JP-7856996-B1 - Crop harvesting methods

Abstract

[Problem] To provide a crop harvesting device and a crop harvesting method that can reduce the load on the collection unit. [Solution] A crop harvesting device 1 for collecting crops comprises an arm portion 10 including a collection unit for collecting crops, a main body portion 100 connected to the arm portion 10 and including a plurality of leg portions 120 that contact a walking surface 9, and a control unit that controls the leg portions 120 based on a walking learning model constructed using a virtual environment. The walking learning model is characterized by being constructed by reinforcement learning using virtual state information including virtual arm portion information corresponding to the characteristics of the arm portion 10, virtual leg portion control information corresponding to the control conditions of the leg portions 120, and walking rewards set for the results of executing the virtual leg portion control information based on the virtual state information. [Selection Diagram] Figure 4

Inventors

• 大野 栄一

Assignees

• 株式会社ディースピリット

Dates

Publication Date

20260512

Application Date

20251125

Priority Date

20250221

Claims (1)

1. A method for harvesting crops using a crop harvesting device for collecting crops, The system comprises a first modification step and a second modification step, The aforementioned crop harvesting apparatus, An arm section including a collection unit for collecting the aforementioned agricultural products, A main body portion including multiple leg portions and connected to the arm portion, A control unit that controls the leg based on a walking learning model constructed using a virtual environment, Equipped with, The aforementioned walking learning model is Virtual state information including virtual arm information corresponding to the characteristics of the arm portion, Virtual leg control information corresponding to the control conditions of the leg, Based on the virtual state information, a walking reward is set for the result of executing the virtual leg control information, It was constructed using reinforcement learning, The sensor unit further comprises a sensor unit that acquires center of gravity data indicating the center of gravity including the arm portion and the main body portion, and collection distance data indicating the distance from the collection unit to the crop. The virtual state information includes virtual centroid data corresponding to the centroid data, The virtual arm information includes virtual collection distance data corresponding to the collection distance data, The control unit uses the center of gravity data and the collected distance data as explanatory variables for the walking learning model, acquires leg control information indicating the control conditions of the leg as the objective variable, and controls the leg using the leg control information. The control unit, based on a harvesting learning model constructed using a virtual environment, uses crop information indicating the characteristics of the crop as an explanatory variable, acquires arm control information indicating the control conditions of the arm as an objective variable, and controls the arm using the arm control information. The aforementioned learning model for harvesting, Virtual crop information corresponding to the aforementioned crop information, Virtual arm control information corresponding to the aforementioned arm control information, Based on the virtual crop information, the harvesting reward is set for the result of executing the virtual arm control information, It was constructed using reinforcement learning, The control unit controls either the leg portion or the arm portion based on the result of comparing a preset center of gravity range with the center of gravity data. The first modification step involves changing the control of the arm portion to the control of the leg portion if, in conjunction with the control of the arm portion based on the harvesting learning model, the center of gravity data falls outside the center of gravity range. The second modification step is a method for harvesting crops, characterized in that, after the first modification step, if the control of the multiple legs based on the walking learning model results in the center of gravity data being included within the safety range encompassed by the center of gravity range, the control of the legs is changed to the control of the arms.

Description

This invention relates to a method for harvesting agricultural crops . Conventionally, in order to reduce the workload of agricultural work, systems such as the crop harvesting system disclosed in Patent Document 1 have been proposed. Patent Document 1 discloses a crop harvesting system comprising an end effector for harvesting crops, a robotic arm, a vision device, a tilting processing unit, and a cutting processing unit. The tilting processing unit can perform a tilting process to tilt the end effector along the main stem or branch, causing the passage portion to pass the harvesting target outside the base end position. The cutting processing unit can perform a cutting process by operating the end effector to reduce the size of the passage portion, thereby cutting the fruit stalk that has passed through the inside of the passage portion. Japanese Patent Publication No. 2021-073870 Figure 1 is a schematic perspective view showing an example of a crop harvesting apparatus in this embodiment.Figures 2(a) and 2(b) are schematic diagrams showing an example of a harvesting section.Figures 3(a) and 3(b) are schematic diagrams showing examples of the cutter and gripper sections.Figure 4 is a schematic perspective view showing an example of the main body.Figure 5 is a schematic top view showing an example of the main body.Figures 6(a) to 6(d) are schematic perspective views showing examples of leg sections.Figures 7(a) to 7(c) are schematic diagrams showing examples of the center of gravity of the main body.Figure 8 is a flowchart showing an example of a crop harvesting method in an embodiment. The following describes in detail an example of a crop harvesting apparatus and a crop harvesting method according to the present invention. (Embodiment: Crop harvesting device 1) Figure 1 is a schematic perspective view showing an example of a crop harvesting apparatus 1 in this embodiment. The crop harvesting device 1 is used to harvest crops 5 and can reduce the workload of agricultural work. The crop harvesting device 1 comprises an arm section 10, a main body section 100, and a control section 30, and may also include, for example, a sensor section. Agricultural crop 5 includes horticultural crops such as fruit trees and vegetables. For example, agricultural crop 5 refers to fruit trees and the fruits that grow on them, such as oranges and apples. <Arm section 10> The arm portion 10 includes a plurality of joint portions 11 and a collection portion 20. Each of the plurality of joint portions 11 is driven independently, and the position and orientation of the tip portion 12 of the arm portion 10 can be changed. The collection portion 20 is provided at the tip portion 12. As the arm portion 10, for example, a configuration in which the collection portion 20 is attached to a known robot arm may be used. <Collection Department 20> The collection unit 20 is used to collect agricultural products 5, for example, as shown in Figures 2(a) and 2(b). The collection unit 20 includes, for example, a cutter unit 21 and a gripper unit 22. Alternatively, a known end effector for collecting agricultural products 5 may be used as the collection unit 20. <Cutter section 21> The cutter section 21 is used to cut the supporting parts such as fruit stalks and branches that support the crop 5. The cutter section 21 includes a cutting section 21a, a cutting assist section 21b, and a rotating section 21c, as shown in Figures 3(a) and 3(b), for example. The cutting portion 21a has a cutting edge for cutting the support portion. The cutting portion 21a may have any shape, for example, according to the characteristics of the agricultural product 5. The cutting assist portion 21b is used to suppress fluctuations in the support portion and to facilitate cutting of the support portion by the cutting portion 21a. The cutting assist portion 21b may have, for example, a slit shape that clamps the side surface of the support portion, or it may have any shape appropriate to the object. The rotating part 21c is used in conjunction with the cutting part 21a to drive the cutting part 21a. For example, a shaft-shaped member may be used as the rotating part 21c, and the rotation of the rotating part 21c drives the cutting part 21a. The rotating part 21c may also be used in conjunction with, for example, the gripper part 22 to drive both the cutting part 21a and the gripper part 22. <Grippa Section 22> The gripper section 22 is used to hold the crops 5. The gripper section 22 includes, for example, a holding section 22a and a movable section 22b. The holding portion 22a holds the crop 5 whose support portion has been cut by, for example, the cutter portion 21. The holding portion 22a may have a flat plate shape, or it may have a shape that is easy to hold depending on the shape of the crop 5. The movable part 22b is used to adjust the position of the holding part 22a. The movable part 22b is driven, for example, in conjunction with the rotation of the rotating