| 摘要 |
<p>In a first object the present invention provides a fruit picking device which comprises a robot arm carrying a suction grabber and a vision system for the identification of a fruit and the determination of the position of said fruit relative to the suction grabber. The vision system of the device of the present invention is arranged such that the spatial co-ordinates of a fruit as provided by said vision system can be readily used to steer the suction grabber towards the fruit, without the need for complex transformation of the vision system co-ordinates into robot co-ordinates. This set-up of the vision system allows limiting the calculation time required for carrying out a picking cycle, which significantly enhances the time-efficiency of this automatic fruit by fruit picking device.</p> |
