FRUIT/VEGETABLE HARVESTING DEVICE

• Main Authors: PETER RAJENDRA, NINOMIYA KAZUNORI
• Format: Patent
• Language: English; Japanese
• Published: 06.06.2019
• Subjects: AGRICULTURE; ANIMAL HUSBANDRY; FISHING; FORESTRY; HARVESTING; HUMAN NECESSITIES; HUNTING; MEASURING; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS; MEASURING LENGTH, THICKNESS OR SIMILAR LINEARDIMENSIONS; MOWING; PHYSICS; TESTING; TRAPPING

To provide a fruit/vegetable harvesting device capable of accurately recognizing a peduncle and recognizing a correct position of a peduncle.SOLUTION: A fruit/vegetable harvesting device comprises: collection means for gripping and collecting a peduncle 7 of a fruit 1; movement means for moving the collection means; and imaging means for imaging the fruit 1. The fruit/vegetable harvesting device further comprises: radiation means for radiating light to the peduncle 7, the radiation means is arranged so that, an optical axis of the radiation means crosses an imaging direction of the imaging means, a radiation part S where the light is radiated to the peduncle 7 is detected from the image imaged by the imaging means, and the radiation part S is recognized as the peduncle 7 of the fruit 1. In addition, a distance between the radiation part S and a reference position A set to the image is recognized, for recognizing a positional relationship between the imaging means and the peduncle 7 based on the distance.SELECTED DRAWING: Figure 3 【課題】果柄を精度よく認識することができ、また果柄の正確な位置を認識することができる果菜収穫装置を提供する。【解決手段】果菜１の果柄７を把持して採取する採取手段と、採取手段を移動させる移動手段と、果菜１を撮影する撮影手段とを備えている。さらに、果柄７に光を照射する照射手段を設けるとともに、照射手段の光軸を撮影手段の撮影方向と交差するように設け、撮影手段が撮影した画像から、果柄７に光が照射された照射部分Ｓを検出して、照射部分Ｓを果菜１の果柄７と認識する。また、照射部分Ｓと画像に設定した基準位置Ａとの距離を認識し、当該距離に基づいて撮影手段と果柄７との位置関係を認識する。【選択図】図３