Fruit position detecting method for fruit harvesting apparatus

Abstract

Abstract PURPOSE:To enable to simply detect a position of the fruit to be harvested by a method wherein a plurality of monitor cameras rotatable about their visual axes in conjunction with each other and the corresponding monitor CRT's, and the fruit having the same coordinate values on both screens of the monitor CRT's in at least one value is extracted to measure the distance up to that fruit. CONSTITUTION:Ruled lines L indicating the coordinate system are displayed on each screen of two monitor CRT's 4, 5 to divide the screen into a number of areas each having a given size. When the coordinate values are inputted from a keyboard 6, a plurality of objective fruits A-D picked up by monitor cameras 1, 2 are arbitrarily extracted and displayed. For example, when detecting a position of the fruit A, the keyboard 6 is operated to first designate a coordinate point Xa, Ya of the fruit A on the screen of one monitor CRT's 4 and then designate a coordinate point Xa', Ya of the fruit A on the screen of the other monitor CRT 5, so that the position of the fruit A is detected from the difference between the x-coordinate values Xa and Xa' based on the principle of triangular surveying.

Inventors

• 👤 Yasuo Fujii
• 👤 保生 藤井
• 👤 Masahiko Hayashi
• 👤 正彦 林
• 👤 Toshisuke Nonaka
• 👤 野中　俊亮
• 👤 Nobuyuki Nishiguchi
• 👤 信幸 西口

Bibliographic Details