|発明の名称||METHOD AND APPARATUS FOR SELECTIVELY HARVESTING FRUIT VEGETABLES|
PROBLEM TO BE SOLVED: To provide a method for harvesting fruit vegetables, by which fruit vegetables cultivated in facilities are harvested while being successively moved selectively between ridge without any damage, and an apparatus therefor.
SOLUTION: The fruit vegetable is photographed and analyzed by a CCD (charge coupled device) color camera 4a attached to the tip of a manipulator 5a. The manipulator 5a is controlled by the calculated result of the direction of the fruit in an image, turned toward the fruit direction and the fruit is rephotographed to give image data, which are fused with distance data to the fruit by a distance sensor 6a to determine the size of the fruit and to detect the position of a peduncle. The peduncle is cut by fruit collecting scissors 6b, the peduncle is gripped by a lower knife 6d for peduncle nipping attached to the downside of the fruit collecting scissors 6b, and the fruit is collected and transported without bringing the fruit collecting scissors into contact with a fruit part. The actions are repeated for the fruits at both the sides of a traveling vehicle 2 and the traveling vehicle 2 is successively moved to selectively harvest fruits in a proper time of harvesting in the cultivation facilities. High-quality fruits are harvested without any damage to the fruit. A proper time of harvesting is determined and a cutting position is determined to reduce the man-hour of harvesting. Efficient selective harvesting combined with traveling between ridges is carried out.
- 国立研究開発法人農業・食品産業技術総合研究機構 本部 連携普及部 連携広報センター
- URL: http://www.naro.affrc.go.jp/
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