A harvesting method is performed by a harvesting device. The harvesting device includes an upper harvest ring having an upper through hole through which a fruit can be passed, and a lower harvest ring disposed below the upper harvest ring and having a lower through hole through which the fruit can be passed. The harvesting method includes moving, by the harvesting device, the upper harvest ring and the lower harvest ring along a surface shape of the fruit to position a fruit stalk of the fruit or the fruit inside each of the upper through hole and the lower through hole, and moving, by the harvesting device, the upper harvest ring relative to the lower harvest ring to harvest the fruit.

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 field harvesting device for small fruits having a harvesting header, a hitching pole and framework on wheels so as to be pulled by a moving motorized machine and the harvesting header is a single assembly comprised of a frame, conveyor, dividing cones, and a plurality of assemblies formed at first by worm screws, from each of which individual worm screw extends a rotating separator from which extends a shaft extending into a sprocket wheel. Two of the assemblies working as a pair of axially parallel aligned assemblies such that when one rotating separator, forming part of the pair, rotates clockwise and faces the other rotating separator forming part of the same pair rotates counterclockwise. The counter rotating separator having paddles which are configured for stripping fruits off of fruit plants; the stripped fruits are projected upwards by the action of the paddles rotating in an upward direction; the fruits fall onto U shaped cups located on the underneath supports, and roll off onto a primary conveyor. The primary conveyor conveys the fruits to an elevator conveyor which directs the fruits into a container. The assemblies are linked together at the back of the harvesting header by way of a roller chain connected to the sprocket wheels which are rotationally connected to pillow bearings mounted to the harvesting header frame and covered by a back cover. The assemblies are hold at the front end of the device by supports brackets mounted on a header frame member, which are rotationally connected by way of bearings that allow rotational movements of the assemblies.

A field harvesting device for small fruits having a harvesting header, a hitching pole and framework on wheels so as to be pulled by a moving motorized machine and the harvesting header is a single assembly comprised of a frame, conveyor, dividing cones, and a plurality of assemblies formed at first by worm screws, from each of which individual worm screw extends a rotating separator from which extends a shaft extending into a sprocket wheel. Two of the assemblies working as a pair of axially parallel aligned assemblies such that when one rotating separator, forming part of the pair, rotates clockwise and faces the other rotating separator forming part of the same pair rotates counterclockwise. The counter rotating separator having paddles which are configured for stripping fruits off of fruit plants; the stripped fruits are projected upwards by the action of the paddles rotating in an upward direction; the fruits fall onto U shaped cups located on the underneath supports, and roll off onto a primary conveyor. The primary conveyor conveys the fruits to an elevator conveyor which directs the fruits into a container. The assemblies are linked together at the back of the harvesting header by way of a roller chain connected to the sprocket wheels which are rotationally connected to pillow bearings mounted to the harvesting header frame and covered by a back cover. The assemblies are hold at the front end of the device by supports brackets mounted on a header frame member, which are rotationally connected by way of bearings that allow rotational movements of the assemblies.

A fruit vegetable harvesting device includes an operating tool (e.g., a cutting mechanism that operates a fruit vegetable (e.g., cuts a stalk), a fruit vegetable holding mechanism that sucks and holds the fruit vegetable, and an advance and retreat mechanism that advances and retreats the cutting mechanism to and from the fruit vegetable held by the fruit vegetable holding mechanism. The advance and retreat mechanism includes an extendable arm unit having a tip end to which the cutting mechanism is attached, and the cutting mechanism is held to be rotatable about a second rotation shaft with respect to the arm unit.

Disclosed is a fruit picking method based on a visual servo control robot, comprising: placing a throwing apparatus and a fixed photosensitive device at a first position to obtain a fixed photosensitive image; generating a first throwing path, a second throwing path, and a third throwing path; arranging recovery apparatuses; performing simultaneous rotational throwing processing to throw a first wireless photosensitive device, a second wireless photosensitive device, and a third wireless photosensitive device; receiving a first photosensitive image sequence and a second photosensitive image sequence of the first wireless photosensitive device and the second wireless photosensitive device; receiving a third photosensitive image sequence of the third wireless photosensitive device; generating a spatial position of a fruit on a to-be-picked fruit tree; and performing fruit picking processing using the visual servo control robot according to the spatial position of the fruit.

A harvesting tool configured to independently grasp and twist a target object. The harvesting tool comprising a pneumatic cylinder, a pneumatic coupling communicating with the pneumatic cylinder; bearings supporting the pneumatic cylinder for rotation relative to the pneumatic coupling; and a gear assembly configured to rotate the pneumatic cylinder relative to the pneumatic coupling. Related systems and methods are also disclosed.

A harvesting tool configured to independently grasp and twist a target object. The harvesting tool comprising a pneumatic cylinder, a pneumatic coupling communicating with the pneumatic cylinder; bearings supporting the pneumatic cylinder for rotation relative to the pneumatic coupling; and a gear assembly configured to rotate the pneumatic cylinder relative to the pneumatic coupling. Related systems and methods are also disclosed.

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.