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US 12,084,296 B2Granted
Movable harvesting apparatus and harvesting unit
AssigneeYamaha Hatsudoki Kabushiki Kaisha
InventorsMasamitsu Shinomiya, Tomoyoshi Utsumi, Shuhei Matsushima
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Abstract
A movable harvesting apparatus includes an end effector including a suction port to suction a harvest object, a vacuum generator, vacuum spaces in which a vacuum is generated by the vacuum generator, a switching valve disposed in a path from the vacuum spaces to the suction port, and a controller to control opening and closing of the switching valve. The harvesting apparatus reduces wasteful energy consumption required for harvesting.
Claims10
A movable harvesting apparatus comprising:
- a movable cart;
- an image obtainer to obtain an image including a harvest object shown thereon;
- a harvest object position obtainer to obtain position information of the harvest object based on the image;
- an end effector including a suction port to suck in the harvest object;
- a position adjuster to move the suction port toward the harvest object based on the position information of the harvest object;
- a vacuum generator;
- a vacuum space in which a vacuum is generated by the vacuum generator;
- a switching valve located along a path from the vacuum space to the suction port;
- and
- a controller configured or programmed to control opening and closing of the switching valve;
- wherein
- the controller is configured or programmed to control opening and closing of the switching valve based on a relative position between the harvest object and the end effector.
9 more elements
Dependencies are inferred from the claim text.