• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A harvesting robot capable of mounting n (n is an integer of 3 or more) storage baskets disposed in a vertical direction, the harvesting robot including first grip member 108 that grips a storage basket of the lowermost Iayer among the n storage baskets; second grip member 109 that grips storage basket of a k-th (k is an integer of 2 or more and n or Iess) layer from the lowermost Iayer among the n storage baskets; lift mechanisms 110 and 111 that vertically move at least one of first grip member 108 and second grip member 109; and harvesting mechanism 101 including an arm for harvesting a target. In a case where the second grip member grips the k- th storage basket, first grip member 108 supports from the storage basket of the lowermost Iayer to a k-1-th storage basket, which are loaded, among the n storage baskets. In a case where the second grip member does not grip the storage basket, the first grip member supports the loaded n storage baskets. 1043772
    公开号:NL1043772A
    申请号:NL1043772
    申请日:2020-08-28
    公开日:2021-05-04
    发明作者:Toshima Ryou；Kanata Yoshio；Kuroda Ken
    申请人:Panasonic Ip Man Co Ltd；
    IPC主号:
    专利说明:

    [0001] [0001] The present disclosure relates to a harvesting robot that automatically harvests agricultural products including fruits, vegetables, grains, flowers, beans, seeds, and the like.
    [0002] [0002] As a harvesting robot of the related art, there is a harvesting robot including a storage basket supply device that stores a large number of storage 19 baskets and supplies the storage baskets in a timely manner {for example, Japanese Patent Unexamined Publication No. 7-87829). FIG. 8 is a view illustrating a harvesting robot of the related art described in Japanese Patent Unexamined Publication No. 7-87828. In FIG. 6, capturing device 601 has a role of detecting a distance to the fruit that is a harvest target, and the fruit is gripped and picked by arm 602 and stored in storage basket 603 after arm 802 is turned. Storage basket 603 is independently supplied by storage basket supply device 604, These are disposed on an upper side of chassis 805, and wheels 606 are disposed on a lower side thereof to form a vehicle body. In a case where the harvesting robot is manually operated, operation panel 807 and steering lever 808 provided on a front surface of storage basket supply device 804 are used.
    [0004] [0004] FIG. 1 is a side view of a harvesting robot in the present disclosure; FIG, 2 is a process sectional view illustrating a harvesting operation in Embodiment 1; FIG, 3 is a process sectional view illustrating a harvesting operation in Embodiment 2; FIG. 4 is a process sectional view illustrating a harvesting operation in Embodiment 3; FIG. 5A is a schematic top view illustrating an operation flow of a first grip member in the present embodiment; FIG, 5B is a schematic top view illustrating an operation flow of the first 1S grip member in the present embodiment; FIG. SC is a schematic top view illustrating an operation flow of the first grip member in the present embodiment; FIG. 5D is a schematic top view illustrating an operation flow of the first grip member in the present embodiment; and FIG, 6 is a view illustrating a harvesting robot of the related art described in Japanese Patent Unexamined Publication No. 7-87829.DETAILED DESCRIPTIONS
    [0005] [0005] In the configuration of the related art, harvested agricultural products must be putin a storage basket, and every time the storage basket is filled therewith, the full storage basket must be removed from the harvesting robot, and a new empty storage basket must be placed. Therefore, in the related art, there is a problem that it is difficult to continuously perform harvesting work and the work efficiency is low.
    [00068] [00068] The present disclosure is provided to solve the problem described above, and an object thereof is to provide a harvesting robot that can efficiently perform harvesting work.
    [0007] [0007] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. Overall Configuration of Harvesting Robot
    [0008] [0008] FIG. 1is a side view of harvesting robot 1 in the present disclosure. As illustrated In FIG. 1, harvesting robot 1 includes harvesting mechanism 101, capturing device 104, control device 105, self-propelled carriage 108, first grip member 108, second grip member 109, first lift mechanism 110, and second lift mechanism 111. In FIG. 1, harvesting mechanism 101 includes arm 103, and harvests the agricultural product which is a harvest target and puts the agricultural product in storage basket 102.
    [0008] [0008] In the related art, various harvesting methods by harvesting mechanism 101 are proposed according to types of agricultural products, and thus detailed description thereof will be omitted. An appropriate harvesting method is selected according to the type of the agricultural product that is a target.
    [0010] [0010] Storage baskets 102 are gripped by second grip member 108 and first grip member 108, respectively.
    [0011] [0011] Arm 103 has a function of holding the harvested target at a tip thereof. Specifically, arm 103 has, at the tip, for example, a vacuum suction mechanism that sucks and holds the agricultural product harvested by harvesting mechanism 101, a case into which the harvested agricultural product is input and in which the harvested agricultural product is temporarily held, and the like. The mechanism may be disposed near the tip of arm 103, and may be disposed at a position where the harvested target can be stored in a storage basket as described later.
    [0012] [0012] Capturing device 104 captures an image of the harvest target for harvesting, and also caplures an image of storage basket 102 placed on the ground.
    [0013] [0013] Control device 105 specifies a position of the storage basket from image data photographed by capturing device 104, and controls self-propelled carriage 106 to guide to a specified position of the storage basket.
    [0014] [0014] Self-propelled carriage 106 is controlled by control device 105, and is run by wheels 107 disposed in front and rear portions. Self-propelled carriage 108 is generally called an automated guided vehicle (AGV), and a detailed description thereof will be omitted.
    [0015] [0015] First grip member 108 grips storage basket 102 of the lowermost layer of stacked storage baskets 102.
    [0016] [0016] Second grip member 109 grips any storage basket 102 other than storage basket 102 gripped by first grip member 108 among storage baskets 102 gripped by harvesting robot 1.
    [9017] [9017] Storage baskets 102 gripped by second grip member 109 and first grip member 108 are disposed coaxially in a vertical direction with respect to the ground.
    [0018] [0018] First lift mechanism 110 is controlled by control device 195 and vertically drives first grip member 108.
    [0019] [0019] Second lift mechanism 111 is controlled by control device 105 and vertically drives second grip member 109,
    [0020] [0020] Second grip member 109 and first grip member 108 grip storage baskets 102 by sandwiching them and release them by loosening the sandwiching.
    [9021] [9021] First grip member 108 is located above a lowermost surface of storage basket 102, and grips storage basket 102 at a position where a distance between the lowermost surface of first grip member 108 and the lowermost surface of storage basket 102 is distance L. First lift mechanism 110 is configured to move first grip member 108 until a distance between the lowermost surface of first grip member 108 and the ground is distance L or less.
    [0022] [0022] Although not illustrated in FIG. 1, first grip member 108 is provided with stopper 501. Details of stopper 501 will be described later.
    [0023] [0023] An operation of the harvesting robot configured as described above will be described with reference to FIGS. 2 to 5.
    [0024] [0024] FIG. 2 is a process sectional view illustrating a harvesting operation in Embodiment 1. Embodiment 1 assumes a harvesting operation by a main operation of second lift mechanism 111. Although FIG. 2 exemplifies a case where there are four storage baskets, the number of storage baskets may be two or more.
    [0025] [0025] The movement of second lift mechanism 111 described below is controlled by control device 105,
    [0026] [0026] First, as illustrated in (a) of FIG. 2, first grip member 108 grips storage basket 102 of the lowermost layer of stacked storage baskets 102.
    [0027] [0027] Next, second grip member 109 is lowered by second lift mechanism 111 to grip second storage basket 102 from below, and is lifted ((b} of FIG. 2). In this state, harvesting mechanism 101 illustrated in FIG. 1 performs the harvesting operation.
    [0028] [0028] Arm 103 illustrated in FIG. 1 is inserted into a space formed at an interval between storage basket 102 gripped by second grip member 109 and storage basket 102 one layer below, and the harvest target is stored in storage basket 102 of the lowermost layer. Specifically, for example, arm 103 releases suction of a vacuum suction mechanism that sucks and holds the agricultural product harvested by harvesting mechanism 101, or moves the agricultural products harvested from the case to storage basket 102 by rotation or vibration.
    [0029] [0029] Arm 103 needs to be inserted into an interval between storage basket 102 gripped by second grip member 109 and storage basket 102 one layer below. Therefore, control device 105 determines an insertion height of arm 103. For example, control device 105 determines the insertion height of arm 103 based on a position of the interval described above measured by using a camera having an image sensor or the like. For example, control device 105 determines the insertion height of arm 103 based on the position of second grip member 109 measured by using a sensor or the like. More specifically, control device 105 inserts arm 103 at a 5 position where it is estimated that storage basket 102 gripped by second grip member 109 and arm 103 do not interfere with each other.
    [0030] [0030] When storage basket 102 of the lowermost layer is filled, second grip member 109 is lowered and stacks all the storage baskets 102 once. The second grip member releases second storage basket 102 from below, is lifted by a height of one storage basket 102, grips third storage basket 102 from below, and is lifted {(c} of FIG. 2).
    [0031] [0031] A process in which control device 105 determines that storage basket 102 is filled will be described. Control device 105 determines that storage basket 102 is filled, for example, in a case where the number of reciprocations of arm 103 exceeds a preset number. For example, the number of targets stored in storage basket 102 is measured by using a camera having an image sensor, and control device 105 determines that storage basket 102 is filled in a case where the number exceeds the preset number. For example, a weight of storage basket 102 is measured by using a weight scale or the like, and control device 105 determines that storage basket 102 is filled in a case where the weight exceeds a preset weight.
    [0032] [0032] The harvesting operation suspended in this state is restarted, arm 103 is inserted into a space formed above second storage basket 102 from below, and the harvest target is stored in second storage basket 102 from below.
    [0033] [0033] Hereinafter, the same process is repealed, and the process proceeds to {d) and {e} of FIG. 2. Finally, second grip member 109 is in a state where it does not grip storage basket 102, as illustrated in (e) of FIG. 2. When storage basket 102 of the uppermost layer among the loaded storage baskets 102 is filled, harvesting work is completed.
    [0034] [0034] After that, first grip member 108 is lowered to lower storage basket 102 to the ground. When storage basket 102 is lowered to the ground, it may be moved to an appropriate place.
    [0035] [0035] In this way, by second grip member 109, first grip member 108, and second lift mechanism 111 that vertically drives second grip member 109, targets can be stored in each storage basket 102 in sequence while the plurality of storage baskets 102 are held. Therefore, the harvest can be continuously performed, and the harvest efficiency is improved. An amount of harvest in one harvesting operation can be increased. Since filled storage basket 102 is not discharged to a ridge in a dotted manner, it is possible to reduce a possibility that discharged storage basket 102 interferes with work by another worker or a work robot. By discharging a plurality of filled storage baskets 102 at once, a collection efficiency of stored storage baskets 102 is improved. At the start of harvesting work, it is only necessary to load empty storage baskets, which can save space and improve efficiency. Effects
    [0036] [0036] As described above, the harvesting robot according to the present embodiment is a harvesting robot capable of mounting n (n is an integer of 3 or more) storage baskets 102 disposed in a vertical direction, the harvesting robot including first grip member 108 that grips storage basket 102 of the lowermost layer among n storage baskets 102; second grip member 109 that grips storage baskets 102 from the lowermost layer to a k-th (k is an integer of 2 or more and n or less) among n storage baskets 102; a lift mechanism (second lift mechanism 111) that vertically moves second grip member 108; and harvesting mechanism 101 including arm 103 for harvesting a target, in which in a case where the second grip member grips the k-th storage basket, first grip member 108 supports from storage baskets 102 of the lowermost layer to k-1-th storage basket 102, which are loaded, among n storage baskets 102, and in which in a case where the second grip member does not grip the storage basket, the first grip member supports the loaded n storage baskets.
    [0037] [0037] That is, second grip member 109 can selectively grip storage basket 102 that is a gripping target from n storage baskets 102.
    [0038] [0038] Therefore, according to the harvesting robot according to the present embodiment, the target can be stored in storage basket 102 while the plurality of storage baskets 102 are held. Therefore, it is possible to continue the harvesting work without sequentially discharging filled storage baskets 102 to the ground. Thereby, the harvesting work can be efficiently performed.
    [0038] [0038] Particularly, in the harvesting robot according to the present embodiment, the lift mechanism (second lift mechanism 111) vertically moves second grip member 109 so that a space is formed between storage basket 102 of the k-th layer and storage baskst 102 of the k-1-th layer, and harvesting mechanism 101 stores the harvested target in storage basket 102 of the k-1-th layer.
    [0040] [0040] Thereby, the harvesting work can be efficiently performed.
    [0041] [0041] FIG. 3 is a process sectional view illustrating a harvesting operation in Embodiment 2. Embodiment 2 assumes a harvesting operation by a main operation of first lift mechanism 110. Although FIG. 3 illustrates a case where the number of storage baskets 102 is three, the number of storage baskets may be two or more. The description of portions common to those of Embodiment 1 may be omitted.
    [0042] [0042] The movement of first lift mechanism 110 described below is controlled by control device 105.
    [0043] [0043] First, as illustrated In (a) of FIG. 3, first grip member 108 grips storage basket 102 of the lowermost layer of the stacked storage baskets.
    [0044] [0044] Next, first grip member 108 is lifted by first lift mechanism 110, and is stopped at a position where second grip member 109 can grip the second storage basket from below. Second grip member 109 grips the second storage basket from below ((b) of FIG. 3).
    [0045] [0045] Next, first grip member 108 is lowered by first [lift mechanism 110 to form a space above the storage basket of the lowermost layer {(c) of FIG. 3). In this state, harvesting mechanism 101 illustrated in FIG. 1 performs the harvesting operation. Arm 103 illustrated in FIG. 1 is inserted into a space formed at an interval between storage hasket 102 gripped by second grip member 109 and storage basket 102 one layer below, and the harvest target is stored in storage basket 102 of the lowermost layer,
    [0046] [0046] When storage basket 102 of the lowermost layer is filled, first grip member 108 is lifted again to the state of (b) of FIG. 3. That is, first grip member 108 is lifted so that there is no interval between storage basket 102 gripped by second grip member 109 and storage basket 102 one layer below. In this state, storage basket 102 gripped by second grip member 109 is released, is lifted by one storage basket, and grips third storage basket 102 from below. Second grip mechanism 109 is lowered to form a space above second storage basket 102 from below ((d) of FIG. 3).
    [0047] [0047] The harvesting operation suspended in this state is restarted, arm 103 is inserted into a space formed above second storage basket 102 from below, and the harvest target is stored in second storage basket 102 from below.
    [0048] [0048] Hereinafter, the same process is repeated, and when storage basket 102 of the uppermost layer is filled, the harvesting work is completed ({e) of FIG. 3).
    [0048] [0048] After that, first grip member 108 is lowered to lower storage basket 102 to the ground {(f) of FIG. 3).
    [0050] [0050] In this way, by second grip member 109, first grip member 108, and first lift mechanism 110 that vertically drives first grip member 108, each storage basket 102 can store the targets in sequence while the plurality of storage baskets 102 are held. Therefore, the harvest can be continuously performed, and the harvest efficiency is improved. An amount of harvest in one harvesting operation can be increased. Since the filled storage basket is not discharged to the ridge in a dotted manner, it is possible to reduce a possibility that the discharged storage basket interferes with work by another worker or a work robot. By discharging a plurality of filled storage baskets at once, the collection efficiency of the stored storage baskets is improved. At the start of harvesting work, it is only necessary to load empty storage baskets, which can save space and improve efficiency.
    [0051] [0051] FIG. 4is a process sectional view illustrating a harvesting operation in Embodiment 3. Embodiment 3 assumes a harvesting operation by a combined operation of second lift mechanism 111 and first lift mechanism 110. Although FIG. 4 exemplifies a case where the number of storage baskets 102 is five, the number of storage baskets may be two or more. The description of portions common to those of Embodiment 1 and Embodiment 2 may be omitted.
    [0052] [0052] The movements of second lift mechanism 111 and first lift mechanism 110 described below are controlled by control device 105.
    [0053] [0053] First, as illustrated in (a) of FIG. 4, first grip member 108 grips storage basket 102 of the lowermost layer among stacked storage baskets 102.
    [0054] [0054] Next, first grip member 108 is lifted by first lift mechanism 110 to raise storage basket 102 of the lowermost layer to a predetermined height. Second grip member 109 is lowered by second lift mechanism 111, and grips second storage basket 102 from below ({b} of FIG. 4). The predetermined height means the lowermost position within a stroke range of arm 103, and a position where the target can be stored in storage basket 102 of the lowermost layer. Therefore, the driving of first lift mechanism 110 can be suppressed to be minimized. Stacked storage baskets 102 do not need to be raised more than necessary, and a position of the center of gravity can be suppressed to be lowered. The predetermined height can be driven if the height is higher than the position described above. For example, in FIG. 4, first lift mechanism 110 is lifted to a position higher than the position described above,
    [0055] [0055] Next, second grip member 109 is lifted by second lift mechanism 111 to form a space above storage basket 102 of the lowermost layer ({c) of FIG. 4). in this state, harvesting mechanism 101 illustrated in FIG. 1 performs the harvesting operation, Arm 103 illustrated in FIG. 1 is inserted into a space formed at an interval between storage basket 102 gripped by second grip member 109 and storage basket 102 one layer below, and the harvest target is stored in storage basket 102 of the lowermost layer.
    [0058] [0058] When storage basket 102 of the lowermost layer is filled, second grip member 109 is lowered so that there is no interval between storage basket 102 gripped by second grip member 109 and storage basket 102 one layer below. In this state, storage basket 102 gripped by second grip member 109 is released, second grip member 109 is lifted by one storage basket or first grip member 108 is lowered by one storage basket, and second grip member 109 grips third storage basket 102 from below. Second grip member 109 is lifted to form a space above second storage basket 102 from below ({d) of FIG. 4).
    [0058] [0058] When second storage basket 102 from below is filled, the second grip member is lowered again so that there is no interval between storage basket 102 gripped by second grip member 109 and storage basket 102 one {ayer below, In this state, storage basket 102 gripped by second grip member 109 is released, second grip member 109 is lifted by one storage basket or first grip member 108 is lowered by one storage basket, and second grip member 109 grips fourth storage basket 102 19 from below. Second grip member 109 is lifted to form a space above third storage basket 102 from below ({e) in FIG. 4).
    [0059] [0059] The harvesting operation that is suspended in this state is restarted. Hereinafter, the same process is repeated ({f} of FIG. 4), and when storage basket 102 of the uppermost layer is filled, the harvesting work is completed {{g} of FIG. 4).
    [0080] [0080] After that, first grip member 108 is lowered to lower storage basket 102 to the ground {(h) of FIG. 4).
    [0061] [0061] As described above, by second grip member 109, first grip member 108, second lift mechanism 111 that vertically drives second grip member 108, and first lift mechanism 110 that vertically drives first grip member 108, it is possible to sequentially store targets in each storage basket 102 while the plurality of storage baskets 102 are held. Therefore, the harvest can be continuously performed, and the harvest efficiency is improved. The same effects as those of Embodiment 1 and Embodiment 2 can be obtained. In Embodiment 3, the stroke range of arm 103 may be small, or arm 103 can be moved within the same stroke range, and the efficiency of the mechanism can be improved, In a case where a large number of storage baskets are stacked, they can be gripped in a state where the position of the center of gravity is suppressed to be lowered, safety is improved, and the number of storage baskets capable of being stacked can be increased.
    [0062] [0062] FIGS. 5A to 5D are schematic top views illustrating an operation flow of first grip member 108 in the present embodiment. Each configuration is simply fiustrated in FIGS. SA to 5D.
    [0083] [0083] First grip member 108 sandwiches storage basket 102 placed on the ground in a first stage or a previous stage of the harvesting work.
    [0064] [0064] First, capturing device 104 captures an image of storage basket 102 placed on the ground (FIG, 5A). Control device 105 specifies the position of storage basket 102 based on image data photographed by capturing device 104.
    [0065] [0065] Next, control device 105 drives self-propelled carriage 106 so that the central axes of storage basket 102 and first grip member 108 are aligned with each other based on a specified position of storage basket 102 (FIG. 5B).
    [0066] [0066] Next, control device 105 advances self-propelled carriage 106 and stops self-propelled carriage 106 when storage basket 102 comes into contact with stopper 501 (FIG. BC). A trigger to stop may be based on image data from capturing device 104, or stopper 501 may be provided with a contact sensor.
    [0067] [0067] After that, first grip member 108 performs an operation of sandwiching storage basket 102 (FIG. 8D).
    [0068] [0068] As described above, by first grip member 108, capturing device 104, control device 105, and self-propelled carriage 1086, it is possible to automatically detect and grip a storage basket placed at an arbitrary position on the ground.
    [0068] [0068] Although arm 103 is one in the present embodiment, harvesting mechanism 101 may have two arms. The larger the number of arms 103, the more efficient the harvesting work can be.
    [0071] [0071] Control device 105 may perform a function thereof not only by a single computer but also by a plurality of computers.
    [00672] [00672] Second grip member 109 and first grip member 108 respectively grip storage baskets 102, but in a case of storage basket 102 having a brim, a structure may be provided such that the brim is hooked and lifted without chucking. The point is that it can hold storage basket 102.
    [0073] [0073] As described above, according to the harvesting robot of the present disclosure, it is possible to efficiently perform harvesting work.
    [0074] [0074] The harvesting robot of the present disclosure has a function of sequentially storing targets in a plurality of storage baskets while holding a plurality of storage baskets, and also has a function of lowering stacked storage baskets to the ground and scooping them up again. The harvesting robot can be applied to applications other than the harvesting work in the agricultural field, such as picking work in an assembly process of industrial products and automation of parts servicing work,
    权利要求:
    Claims (8)
    [1]
    A harvesting robot to which n storage baskets can be attached in a vertical direction, n being an integer of three or more, the harvesting robot comprising: a first gripping element that engages a storage basket of the bottom layer of the storage baskets; a second gripping element that engages a storage basket of one layer from the bottom layer of the n storage baskets, where k is an integer of two or more and n or less; a lifting mechanism that vertically moves the first gripping element and / or the second gripping element; and a harvesting mechanism comprising an arm for harvesting a target, wherein when the second gripping element grabs the storage basket of the kU layer, the first gripping element loads storage baskets from the bottom layer to a (k-1} s'th layer of the n supports storage baskets, and wherein when the second gripping element does not engage the storage basket, the first gripping element supports the loaded n storage baskets.
    [2]
    The harvesting robot according to claim 1, wherein the lifting mechanism moves the first gripping element and / or the second gripping element vertically to form a space between the k-1 layer storage basket and the (k-1) s! ® layer storage basket, and wherein the harvesting mechanism stores the harvested target in the storage basket of the (k-1) 5® layer.
    [3]
    Cog robot according to claim 2, wherein the harvesting mechanism places the arm in the space.
    [4]
    The harvesting robot of claim 1 further comprising: a control device that causes the second gripping element to release a gripping state of the storage basket of the k% layer, causing the first gripping element to support storage baskets from the kth layer to the n® layer to load the storage basket of the {k-1) th layer and then cause the second gripping element to engage a storage basket of at% layer from the bottom layer of the n ° storage baskets, where t is an integer of twse or more and one or less.
    [5]
    The harvesting straw of claim 1 further comprising a self-propelled cart for operating the harvesting robot.
    [6]
    The harvesting robot of claim 5 further comprising: a recording device that photographs a surrounding area of the harvesting robot; and a control device, which specifies a position of a storage basket placed on a ground based on an image photographed by the recording device, which controls the self-propelled cart to move the harvesting robot to the specified position and causes the first gripping element engages the storage basket.
    [7]
    The harvesting robot of claim 1 wherein the first gripping element engages the bottom layer storage basket at a position where there is a distance between a bottom surface of the storage basket and a bottom surface of the first gripping element L, and wherein the lifting mechanism is configured to engage the first gripping element. until a distance between the bottom surface of the first gripping element and the ground is L or less. 29
    [8]
    8. Harvesting robot comprising: two storage baskets arranged in a vertical direction; a first gripping element that engages a bottom layer storage basket between the two storage baskets: a second gripping element that engages a top layer storage basket between the two storage baskets; a lifting mechanism that vertically moves the first gripping element and / or the second gripping element, and a harvesting mechanism comprising an arm for harvesting a target, the lifting mechanism vertically moving the first gripping element and / or the second gripping element to form a space between the the bottom layer storage basket and the top layer storage basket, and wherein the harvesting mechanism stores the harvested target in the bottom layer storage basket,
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    优先权:
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