A method for managing an agricultural vehicle during harvesting process in a plantation of fruit trees, such as an orange orchard, the vehicle being shaped as a portal capable of moving over a crop row and provided with a couple of rotors (R) arranged to work simultaneously on both opposite sides of each plant of the crop row, the method including process of recognition of the trunks of the trees of a plantation to be worked by means of a first 3D sensor (3DS) system interfaced with processing means (CPU) of an agricultural vehicle (V), wherein the first 3D sensor (3DS) system includes a couple of 3D sensors arranged in a low portion of the agricultural vehicle at opposite sides of the vehicle oriented such that to converge in common point (P) circa on a vehicle center line axis (VC) in front of the vehicle, the process including fitting of pseudo-ellipsoids in a horizontal slice of a merged point cloud generated by the two 3D sensors, in order to identify trunks of the crop row.

A method for managing an agricultural vehicle during harvesting process in a plantation of fruit trees, such as an orange orchard, the vehicle being shaped as a portal capable of moving over a crop row and provided with a couple of rotors (R) arranged to work simultaneously on both opposite sides of each plant of the crop row, the method including process of recognition of the trunks of the trees of a plantation to be worked by means of a first 3D sensor (3DS) system interfaced with processing means (CPU) of an agricultural vehicle (V), wherein the first 3D sensor (3DS) system includes a couple of 3D sensors arranged in a low portion of the agricultural vehicle at opposite sides of the vehicle oriented such that to converge in common point (P) circa on a vehicle center line axis (VC) in front of the vehicle, the process including fitting of pseudo-ellipsoids in a horizontal slice of a merged point cloud generated by the two 3D sensors, in order to identify trunks of the crop row.

Embodiments relate generally to a robotic fruit picking apparatus and a method of picking fruit. An example apparatus includes: a chassis; a robotic arm supported by the chassis and having an end effector, wherein the end effector includes a plurality of grippers and an extendable suction element; a vision system carried by the chassis and configured to identify pieces of fruit for picking; and a control system carried by the chassis and in communication with the vision system to control the robotic arm to pick identified pieces of fruit using the end effector. The control system may be configured to operate in a first mode to control the extendable suction element to extend the suction element towards a piece of fruit. The control system may be further configured to operate in a second mode following the first mode to retain contact with the piece of fruit by applying suction while freely allowing extension or retraction of the suction element based on movement of the piece of fruit.

Embodiments relate generally to a robotic fruit picking apparatus and a method of picking fruit. An example apparatus includes: a chassis; a robotic arm supported by the chassis and having an end effector, wherein the end effector includes a plurality of grippers and an extendable suction element; a vision system carried by the chassis and configured to identify pieces of fruit for picking; and a control system carried by the chassis and in communication with the vision system to control the robotic arm to pick identified pieces of fruit using the end effector. The control system may be configured to operate in a first mode to control the extendable suction element to extend the suction element towards a piece of fruit. The control system may be further configured to operate in a second mode following the first mode to retain contact with the piece of fruit by applying suction while freely allowing extension or retraction of the suction element based on movement of the piece of fruit.

A harvesting apparatus and machine is provided for permitting a pair of pickers to pick ground growing fruit from a comfortable and moving position. The harvesting machine includes a frame separated into a first frame half, and a second frame half horizontally adjustable relative to the first frame half. A first seat is positioned on the first frame half and a second seat is positioned on the second frame half, the distance between the first and second seats being adjustable by adjusting the position of the first frame half relative to the second frame half. A propulsion system, including a plurality of wheels, is provided to move the harvesting machine down a row of ground-growing fruit. A steering system is provided to control the direction of movement of the harvesting machine.

A robotic harvesting system includes a base, a gantry system, a robotic arm, and a control system. The base is configured to move in a direction of travel. The gantry system is coupled to the base. The gantry includes a linear transport that is configured to move along the base in substantially a same direction or opposite direction as the direction of travel. The linear transport is coupled to a rod that extends downwards from a top portion of the gantry system. A robotic arm is mounted to the rod at a first joint. A control system is configured to send one or more corresponding commands that cause the linear transport, the rod, and/or the robotic arm to move.

A robotic harvesting system includes a base, a gantry system, a robotic arm, and a control system. The base is configured to move in a direction of travel. The gantry system is coupled to the base. The gantry includes a linear transport that is configured to move along the base in substantially a same direction or opposite direction as the direction of travel. The linear transport is coupled to a rod that extends downwards from a top portion of the gantry system. A robotic arm is mounted to the rod at a first joint. A control system is configured to send one or more corresponding commands that cause the linear transport, the rod, and/or the robotic arm to move.

A harvesting device includes: an upper harvest ring that an object grown on a plant is to be inserted into; a lower harvest ring that is disposed below the upper harvest ring and that the object is to be inserted into; a first drive mechanism that moves at least one of the upper harvest ring and the lower harvest ring; and a controller. The controller determines one of a first harvest operation and a second harvest operation, and controls the first drive mechanism, based on the one of the first harvest operation and the second harvest operation.

A harvesting device includes: an upper harvest ring that an object grown on a plant is to be inserted into; a lower harvest ring that is disposed below the upper harvest ring and that the object is to be inserted into; a first drive mechanism that moves at least one of the upper harvest ring and the lower harvest ring; and a controller. The controller determines one of a first harvest operation and a second harvest operation, and controls the first drive mechanism, based on the one of the first harvest operation and the second harvest operation.

A flexible-rigid integrated gripper for harvesting fruits and vegetables in a breaking-off manner, and a harvesting robot. The flexible-rigid integrated gripper for harvesting fruits and vegetables in a breaking-off manner includes a base, a driving member, and a flexible harvesting mechanism. The flexible harvesting mechanism includes a rigid member, and a flexible body. The flexible body is internally provided with a mounting space in fit with the rigid member, and the rigid member is arranged in the mounting space. The flexible body is arranged on the base. In a direction away from the base, a thickness of a side wall of the flexible body gradually decreases, the mounting space gradually increases, and a flexible harvesting opening in fit with a fruit/vegetable is formed by an inner side surface of the flexible body.