This disclosure includes an end effector for harvesting fruit. The end effector includes a collection device that has an opening with a plurality of prongs over the opening. The end effector also has an oscillating device secured to, and in an oscillating relationship with, the plurality of prongs.

Systems and methods here may include a vehicle with automated subcomponents for harvesting delicate items such as berries. In some examples, the vehicle includes a targeting subcomponent and a harvesting subcomponent. In some examples, the targeting subcomponent utilizes multiple cameras to create three-dimensional maps of foliage and targets. In some examples, identifying targets may be done remotely from the harvesting machine, and target coordinates communicated to the harvesting machine for robotic harvesting.

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.

Disclosed is a self-guided blossom picker that uses a vision system to identify and locate blossoms or inflorescence growing on a plant. The device is intended to be used on a farm and towed by a tractor, for example, or it can be self-propelled. As the device is moved over the blossom the image data captured by the vision system is sent to a 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 dual function tree pruner and fruit harvester that uses the same equipment for pruning and for harvesting. The Fruit Tree Pruner and Harvesting Machine features: a Self-Propelled-Vehicle (SPV), computer controlled robotic arms, a Digital Imaging System (DIS), a Radar Ranger System (RRS), Global Positioning Satellite (GPS) Guidance System, Geographic Information System (GIS), a Power Pruner or Power Stem Cutter as appropriate, a fruit vacuum system, a fruit catcher, a fruit handling system, and a fruit bin loader. The operation is automated and the operator monitors and sets parameters. The Fruit Tree Pruner and Harvesting Machine can prune a tree to a predetermined profile. The tree can be shaped per the orchard's requirements. The Fruit Tree Pruner and Harvesting Machine utilizes data obtained during the pruning process to find the fruit, and to remove the fruit while maintaining the fruit quality suitable for the fresh market.

A dual function tree pruner and fruit harvester that uses the same equipment for pruning and for harvesting. The Fruit Tree Pruner and Harvesting Machine features: a Self-Propelled-Vehicle (SPV), computer controlled robotic arms, a Digital Imaging System (DIS), a Radar Ranger System (RRS), Global Positioning Satellite (GPS) Guidance System, Geographic Information System (GIS), a Power Pruner or Power Stem Cutter as appropriate, a fruit vacuum system, a fruit catcher, a fruit handling system, and a fruit bin loader. The operation is automated and the operator monitors and sets parameters. The Fruit Tree Pruner and Harvesting Machine can prune a tree to a predetermined profile. The tree can be shaped per the orchard's requirements. The Fruit Tree Pruner and Harvesting Machine utilizes data obtained during the pruning process to find the fruit, and to remove the fruit while maintaining the fruit quality suitable for the fresh market.

The automated fruit harvesting machine is used for the harvesting of fruit, such as dates or the like. The automated fruit harvesting machine includes an extensible frame and a suction vacuum. A vacuum section includes a first flexible tubing and a second flexible tubing, each having first and second ends. A storage container is provided for collecting fruit. The first end of the first flexible tubing and the first end of the second flexible tubing are each connected to the storage container. The second end of the first flexible tubing is connected to a suction funnel. The suction vacuum includes a power source, and the second end of the second flexible tubing is connected to the suction vacuum. The extensible frame section includes proximal and distal frame members which are mated together for parallel extension therebetween. The vacuum funnel is connected to the distal frame member and is extendable therewith.

A jujube harvesting apparatus with adjustable suction vector includes: an air duct assembly, where one end of which is arranged with an air duct inlet; a wind power device arranged on one end of the air duct assembly deviating from the air duct inlet and connected to the air duct assembly, where the wind power device is used for generating wind power; an ionization device arranged on the air duct assembly and positioned between the air duct inlet and the wind power device, where the ionization device is used for ionizing air in the air duct assembly to generate plasma; a magnetic field generating device including a first strip-shaped permanent magnet and a second strip-shaped permanent magnet; and a suction vector adjustable device including two moving assemblies, two rotating assemblies, an electromagnetic sensor component, and a control module.

An end effector for a picking robot, and a method of use, the end effector comprising: a body; a shaft slidably coupled to the body and extending along a longitudinal axis between a proximal end and a distal end, the shaft having a vacuum lumen extending therethrough along the longitudinal axis; a suction cup coupled to the distal end of the shaft such that an interior volume of the suction cup is in fluid communication with the vacuum lumen; a vacuum generator connected to the vacuum lumen at the proximal end of the shaft and configured to create suction therethrough; and a linear actuator configured to slide the shaft along the longitudinal axis between an extended position in which the suction cup is relatively farther from the body and a retracted position in which the suction cup is relatively closer to the body.

A produce harvesting device includes a cylindrical member; a rotating member that forms a through-hole member; and a rotation driving unit that drives the rotating member to rotate about a virtual axis. The rotating member is configured to: when the rotating member comes into contact with the fruit or vegetable while rotating, twist the fruit or vegetable relative to a stem of the fruit or vegetable; when the rotating member comes into contact with the fruit or vegetable moving toward the rear side, deform toward the rear side to increase the through-hole member in size; and reduce the through-hole member in size by returning back to an original shape of the rotating member.