| 摘要 |
PROBLEM TO BE SOLVED: To provide an automatic harvesting apparatus which can automatically harvest fruit even when the fruit is hidden by leaves or the like. SOLUTION: The automatic harvesting apparatus 1 includes: an image sensor 15 that captures agricultural crop (e.g., apple tree) with the fruit (e.g., apple fruit) to be harvested; a manipulator 14 that harvests the fruit specified by the image captured by the image sensor 15; an air blower 12 that rocks the agricultural crop leaves while the image sensor 15 captures the image; and a controller 18 that performs a prescribed image processing to a plurality of images captured by the image sensor 15 when the air blower 12 rocks the agricultural crop leaves, and has an image processing device that specifies the fruit hidden by the leaves. COPYRIGHT: (C)2012,JPO&INPIT |
