公开(公告)号：US20230068556A1

公开(公告)日：2023-03-02

申请号：US17819543

申请日：2022-08-12

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： RYOU TOSHIMA ,  HIDEKAZU ARAKI ,  SEIJI NISHITANI

IPC: A01D46/30 ,  G05D1/02 ,  G06V20/58

Abstract: A harvesting device includes: a harvesting unit that harvests an object to be harvested; a harvesting unit-moving unit that moves the harvesting unit to an appropriate position for harvesting the object to be harvested; an imaging unit that captures an image; and a controller, wherein the controller performs a first step of determining, based on the image, whether or not interference between the harvesting unit and an obstacle occurs when the harvesting unit is positioned at the appropriate position, a second step of determining, based on the image, whether or not interference between the harvesting unit-moving unit and the obstacle occurs when the harvesting unit is positioned at the appropriate position, when it is determined in the first step that the interference does not occur, and a third step of causing the harvesting unit to harvest the object to be harvested when it is determined in the second step that the interference does not occur.

公开(公告)号：US20150351682A1

公开(公告)日：2015-12-10

申请号：US14726631

申请日：2015-06-01

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： TOMOFUMI YAMANASHI ,  HIDEKAZU ARAKI

IPC: A61B5/00 ,  G06K9/00 ,  G06T7/00

CPC classification number: A61B5/442 ,  A61B5/0077 ,  A61B5/742 ,  A61B2576/00 ,  G06K9/00228 ,  G06K9/00268 ,  G06T7/0012 ,  G06T7/0085 ,  G06T7/13 ,  G06T7/136 ,  G06T2207/10004 ,  G06T2207/30088 ,  G06T2207/30201

Abstract: A wrinkle detection apparatus is an apparatus for detecting a wrinkle area of skin included in an image. The wrinkle detection apparatus includes a first threshold processing unit that detects a first edge area included in the image by performing first threshold processing for comparing a gradient value that indicates a degree of change in pixel values in the image with a first threshold, a second threshold processing unit that detects a second edge area included in the image by performing second threshold processing for comparing the gradient value with a second threshold, and an edge selection processing unit that determines a wrinkle area based on an overlapping area in which the first edge area and the second edge area are overlapped.

Abstract translation: 皱纹检测装置是用于检测包括在图像中的皮肤的皱纹区域的装置。 皱纹检测装置包括第一阈值处理单元，其通过执行第一阈值处理来检测图像中包括的第一边缘区域，用于将指示图像中的像素值的变化程度的梯度值与第一阈值，第二阈值 处理单元，通过执行用于将梯度值与第二阈值进行比较的第二阈值处理来检测包括在图像中的第二边缘区域;以及边缘选择处理单元，其基于重叠区域来确定皱纹区域，其中第一边缘区域和 第二边缘区域重叠。

公开(公告)号：US20230081931A1

公开(公告)日：2023-03-16

申请号：US17821491

申请日：2022-08-23

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： RYOU TOSHIMA ,  HIDEKAZU ARAKI ,  SEIJI NISHITANI

IPC: A01D46/30 ,  G06V20/68 ,  G06T7/70 ,  A01D46/253

Abstract: A harvesting method performed by a harvesting device including an imaging unit, includes: by the harvesting device, determining, based on a first image imaged by the imaging unit during movement of the harvesting device, whether fruit is present; stopping the movement in a case of determining that the fruit is present, and determining whether target fruit to be harvested is present in the fruit; and harvesting the target fruit, in a case of determining that the target fruit is present.

公开(公告)号：US20230069527A1

公开(公告)日：2023-03-02

申请号：US17817371

申请日：2022-08-04

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： SEIJI NISHITANI ,  HIDEKAZU ARAKI ,  RYOU TOSHIMA

IPC: A01D46/30 ,  B25J11/00 ,  B25J9/16

Abstract: A harvesting device includes a harvesting unit that harvests an object to be harvested, a harvesting unit moving unit that moves the harvesting unit to an appropriate position for harvesting the object to be harvested, a main body on which the harvesting unit and the harvesting unit moving unit are provided, a main body moving unit that moves the main body, and a controller. The controller executes a first step of determining whether or not one or more obstacles interfere with the harvesting unit when the harvesting unit is positioned at the appropriate position, a second step of determining whether or not the one or the plurality of obstacles interfere with the harvesting unit-moving unit when the harvesting unit is positioned at the appropriate position when it is determined that the interference does not occur in the first step, and a third step of causing the harvesting unit to harvest the object to be harvested when it is determined that the interference does not occur in the second step.

公开(公告)号：US20210368684A1

公开(公告)日：2021-12-02

申请号：US17323963

申请日：2021-05-18

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： HIDEKAZU ARAKI ,  RYOU TOSHIMA ,  SEIJI NISHITANI

IPC: A01D46/253

Abstract: There is provided a harvesting method using a harvesting apparatus including a pull-in mechanism for pulling one of a plurality of targets that grow on a plant and a harvesting mechanism for harvesting the pulled-in targets, the method including: a step of detecting a size and an inclination of the target; a step of adjusting an angle of the harvesting mechanism based on the inclination of the target; a step of adjusting a positional relationship between the harvesting mechanism and the pull-in mechanism based on the size of the target; a step of pulling the target in a direction of separating the target from a branch of the plant via the pull-in mechanism; a step of inserting the harvesting mechanism below the pulled-in target; and a step of cutting the target from the plant by the inserted harvesting mechanism.