果柄切断装置
- 专利权人:
- 发明人:
- 申请号：
- JP20100260548
- 公开号：
- JP5782622(B2)
- 申请日:
- 2010.11.22
- 申请国别(地区):
- 日本
- 年份:
- 2015
- 代理人:
- 摘要：
PROBLEM TO BE SOLVED: To enable to suitably cut the fruit stem of a strawberry of a harvest target with a hand mechanism.
SOLUTION: A fruit stem state-calculating portion 89 obtains images of only the central lines of sites excluding a strawberry of harvest target from an image photographed with a camera 54 for detecting a fruit stem and involving the fruit stem of the strawberry of a harvest target, extracting the longest central line among a plurality of the obtained central lines, and detects the inclination of the longest central line and a prescribed position in the longest central line as the inclination of the fruit stem and the position of the lower end portion of the fruit stem, respectively. On the basis of these detection results, a robot arm 20 changes the posture and the position of the fruit stem with respect to the hand mechanism under the direction of a driving controller 95, thereby changing the posture of the hand mechanism into a posture suitable for the cutting of the fruit stem,
- 来源网站：
- 中国工程科技知识中心
