公开(公告)号：US4718223A

公开(公告)日：1988-01-12

申请号：US920653

申请日：1986-10-20

申请人： Hiroshi Suzuki ,  Shigeaki Okuyama ,  Yoshihiro Ueda ,  Yoshifumi Yukishige ,  Masahiko Hayashi

发明人： Hiroshi Suzuki ,  Shigeaki Okuyama ,  Yoshihiro Ueda ,  Yoshifumi Yukishige ,  Masahiko Hayashi

IPC分类号： A01D46/00 ,  A01D46/30 ,  A01D46/24

CPC分类号： A01D46/005 ,  A01D46/30

摘要： A harvesting apparatus for automatically removing fruit from its growth source comprising a harvesting hand mounted at a distal end of an articulated arm assembly, a video camera for picking up a fruit image, and a control unit for guiding the harvesting hand to the fruit in response to information provided by the video camera. The harvesting hand includes a vacuum pad for drawing and catching the fruit, and a calyx cutting device. The vacuum pad and cutting device are movable relative to each other between a first position in which the vacuum pad is disposed forwardly of the cutting device for approaching and drawing the fruit and a second position in which the cutting device is disposed forwardly of the vacuum pad for removing the fruit from its tree.

摘要翻译： 一种用于从其生长源自动去除果实的收获装置，包括安装在铰接臂组件的远端的收获手，用于拾取果实图像的摄像机，以及用于将采摘手引导到果实的控制单元 由摄像机提供的信息。 收割手包括用于绘制和捕捉水果的真空垫，以及花萼切割装置。 真空垫和切割装置可以在第一位置和第二位置之间相对移动，在第一位置，真空垫设置在切割装置的前方，用于接近和拉出水果;第二位置，切割装置设置在真空垫的前方 从树上取出水果。

公开(公告)号：US4546840A

公开(公告)日：1985-10-15

申请号：US494017

申请日：1983-05-12

申请人： Yoshifumi Yukishige ,  Kazuo Toyokuni ,  Yoshizo Kuroiwa

发明人： Yoshifumi Yukishige ,  Kazuo Toyokuni ,  Yoshizo Kuroiwa

IPC分类号： A01B69/00 ,  B60K31/00 ,  B62D1/28 ,  G05D1/02 ,  B60K28/00 ,  B60K41/02

CPC分类号： B60K31/0008 ,  B60Y2200/223

摘要： A travelling vehicle equipped with obstacle detector sensors having, at the front of the vehicle body (1), a noncontact-type obstacle detector sensor (A) and a contact-type obstacle detector sensor (B), and a vehicle speed control device (20) adapted to automatically reduce the vehicle speed from a preset vehicle speed (v.sub.)0) to a predetermined vehicle speed (v.sub.1) when the noncontact-type obstacle detector sensor (A) detects an obstacle, adapted to automatically reset the vehicle speed to said preset speed (v.sub.0) when the sensor (A) does not detect the obstacle any more during such speed reduction, and adapted to automatically stop the travelling of the vehicle immediately when the contact-type obstacle detector sensor (B) detects the obstacle.

摘要翻译： 配备有在车体（1）的前方具有非接触式障碍物检测传感器（A）和接触型障碍物检测传感器（B）的障碍物检测传感器的行驶车辆以及车速控制装置 20），当所述非接触式障碍物检测传感器（A）检测到障碍物时，将车速从预定车速（v）0）自动降低到预定车速（v1），适于将车速自动重置为 当所述传感器（A）在所述减速期间不再检测到所述障碍物并且当所述接触型障碍物检测器传感器（B）检测到所述障碍物时，立即自动停止所述车辆的行驶，所述预设速度（v0）。