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: Suction gripper 14 includes fixing member 1 including hole part 7, grasping part 2 including a plurality of flexible and airtight bag parts 2a and 2b whose interiors are coupled together in the central axis direction of hole part 7 with fixing member 1 therebetween, the plurality of bag parts 2a and 2b being filled with powder 8 or particles and fluid, and hardening unit 3 configured to harden the plurality of bag parts 2a and 2b. Grasping part 2 has a configuration in which when a workpiece is pushed against any of the plurality of bag parts 2a and 2b, the contact portion with the workpiece conform to the shape of the workpiece while the other bag part expands in accordance with the deformation.

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: Suction gripper 14 includes fixing member 1 including hole part 7, grasping part 2 including a plurality of flexible and airtight bag parts 2a and 2b whose interiors are coupled together in the central axis direction of hole part 7 with fixing member 1 therebetween, the plurality of bag parts 2a and 2b being filled with powder 8 or particles and fluid, and hardening unit 3 configured to harden the plurality of bag parts 2a and 2b. Grasping part 2 has a configuration in which when a workpiece is pushed against any of the plurality of bag parts 2a and 2b, the contact portion with the workpiece conform to the shape of the workpiece while the other bag part expands in accordance with the deformation.