| 摘要 |
PURPOSE:To regulate travel of fruit vegetables to a proper value corresponding to the size of the fruits, by providing a means for judging the size of the fruit vegetables and means for regulating the travel to a large value with increasing size of the fruit vegetables. CONSTITUTION:A vacuum pad 10 in a state located at a preset approach starting position is set so as to direct to the direction within a given range where harvesting object fruits are positioned. A stroboscopic device 28 is flashed and image pickup treatment is carried out by an image sensor (S3). Image processing is then performed by taking in the picked up image information, removing background, such as branches or leaves, and extracting image information corresponding only to the harvesting object fruits to determine the direction to the positions of the harvesting object fruits. When a proximity sensor (S2) senses the approach to a position within a set distance to the harvesting object fruits while the first set distance is extended after starting the approach, the sucking operation of the vacuum pad 10 is started and the traveling speed of the harvesting hand (H) is simultaneously changed over to a low speed.
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