A harvester using shaking to dislodge product from trees is disclosed in which the shaking in each of at least two inertial force generators is controlled independently of the others. Embodiments provide the flexibility to adapt a harvesting procedure to different product and to adapt the harvesting procedure to different individuals within a particular type of plant, and in real-time.

The berry catcher system has an elastic catcher sheet that is sandwiched between upper and lower endless hollow rims. A protector sheet is deployed below the catcher sheet. The system is structured so that as berries are dislodged from their respective vines, the catcher sheet catches the berries as the protector sheet simultaneously protects (at least) the underside of the catcher sheet.

Rail assembly 302 may comprise rail 322 mechanically coupled to oscillating members 305 and 307. In operation, oscillating members 305 and 307 may reciprocate about vertical axes 352 and 353 of vertical shafts 309 and 311, respectively. Reciprocation of the oscillating members may cause rail 322 to travel in arcuate paths 802 and 804. Arcuate paths 802 and 804 may be located in a two-dimensional plane that is perpendicular to vertical shafts 309 and 311. Rail 322 may impart a force on the trunk of a vine so as to dislodge the fruit from the vine.

Rail assembly 302 may comprise rail 322 mechanically coupled to oscillating members 305 and 307. In operation, oscillating members 305 and 307 may reciprocate about vertical axes 352 and 353 of vertical shafts 309 and 311, respectively. Reciprocation of the oscillating members may cause rail 322 to travel in arcuate paths 802 and 804. Arcuate paths 802 and 804 may be located in a two-dimensional plane that is perpendicular to vertical shafts 309 and 311. Rail 322 may impart a force on the trunk of a vine so as to dislodge the fruit from the vine.

An over the row berry harvester provides flexible cushioned elements and surfaces to limit bruising of the fruit harvested. A chassis defines a picking tunnel that passes over rows of plants. A picking system removes fruit from the plants as the harvester moves along the rows. A catching system configured to receive fruit removed from the plants. The catching system includes groups of catch assemblies with soft surfaces on each side of the picking tunnel, each of the catch assemblies at least partially overlapping adjacent catch assemblies. Each of the catch assemblies has a lightweight frame with an aperture and a membrane over molded to bond to the frame and extend across the aperture. The harvest also includes soft surfaces assemblies with membranes stretched between edge frame elements.

An autonomous agricultural vehicle including a wheel-set operably connected with a power source, a processing unit having a memory unit, and a controller operable to receive and transmit signals to the processing unit, wherein the controller is operable to control the wheel-set. The autonomous agricultural vehicle further including a wireless communication system electrically connected with the processing unit, a global positioning satellite receiver electrically connected with the processing unit, a first perception sensor electrically connected with the processing unit, wherein the first perception sensor is operable to detect environmental features, and a second perception sensor electrically connected with the processing unit, wherein the second perception sensor is operable to detect a feature of a tree. Wherein the processing unit is operable to navigate an environment utilizing signals from the global positioning satellite receiver, and wherein the processing unit is operable to navigate the environment utilizing signals from the first and second perception sensors in a GPS denied environment.

An autonomous agricultural vehicle including a wheel-set operably connected with a power source, a processing unit having a memory unit, and a controller operable to receive and transmit signals to the processing unit, wherein the controller is operable to control the wheel-set. The autonomous agricultural vehicle further including a wireless communication system electrically connected with the processing unit, a global positioning satellite receiver electrically connected with the processing unit, a first perception sensor electrically connected with the processing unit, wherein the first perception sensor is operable to detect environmental features, and a second perception sensor electrically connected with the processing unit, wherein the second perception sensor is operable to detect a feature of a tree. Wherein the processing unit is operable to navigate an environment utilizing signals from the global positioning satellite receiver, and wherein the processing unit is operable to navigate the environment utilizing signals from the first and second perception sensors in a GPS denied environment.

A harvesting device for harvesting fruit hanging from a plant, includes a frame displaceable in a transport direction, at least one container displaceable relative to the frame in a direction of extension substantially transversely of the transport direction; and at least one catcher mounted on the at least one container. The at least one brush includes an arm extending substantially in the direction of extension from the container, and a number of bristles which are attached to the arm and extend substantially parallel to the transport direction. A method for harvesting such fruit, wherein use is made of the harvesting device.

A device which is suitable for harvesting fruit hanging from a plant at least having a mobile frame, which frame at least comprises two opposite, longitudinal sides for guiding fruit. The frame further comprises fruit collecting devices adjoining the first longitudinal side. At least one longitudinal side is provided with wirelike, flexible elements extending from the first longitudinal side, over which elements the fruit can be guided.

The invention concerns a harvesting unit including two shaker devices, and two collecting mats disposed under respectively one shaker device, each being formed by a longitudinal alignment of collecting modules that longitudinally overlap on one another, and transversely overlapping on one another at their inward edges to form therebetween a path for the passage of the trunks of the plants, each collecting module comprising a collecting member that presents an upper wall forming a part of the corresponding mat and is arranged to move away from the path upon bearing contact with a trunk, each collecting module further comprising a reinforcing member of the upper wall against deformations thereof along a direction normal to the upper wall, the reinforcing member being arranged to move away from the path upon bearing contact with a trunk.