A robotic harvesting system includes a base, a linear transport, a robotic arm, and an end effector. The base is configured to move in a direction of travel. A linear transport is mounted to the base. The linear transport is configured to move along the base in substantially a same direction or opposite direction as the direction of travel. A robotic arm is mounted to the linear transport. The robotic arm has a proximal end and a distal end. The distal end of the robotic arm is configured to rotate toward and away from the base from a first joint. An end effector is mounted on the distal end of the robotic arm.

A robotic harvesting system includes a base, a linear transport, a robotic arm, and an end effector. The base is configured to move in a direction of travel. A linear transport is mounted to the base. The linear transport is configured to move along the base in substantially a same direction or opposite direction as the direction of travel. A robotic arm is mounted to the linear transport. The robotic arm has a proximal end and a distal end. The distal end of the robotic arm is configured to rotate toward and away from the base from a first joint. An end effector is mounted on the distal end of the robotic arm.

The present invention provides a management system for autonomous unmanned aircraft vehicle (UAV) fleet management for harvesting or diluting fruits, and a computerized method for optimal harvesting using a UAV fleet.

The present invention provides a management system for autonomous unmanned aircraft vehicle (UAV) fleet management for harvesting or diluting fruits, and a computerized method for optimal harvesting using a UAV fleet.

There is provided a harvesting method using a harvesting apparatus including a pull-in mechanism for pulling one of a plurality of targets that grow on a plant and a harvesting mechanism for harvesting the pulled-in targets, the method including: a step of detecting a size and an inclination of the target; a step of adjusting an angle of the harvesting mechanism based on the inclination of the target; a step of adjusting a positional relationship between the harvesting mechanism and the pull-in mechanism based on the size of the target; a step of pulling the target in a direction of separating the target from a branch of the plant via the pull-in mechanism; a step of inserting the harvesting mechanism below the pulled-in target; and a step of cutting the target from the plant by the inserted harvesting mechanism.

A harvester that determines whether edible crowns are ready to be harvested and selectively harvests the edible crowns that are ready for harvesting. The harvester may include sensors, such as an imaging system, for detecting the edible crowns of individual broccoli plants. Image data from the imaging system may be provided as an input to a machine-learning model to determine a maturity (or immaturity) of the edible crowns. If the edible crowns are ready for harvesting, mechanical pickers harvest the edible crowns. For example, the harvester may include robotic arms having end effectors that cut the edible crowns from a remainder of the broccoli plant. The harvester may be configured to continuously harvest the edible crowns as the harvester moves about a field. In some instances, the harvester may include any number of robotic arms for harvesting the edible crowns across multiple rows of broccoli plants.

A harvester that determines whether edible crowns are ready to be harvested and selectively harvests the edible crowns that are ready for harvesting. The harvester may include sensors, such as an imaging system, for detecting the edible crowns of individual broccoli plants. Image data from the imaging system may be provided as an input to a machine-learning model to determine a maturity (or immaturity) of the edible crowns. If the edible crowns are ready for harvesting, mechanical pickers harvest the edible crowns. For example, the harvester may include robotic arms having end effectors that cut the edible crowns from a remainder of the broccoli plant. The harvester may be configured to continuously harvest the edible crowns as the harvester moves about a field. In some instances, the harvester may include any number of robotic arms for harvesting the edible crowns across multiple rows of broccoli plants.

A speed of a harvester may be adjusted based on a number or ratio of harvestable edible crowns across rows of broccoli plants. For example, as the harvester travels across a field, imaging device(s) may image edible crowns across the multiple rows. The image(s) may be used to determine a number of harvestable edible crowns within each row of broccoli plants. Determining which row contains the greatest number of harvestable edible crowns may be used for adjusting the speed of the harvester to accommodate for harvesting the edible crowns across all rows. Therefore, because edible crowns mature at different rates, the harvester may travel as fast as the “slowest” row, or the row having the greatest number of harvestable edible crowns, to allow enough time for the harvester to harvest the edible crowns.

A speed of a harvester may be adjusted based on a number or ratio of harvestable edible crowns across rows of broccoli plants. For example, as the harvester travels across a field, imaging device(s) may image edible crowns across the multiple rows. The image(s) may be used to determine a number of harvestable edible crowns within each row of broccoli plants. Determining which row contains the greatest number of harvestable edible crowns may be used for adjusting the speed of the harvester to accommodate for harvesting the edible crowns across all rows. Therefore, because edible crowns mature at different rates, the harvester may travel as fast as the “slowest” row, or the row having the greatest number of harvestable edible crowns, to allow enough time for the harvester to harvest the edible crowns.

A harvester travels along a route within a field and selectively harvests edible crowns ready for harvesting. As the harvester travels along the route, a position of the harvester and/or the edible crowns may be determined using an encoder, imaging device(s), and/or navigational system(s). For example, image(s) captured by the imaging device(s) may be used to determine a location of the edible crowns and/or global positioning satellite (GPS) coordinates may indicate a location of the harvester within the field. These locations may be used for instructing harvesting components to harvest the edible crowns. For example, the harvester may include robotic arms having end effectors that harvest the edible crowns. Knowing the location of the edible crowns and/or the harvester therefore allows for the accurate placement of the end effectors for harvesting the edible crowns.