvesting head 30B is equipped with a third clamping member 37 in addition to the first clamping member 31 and the second clamping member 32 as members for clamping the target part 92.

The third clamping member 37 is a member of approximately the same shape and size as the second clamping member 32. Hereinafter, the concave surface of the third clamping member 37 is referred to as the third clamping surface 371. One end of the third clamping member 37 along the longitudinal direction is connected to one of the two ends along the longitudinal direction on the side surface 312 of the first clamping member 31, the end opposite the connecting portion X side between the first clamping member 31 and the second clamping member 32. That is, one end of the third clamping member 37 is connected to the end on the same side as the connecting portion Y side between the first clamping member 31 and the cutting blade 35 on the side surface 312 of the first clamping member 31. In this embodiment, the third clamping member 37 is connected to the connecting portion Y. The third clamping member 37 is configured to be rotatable, i.e., displaceable, with respect to the first clamping member 31, so as to change the opening between the first clamping surface 311 and the third clamping surface 371, with the connecting portion Y serving as the rotation axis.

The operation of the third clamping member 37 is electrically controlled by the control unit 60. Specifically, the control unit 60 controls the operation of the third clamping member 37 so that the third clamping member 37 rotates between a predetermined open position and a closed position with the connecting portion Y as the rotation axis. The open position and closed position of the third clamping member 37 are synonymous with the open position and closed position of the second clamping member 32 described above, respectively. Note that in FIG. 12, the open positions of the second clamping member 32 and the third clamping member 37 are indicated by dashed lines.

[3-2. Processing]
The harvesting process executed by the control unit 60 in the third embodiment is basically the same as that in the first embodiment. However, in the above-mentioned S104, as the clamping process, the control unit 60 rotates the second clamping member 32 located in the open position toward the closed position around the connecting portion X as the rotation axis, and also rotates the third clamping member 37 located in the open position toward the closed position around the connecting portion Y as the rotation axis. As a result, the target site 92 is clamped by the first clamping surface 311, the second clamping surface 321, and the third clamping surface 371.

The second clamping member 32 and the third clamping member 37 may be arranged so that the second clamping surface 321 and the third clamping surface 371 are in contact with the target area 92, respectively, or so that the second clamping surface 321 is in contact with the target area 92 and the third clamping surface 371 is in contact with the convex surface of the second clamping member 32, or so that the third clamping surface 371 is in contact with the target area 92 and the second clamping surface 321 is in contact with the convex surface of the third clamping member 37.

[3-3. Effects]
According to the third embodiment described above in detail, the same effects as those of the first embodiment described above are achieved, and further, the following effects are achieved.

In the harvesting device according to the third embodiment, the harvesting head 30B includes a third clamping member 37 in addition to the first clamping member 31 and the second clamping member 32. This harvesting device is configured to clamp the target area 92 using the first clamping member 31, the second clamping member 32, and the third clamping member 37 as clamping control.

With this configuration, the position of the target area 92 in the clamped state is less likely to shift compared to a configuration in which the target area 92 is clamped by the first clamping member 31 and the second clamping member 32. This also makes it possible to improve the responsiveness of the load sensor 33.

4. Other embodiments
Although the embodiments of the present disclosure have been described above, it goes without saying that the present disclosure is not limited to the above-described embodiments and can take various forms.

(4a) In the above embodiment, the control unit 60 ends the harvesting process if the target part 92 cannot be cut even after repeating the cutting control the number of repetitions Ns. However, as described above, the number of repetitions Ns can be set to any positive number, so for example, the value of the number of repetitions Ns may be set to 1, and the harvesting process may be ended if the target part 92 cannot be cut in one cutting control. In other words, the cutting control may not be repeated. Also, the number of repetitions Ns does not necessarily have to be set, and for example, the cutting control may be repeated until cutting of the target part 92 is completed.

(4b) In the above embodiment, the control unit 60 suspends the cutting control when it determines that the load change amount ΔF has reached the cutting failure threshold ΔF3. Since the cutting failure threshold ΔF3 in the above embodiment is set to a load that is somewhat larger than the load normally required to cut the target portion 92, the control unit 60 can also be said to suspend the cutting control when a cutting failure occurs in the target portion 92. However, the reason why the control unit 60 suspends the cutting control is not limited to a cutting failure in the target portion 92. For example, a load that does not normally complete the cutting of the target portion 92 may be set as the threshold, and the property (e.g., hardness, etc.) of the target portion 92 may be determined from the displacement amount of the cutting blade 35 until the load change amount ΔF reaches the threshold as the first cutting control. Then, the operating conditions of the cutting blade 35 in the second and subsequent cutting controls may be determined based on the determined property of the target portion 92.

(4c) In the above embodiment, the control unit 60 is configured to perform cutting control by displacing the cutting blade 35 from the first clamping member 31 side to the second clamping member 32 side to cut the target portion 92, but the displacement direction of the cutting blade 35 is not particularly limited. For example, the control unit 60 may be configured to perform cutting control by rotating the cutting blade 35 in the opposite direction to the above embodiment to cut the target portion 92 from the second clamping member 32 side to the first clamping member 31 side.

As in the above embodiment, when the control unit 60 displaces the cutting blade 35 in a direction away from the load sensor 33 as cutting control, the detection load F decreases with the displacement of the cutting blade 35, but when the control unit 60 rotates the cutting blade 35 in the opposite direction to the above embodiment, i.e., when the control unit 60 displaces the cutting blade 35 in a direction toward the load sensor 33, the detection load F increases with the displacement of the cutting blade 35. Even in such a case, the cutting state of the target portion 92 is determined based on the load change amount ΔF, that is, the change amount of the detection load F associated with the execution of the cutting control, and therefore can be determined in the same manner as in the above embodiment.

(4d) In the above embodiment, the control unit 60 is configured to rotate the second clamping member 32 around the connection portion with the first clamping member 31 as the rotation axis, thereby changing the opening degree between the first clamping surface 311 and the second clamping surface 321. However, the method of displacing the second clamping member 32 relative to the first clamping member 31 is not limited to rotation. For example, the control unit 60 may be configured to move the second clamping member 32 parallel to the first clamping member 31, thereby changing the distance between the first clamping surface 311 and the second clamping surface 321. The same applies to the third clamping member 37 in the above third embodiment.

(4e) In the above embodiment, the cutting blade 35 is disposed outside the first clamping member 31 along the side surface 312 of the first clamping member 31 and is supported by the first clamping member 31. However, the arrangement of the cutting blade 35 is not particularly limited, and for example, the cutting blade 35 may be disposed so as to be housed inside the first clamping member 31.

For example, the cutting blade 35 may be supported by the second clamping member 32 or the third clamping member 37 instead of the first clamping member 31. In other words, the second clamping member 32 or the third clamping member 37 may function as a support member for supporting the cutting blade 35.

Furthermore, such a support member does not necessarily have to double as a clamping member for clamping the target area 92. In other words, such a support member may be provided as a member separate from the clamping member.

(4f) In the above embodiment, the load sensor 33 is provided on the first clamping surface 311, but the load sensor 33 may be provided on another surface that contacts the target area 92. For example, the load sensor 33 may be provided on the second clamping surface 321 or the third clamping surface 371.

(4g) In the above embodiment, the harvesting head 30 has a cutting blade 35 supported by the first clamping member 31, but for example, the harvesting head 30 may have another cutting blade supported by a member other than the first clamping member 31, such as the second clamping member 32 or the third clamping member 37. The harvesting head 30 may be configured to cut the target portion 92 by using the two cutting blades as scissors.

(4h) In the above embodiment, the first clamping member 31 is fixed to the tip member 23 of the robot arm 20, but the first clamping member 31 does not necessarily have to be fixed to the tip member 23. In other words, in the above embodiment, of the first clamping member 31 and the second clamping member 32, only the second clamping member 32 is configured to be displaceable relative to the tip member 23, but, for example, both the first clamping member 31 and the second clamping member 32 may be configured to be displaceable relative to the tip member 23.

(4i) In the above embodiment, the harvesting head 30 has the first clamping member 31 and the second clamping member 32, but the harvesting head 30 does not necessarily have to have such clamping members. For example, the harvesting head 30 may have a contact member for contacting the target area 92, and in a state in which the target area 92 contacts the load sensor 33 provided on the contact member and the position of the target area 92 is regulated by the contact member, the cutting blade 35 may be displaced from the side opposite the contact member to the contact member side to cut the target area 92 while clamping the target area 92.

(4j) In the above embodiment, the harvesting head 30 has a single load sensor 33, but the harvesting head 30 may have a sensor other than the load sensor 33. For example, the harvesting head 30 may have a load sensor other than the load sensor 33 as a sensor for determining the contact state or clamping state of the target area 92, or may have a known sensor such as an optical sensor.

(4k) In the above embodiment, the harvesting head 30 includes the elastic member 34 , but the harvesting head 30 does not necessarily have to include the elastic member 34 .
(4l) In the above embodiment, the harvesting head 30 includes two guide members 36A, 36B, but the number of guide members is not particularly limited. Also, the harvesting head 30 does not necessarily have to include a guide member.

(4m) In the above embodiment, the operator of the harvesting device 1 selects the fruit part 91 to be harvested. However, for example, the control unit 60 may select the fruit part 91 to be harvested by analyzing the image captured by the camera 40.

(4n) The functions of one component in the above embodiments may be distributed as multiple components, or the functions of multiple components may be integrated into one component. In addition, part of the configuration of the above embodiments may be omitted. In addition, at least part of the configuration of the above embodiments may be added to or substituted for the configuration of another of the above embodiments.

(4o) In addition to the harvesting device 1 described above, the present disclosure can be realized in various forms, such as a control unit 60 constituting the harvesting device 1, a program for causing a computer to function as the control unit 60, a medium on which this program is recorded, and a method for harvesting crops 90.

1...harvesting device, 10...cart, 20...robot arm, 23...tip member, 30, 30A, 30B...harvesting head, 31...first clamping member, 311...first clamping surface, 32...second clamping member, 321...second clamping surface, 33...load sensor, 34...elastic member, 35...cutting blade, 351...blade tip, 36A, 36B...guide member, 37...third clamping member, 371...third clamping surface, 40...camera, 50...storage basket, 60...control unit, 90...crop, 91...fruit part, 92...target part.

Claims (5)

1. A harvesting device for harvesting agricultural crops, comprising:
A cutting blade supported displaceably so as to penetrate a target portion of the crop;
A moving member configured to be movable relative to the crops;
a first clamping member having a first clamping surface and supported by the moving member;
a second clamping member having a second clamping surface and supported by the moving member;
a load sensor provided on the first clamping surface and configured to be capable of detecting a load acting from the outside;
a control unit configured to execute a clamping control for displacing the second clamping member so that the second clamping surface approaches the first clamping surface based on the load detected by the load sensor, and clamping the target portion between the first clamping surface and the second clamping surface, and a cutting control for displacing the cutting blade based on the load detected by the load sensor to cut the target portion while the target portion is in contact with the load sensor;
Equipped with
The control unit is
moving the movable member so that the first clamping surface approaches the target portion, and when the load reaches a predetermined contact threshold, stopping the movable member to execute the clamping control;
A harvesting device configured to execute the cutting control in a state in which the target area is clamped by the first clamping surface and the second clamping surface . 2. A harvesting device according to claim 1 ,
The control unit is configured to stop the second clamping member when the load during execution of the clamping control reaches a predetermined clamping threshold. A harvesting device according to claim 1 or 2 ,
A harvesting device, wherein the control unit is configured to displace the cutting blade from the first clamping member side to the second clamping member side to cut the target portion. A harvesting device according to any one of claims 1 to 3 ,
The control unit is configured to stop the cutting blade when a change in the load caused by execution of the cutting control reaches a predetermined cutting failure threshold. A harvesting device according to any one of claims 1 to 4 ,
Further comprising a support member,
A harvesting device, wherein the cutting blade is supported by the support member such that the cutting edge does not protrude from the support member when the cutting control is not being performed.

Images