A system and method for determining the relative position of a header with respect to a chassis of a self-propelled agricultural harvester. Single or dual axis inclinometers are secured to the header and the chassis respectively and signals generated in combination with a stored relationship to header position are used to determine the header position, whether that be the pitch and/or the roll degrees of freedom.

A robotic harvesting platform system for harvesting or diluting fruits in an orchard, the system comprising: a support frame, an elongated platform attached to said support frame, two or more robotic harvesting units associated with said elongated platform at different points thereon, one or more fruit detection units for identifying location and position of said fruits, wherein: said robotic harvesting platform system is designed to harvest fruits from a tree(s) at different heights simultaneously; and each robotic harvesting unit is designed to operate independently from the other robotic harvesting units.

A plant cultivation system. The system utilizes a trolley conveyor for transport of plants in plant containers. The trolley conveyor uses straight runs of track connected by curved track portions. The straight runs of track of the trolley conveyor are spaced closely together. The trolley conveyor is used to move plant containers to a workshop for planting, fertilization, watering, cultivation, and harvesting of plants or portions thereof, and for packaging of plants or portions thereof for shipment.

A plant cultivation system. The system utilizes a trolley conveyor for transport of plants in plant containers. The trolley conveyor uses straight runs of track connected by curved track portions. The straight runs of track of the trolley conveyor are spaced closely together. The trolley conveyor is used to move plant containers to a workshop for planting, fertilization, watering, cultivation, and harvesting of plants or portions thereof, and for packaging of plants or portions thereof for shipment.

A harvester travels along a route within a field and selectively harvests edible crowns ready for harvesting. As the harvester travels along the route, a position of the harvester and/or the edible crowns may be determined using an encoder, imaging device(s), and/or navigational system(s). For example, image(s) captured by the imaging device(s) may be used to determine a location of the edible crowns and/or global positioning satellite (GPS) coordinates may indicate a location of the harvester within the field. These locations may be used for instructing harvesting components to harvest the edible crowns. For example, the harvester may include robotic arms having end effectors that harvest the edible crowns. Knowing the location of the edible crowns and/or the harvester therefore allows for the accurate placement of the end effectors for harvesting the edible crowns.

A harvester travels along a route within a field and selectively harvests edible crowns ready for harvesting. As the harvester travels along the route, a position of the harvester and/or the edible crowns may be determined using an encoder, imaging device(s), and/or navigational system(s). For example, image(s) captured by the imaging device(s) may be used to determine a location of the edible crowns and/or global positioning satellite (GPS) coordinates may indicate a location of the harvester within the field. These locations may be used for instructing harvesting components to harvest the edible crowns. For example, the harvester may include robotic arms having end effectors that harvest the edible crowns. Knowing the location of the edible crowns and/or the harvester therefore allows for the accurate placement of the end effectors for harvesting the edible crowns.

A trolley conveyor. The trolley conveyor includes: a tubular rail track having a slotted opening at the top. A trolley chain installed to move in the rail track. A hanger is provided for suspending therebelow objects to be transported. The hanger includes a connector at the upper end thereof which extends downward to toward the center of the trolley chain. The trolley chain includes vertical and horizontal rollers in chain units, with vertical rollers in one chain unit and horizontal rollers in an adjacent chain unit. The chain units are pivotally connected for up and down and side to side motion within the track. While the trolley chain moves, the connector avoids contact with the ends of the slot in the track. Thus, the trolley conveyor prevents the generation of noise and foreign substances. Also, the trolley conveyor prevents transfer of dirt, oil, and debris to an object being transported.

A trolley conveyor. The trolley conveyor includes: a tubular rail track having a slotted opening at the top. A trolley chain installed to move in the rail track. A hanger is provided for suspending therebelow objects to be transported. The hanger includes a connector at the upper end thereof which extends downward to toward the center of the trolley chain. The trolley chain includes vertical and horizontal rollers in chain units, with vertical rollers in one chain unit and horizontal rollers in an adjacent chain unit. The chain units are pivotally connected for up and down and side to side motion within the track. While the trolley chain moves, the connector avoids contact with the ends of the slot in the track. Thus, the trolley conveyor prevents the generation of noise and foreign substances. Also, the trolley conveyor prevents transfer of dirt, oil, and debris to an object being transported.

A fruit harvesting system includes a vacuum generating subsystem and an end effector connected to the vacuum generating subsystem. The end effector has a first tube having a first diameter, and a second tube having a second diameter smaller than the first diameter so the second tube fits inside the first tube. A fruit harvesting system includes a vacuum generating subsystem, a tube connected to the vacuum generating subsystem and at least one structure coupled to an inside of the tube. A fruit harvesting system includes a vacuum generating subsystem, a first tube connected to the vacuum generating subsystem, and a second tube coupled to the first tube, the second tube having a tubular portion coupled to the first tube in an orientation other than parallel, the second tube having openings on opposite sides of the first tube.

An apparatus for separating usable crop from intermixed debris. The apparatus has: a) a conveying system configured to convey usable crop in a processing path from an upstream input location to a downstream output location; and b) a first separating system configured to cause separation of debris intermixed with usable crop as usable crop is conveyed in the processing path. A vacuum system downstream of the preliminary separating system is configured to: a) generate a low pressure volume which causes additional debris intermixed with usable crop to be drawn away from usable crop by vacuum; and b) cause drawn debris to be directed towards a collection location spaced from the output location while allowing usable crop to advance toward the output location.