A robotic fruit picking system includes an autonomous robot that includes a positioning subsystem that enables autonomous positioning of the robot using a computer vision guidance system. The robot also includes at least one picking arm and at least one picking head, or other type of end effector, mounted on each picking arm to either cut a stem or branch for a specific fruit or bunch of fruits or pluck that fruit or bunch. A computer vision subsystem analyses images of the fruit to be picked or stored and a control subsystem is programmed with or learns picking strategies using machine learning techniques. A quality control (QC) subsystem monitors the quality of fruit and grades that fruit according to size and/or quality. The robot has a storage subsystem for storing fruit in containers for storage or transportation, or in punnets for retail.

A system including a picking apparatus including at least two grippers. Each of the at least two grippers is configured to pick a respective individual crop of crops of a plant. The system is configured to move the at least two grippers of the picking apparatus in a rotational path. The system is configured to stop rotation of the picking apparatus when a first gripper of the at least two grippers is moved to a picking position along the rotational path. Other embodiments are described.

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.

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 are various embodiments for a berry impact recording device. The berry impact recording device comprises a shell. Within the shell are at least a sensor and an integrated circuit. The sensor may be configured to detect an acceleration of the berry impact recording device. The integrated circuit may be configured to record the acceleration of the berry impact recording device and a timestamp corresponding to the acceleration.

Disclosed are various embodiments for a berry impact recording device. The berry impact recording device comprises a shell. Within the shell are at least a sensor and an integrated circuit. The sensor may be configured to detect an acceleration of the berry impact recording device. The integrated circuit may be configured to record the acceleration of the berry impact recording device and a timestamp corresponding to the acceleration.

A transportation device for fruit and vegetable picking in a solar greenhouse is provided, which may include a guide rail, a moving mechanism and a picking box. The guide rail is horizontally fixed on side surfaces of multiple supporting columns in the solar greenhouse, an upper side and a lower side of the guide rail are respectively provided with horizontally extended sliding grooves, and a top of the moving mechanism is slidably connected to the guide rail through the sliding grooves, and the picking box is hung at a bottom of the moving mechanism. The transportation device is used to hang the picking box at a bottom of the moving mechanism, so that the moving mechanism can carry the picking box to move along the sliding grooves to transport the picking box to a destination, thereby saving time, saving labor and reducing a labor cost.

A transportation device for fruit and vegetable picking in a solar greenhouse is provided, which may include a guide rail, a moving mechanism and a picking box. The guide rail is horizontally fixed on side surfaces of multiple supporting columns in the solar greenhouse, an upper side and a lower side of the guide rail are respectively provided with horizontally extended sliding grooves, and a top of the moving mechanism is slidably connected to the guide rail through the sliding grooves, and the picking box is hung at a bottom of the moving mechanism. The transportation device is used to hang the picking box at a bottom of the moving mechanism, so that the moving mechanism can carry the picking box to move along the sliding grooves to transport the picking box to a destination, thereby saving time, saving labor and reducing a labor cost.

There is provided a robot fruit picking system comprising an autonomous robot. The system includes a picking arm or other end effector positioning device; and an end effector mounted on the picking arm configured to either cut a fruit or stalk or stem for a specific fruit or bunch of fruits or pluck that fruit or bunch, and to transfer the fruit or bunch to a storage buffer subsystem. The storage buffer subsystem is configured to receive the fruit or bunch, and to transfer the fruit or bunch to a transportation or inspection or storage subsystem.

This disclosure includes a method for pruning a fruit plant. An exemplary method step includes obtaining an image of the fruit plant that has branches. Next, creating exclusion zones surrounding the branches. Then pruning the fruit plant based upon the exclusion zones.