A self-guided blossom picker uses a vision system to identify and locate blossoms or inflorescence growing on a plant. The device can be towed by a tractor or it can be self-propelled. Image data captured by the vision system is sent to an machine vision module, which interprets the data and identifies a location of blossom. A controller uses the location data to command a picker to the proper location. A cutter on the picker is actuated to remove the blossom.

A self-guided blossom picker uses a vision system to identify and locate blossoms or inflorescence growing on a plant. The device can be towed by a tractor or it can be self-propelled. Image data captured by the vision system is sent to an machine vision module, which interprets the data and identifies a location of blossom. A controller uses the location data to command a picker to the proper location. A cutter on the picker is actuated to remove the blossom.

Embodiments are directed to a plant trimmer. The plant trimmer may separate leaves or other peripheral plant matter from a body portion of a plant. In one aspect, an embodiment includes a rotatable basket having a set of ribs separated by openings in a basket sidewall and a cutting assembly having at least one blade. The rotatable basket may be configured to spin in a first direction. The cutting assembly may be configured to spin parallel to the rotatable basket and in a second direction, opposite the first direction. Plant matter extending through one of the openings in the sidewall of the rotatable basket maybe sheared by a cutting face of the blade and a rib of the rotatable basket.

Embodiments are directed to a plant trimmer. The plant trimmer may separate leaves or other peripheral plant matter from a body portion of a plant. In one aspect, an embodiment includes a rotatable basket having a set of ribs separated by openings in a basket sidewall and a cutting assembly having at least one blade. The rotatable basket may be configured to spin in a first direction. The cutting assembly may be configured to spin parallel to the rotatable basket and in a second direction, opposite the first direction. Plant matter extending through one of the openings in the sidewall of the rotatable basket maybe sheared by a cutting face of the blade and a rib of the rotatable basket.

An infeed system of a chipper or grinder includes a feed roller, a motor for rotating the roller, a hydraulic cylinder for adjusting an amount of crush force applied by the roller, a sensor, and a controller in data communication with the sensor and the cylinder. In operation, the controller determines whether the material is being effectively moved to the processing portion and whether the amount of crush force is at a maximum or lowest setting. The controller causes the cylinder to: (a) decrease the amount of crush force when the material is being effectively moved to the processing portion and the amount of crush force applied is not at the lowest setting; and (b) increase the amount of crush force when the material is not being effectively moved to the processing portion and the amount of crush force is not at the maximum setting.

A mulching apparatus including: a housing including a front opening and an inner wall; a rotor mounted in the front opening of the housing adjacent to the inner wall; and a liner mounting system for mounting a replaceable wear liner between the rotor and the inner wall, the liner mounting system including: an upper mounting provided at an upper edge of the inner wall, the upper mounting configured to releasably connect with the wear liner; and a lower mounting provided at a lower edge of the inner wall, the lower mounting configured to support the wear liner against the upper mounting and secure the wear liner to the inner wall.

A method of operating an apparatus for the comminution of a botanical feedstock wherein a blade that is positioned above a screen and the blade is rotated at a rate of rotation, wherein the trailing portion of the blade generates turbulence that induces upward movement of cut and partially cut feedstock from the upper surface of the screen to a plane of rotation of the cutting edge of the blade.

An inter-row machine, of the type used to work laterally to the travel path of the tractor by which it is towed or pushed, during the treatment of the land in espalier orchards or vineyards, having one or two working units, each preceded by a probe element which actuates, at each obstacle to be avoided, a known (hydraulic, pneumatic or electric) device for movement transversely to the travel path and to the row. The encounter of each probe with the obstacle to be avoided causes the rotation of the tool of the corresponding working unit—so that the translation of the latter, which is transverse to the travel path of the tractor, is directly proportional to the angular displacement performed by the tool and reported by an electromagnetic sensor to the electronic controller of the machine.

An inter-row machine, of the type used to work laterally to the travel path of the tractor by which it is towed or pushed, during the treatment of the land in espalier orchards or vineyards, having one or two working units, each preceded by a probe element which actuates, at each obstacle to be avoided, a known (hydraulic, pneumatic or electric) device for movement transversely to the travel path and to the row. The encounter of each probe with the obstacle to be avoided causes the rotation of the tool of the corresponding working unit—so that the translation of the latter, which is transverse to the travel path of the tractor, is directly proportional to the angular displacement performed by the tool and reported by an electromagnetic sensor to the electronic controller of the machine.

A system for removing biomass from a stem includes a frame, a conveyor mechanism which moves the stem in a horizontal conveying direction, a pair of rollers which exert a rubbing force between each other for removing the biomass from the stem, and a tensioning system arranged to exert a force which holds the stem to the conveyor mechanism. A first axial end of each roller is connected to an inlet end side of the conveyor mechanism, and a second axial end of each roller is connected to a transmission such that the rollers are angled downward from the first axial ends to the second axial ends. The conveyor mechanism moves the stem so as to pass between the rollers such that the rubbing force removes the biomass from the stem, and such that the rubbing force moves downward along the stem as the stem moves in the conveying direction.