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.

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.

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.

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.

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: 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: In a control apparatus for an automatic transmission, it is configured to calculate a change amount (?NC estimation value) of an output rotational speed of the transmission (S10); calculate an average (I phase initial average G) of the change amount of the output rotational speed over a predetermined period of an initial inertia (I) phase of shifting; calculate an average (after-shift average G) of a vehicle acceleration after the completion of the shifting, assuming that the change amount of the output rotational speed indicates the vehicle acceleration G; calculate a difference (I phase initial G) between the average of the change amount of the output rotational speed and the average of the vehicle acceleration; incrementally and decrementally correct the desired value of the transmission torque of the frictional engaging element such that the calculated difference falls within a predetermined range; and control supply of hydraulic pressure to the frictional engaging element such that it becomes the correct

Abstract: In a control apparatus for an automatic transmission, it is configured to calculate a change amount (?NC estimation value) of an output rotational speed of the transmission (S10); calculate an average (I phase initial average G) of the change amount of the output rotational speed over a predetermined period of an initial inertia (I) phase of shifting; calculate an average (after-shift average G) of a vehicle acceleration after the completion of the shifting, assuming that the change amount of the output rotational speed indicates the vehicle acceleration G; calculate a difference (I phase initial G) between the average of the change amount of the output rotational speed and the average of the vehicle acceleration; incrementally and decrementally correct the desired value of the transmission torque of the frictional engaging element such that the calculated difference falls within a predetermined range; and control supply of hydraulic pressure to the frictional engaging element such that it becomes the correct

Abstract: A 3-dimensional object recognition method, by use of which three-dimensional position and posture of an object can be accurately recognized at high speed, comprises the steps of (A) taking a pair of first and second images for making a stereo image of the object; (B) detecting a two-dimensional feature of the object on each of the first and second images; (C) evaluating a degree of reliability of the result of the step (B) by comparing with a model data of the object; (D) making a correspondence of the two-dimensional feature between the first and second images according to a stereoscopic measurement principle; (E) evaluating a degree of reliability of the result of the step (D) by comparing the two-dimensional feature detected on the first image with the corresponding two-dimensional feature detected on the second image; (F) recognizing the three-dimensional position and posture of the object according to information in three dimensions of the two-dimensional feature obtained by the correspondence; and (G) e

Abstract: A method for recognizing a three-dimensional objective in which a two-dimensional image is obtained from the same viewing point as a distance image obtained by picking up the objective in a three-dimensional space and the two-dimensional image is utilized to previously limit an existence zone of the objective under detection for the distance image and to perform objective detecting operation over the partial distance image in the limited zone, thereby realizing a sufficiently high speed detection of, in particular, the three-dimensional objective.

Abstract: A method for recognizing a three-dimensional objective in which a two-dimensional image is obtained from the same viewing point as a distance image obtained by picking up the objective in a three-dimensional space and the two-dimensional image is utilized to previously limit an existence zone of the objective under detection for the distance image and to perform objective detecting operation over the partial distance image in the limited zone, thereby realizing a sufficiently high speed detection of, in particular, the three-dimensional objective.