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 device including at least one motorized conveyor for conveying a flow of harvested crop between an upstream end and a downstream end of the conveyor along a longitudinal direction. The device further including at least one sensor that monitors a longitudinal inclination of the device relative to a nominal orientation of the device. The device computes a conveyor speed based on the monitored longitudinal inclination, the conveyor speed being adapted to maintain conveying kinematics of the harvested crop independent from the longitudinal inclination; and the device operates the motorized conveyor at the computed conveyor speed.

A device including at least one motorized conveyor for conveying a flow of harvested crop between an upstream end and a downstream end of the conveyor along a longitudinal direction. The device further including at least one sensor that monitors a longitudinal inclination of the device relative to a nominal orientation of the device. The device computes a conveyor speed based on the monitored longitudinal inclination, the conveyor speed being adapted to maintain conveying kinematics of the harvested crop independent from the longitudinal inclination; and the device operates the motorized conveyor at the computed conveyor speed.

A process for weighing a harvested crop stored in a tank of a harvesting machine, a frame supporting the tank is mounted on a wheel set by a lifting device which is operable to move the frame upwardly and downwardly upon control of a hydraulic system. The process controlling the hydraulic system and includes the steps of: determining at least one height position of the frame on the displacement course; measuring a lowering pressure and a raising pressure in the hydraulic system at the position; calculating, from the measured pressures, a balancing pressure for the frame. The process is performed before unloading the stored crop in order to calculate a loaded balancing pressure and after the unloading in order to calculate an empty balancing pressure. The weight of the stored crop is calculated from a pressure variation between the loaded balancing pressure and the empty balancing pressure.

Provided is a separator for separating harvested berries from other plant matter, particularly to a separator that can be fitted to, positioned above, or integrated with, a collection bin and as such allows for material harvested by an automatic berry harvester to be processed prior to deposition of the berries in the collection bin. In particular the berry harvester can be a grape harvester.

Provided is a separator for separating harvested berries from other plant matter, particularly to a separator that can be fitted to, positioned above, or integrated with, a collection bin and as such allows for material harvested by an automatic berry harvester to be processed prior to deposition of the berries in the collection bin. In particular the berry harvester can be a grape harvester.

An apparatus and method are described for the separation of juice from pulp which is useful in the making of wine. The apparatus includes a bin and insert that are rotatably connected, by a hinge, for example. In certain embodiments, the insert is a shelf with a drain that separates the juice from the pulp. The method includes providing a mixture of pulp and juice to a transport bin. The pulp and juice are separated and stored separately in the bin, and are unloaded at the same time.

An apparatus and method are described for the separation of juice from pulp which is useful in the making of wine. The apparatus includes a bin and insert that are rotatably connected, by a hinge, for example. In certain embodiments, the insert is a shelf with a drain that separates the juice from the pulp. The method includes providing a mixture of pulp and juice to a transport bin. The pulp and juice are separated and stored separately in the bin, and are unloaded at the same time.

An apparatus for tending to rows of vines is presented which may be pulled, or driven, between a pair of rows of a vineyard. The apparatus includes implements to tend to the vines on both rows at the same time. The apparatus include a left portion that tends to a left row of vines and right portion that tends to a right row of vines. The portions are attached to the apparatus using linkages that permit the portions to adjust to changes in row spacing or the position of the apparatus between the rows. The apparatus also includes weeder assemblies that weed the ground between the vines while preventing damage to the vines, and a spray device for spraying the vines.

An apparatus for tending to rows of vines is presented which may be pulled, or driven, between a pair of rows of a vineyard. The apparatus includes implements to tend to the vines on both rows at the same time. The apparatus include a left portion that tends to a left row of vines and right portion that tends to a right row of vines. The portions are attached to the apparatus using linkages that permit the portions to adjust to changes in row spacing or the position of the apparatus between the rows. The apparatus also includes weeder assemblies that weed the ground between the vines while preventing damage to the vines, and a spray device for spraying the vines.