| 摘要 |
<P>PROBLEM TO BE SOLVED: To reduce possibility in the damage of strawberries except a harvest target. <P>SOLUTION: An image-recognizing portion 86 obtains the position relation of a strawberry of harvest target to other strawberries in an XY in-plane direction from an image photographed with a stereo camera 60 from a Z axial direction, and an optimal access direction-determining portion 88 determines a hand mechanism-approaching direction to the strawberry of harvest target on the basis of the position relation. The hand mechanism approaches the strawberry of harvest target from the direction determined by the optimal access direction-determining portion 88 and then cut the fruit stem. Thus, the possibility in the contact of the hand mechanism with the strawberries except the harvest target can be reduced. <P>COPYRIGHT: (C)2012,JPO&INPIT |
