Abstract: A method and apparatus for harvesting fruit determines the proportion of fruit in a mixture of products containing fruit and bodies foreign to the fruit by capturing at least one initial image of a surface of the mixture to be examined. The device then assigns to each image pixel of one of two extreme grey levels according to the initial grey level of the pixel relative to a set threshold and then records the number of pixels of at least one extreme grey level to determine a area ratio between areas occupied by fruit and foreign bodies in the image. The invention has particular application to the harvesting of fruit, berries and the like produced on trees or bushes grown in rows to use the calculated proportion of fruit to adapt at least one of the functioning parameters of the machine.

Abstract: A utility vehicle, such as a grape harvester (1) comprising a straddling frame (2), supported at its front and rear ends by double-acting hydraulic cylinders (17, 18 and 23, 24), which can be extended or retracted in order to level the frame (2). The rear cylinders (23, 24) are normally blocked for providing the vehicle (1) with a fixed rear axle (55), while the front cylinders (16, 17) are hydraulically interconnected in order to let them extend or retract in opposition to each other for providing the vehicle (1) with an articulated axle (56). The hydraulic cylinders (17, 18, 23, 24) are governed by two control valves (38, 39) which enable lifting, lowering and sideways levelling of the frame (2). During levelling operations, the hydraulic connection between the front cylinders (16, 17) is automatically broken by a control valve (65) in order to enhance the stability of the vehicle (1). This is particularly advantageous when the vehicle (1) is levelled during downhill travel.