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.

An end effector for harvesting edible crowns of broccoli plants. The end effector may include a body, fingers pivotably coupled to the body, and a rotary actuator disposed in the body. The rotary actuator operably couples to the fingers via one or more linkages and is configured to transition the fingers between an open position and a closed position. In the closed position, an edible crown is retained within the end effector, while in the open position, the edible crown is released from the end effector. A cutting mechanism of the end effector severs the edible crown from a stalk of the broccoli plant. A robotic arm may position the end effector relative to the edible crown for harvesting.

An end effector for harvesting edible crowns of broccoli plants. The end effector may include a body, fingers pivotably coupled to the body, and a rotary actuator disposed in the body. The rotary actuator operably couples to the fingers via one or more linkages and is configured to transition the fingers between an open position and a closed position. In the closed position, an edible crown is retained within the end effector, while in the open position, the edible crown is released from the end effector. A cutting mechanism of the end effector severs the edible crown from a stalk of the broccoli plant. A robotic arm may position the end effector relative to the edible crown for harvesting.

A harvester selectively harvests edible crowns ready for harvesting. The harvester may include an imaging system for capturing image(s) of the edible crowns and a de-leafing component that removes leaves of the broccoli plant. For example, broccoli plants typically have an abundance of leaves that reside beneath, alongside of, and even above the edible crowns. The leaves may conceal the edible crowns and impact a quality of the image(s). The de-leafing component may be positioned in front of the imaging system, relative to a direction of travel of the harvester, to remove the leaves and isolate or expose the edible crown. Therein, the imaging system may image the edible crowns for use in determining whether the edible crowns are ready for harvesting.

A harvester selectively harvests edible crowns ready for harvesting. The harvester may include an imaging system for capturing image(s) of the edible crowns and a de-leafing component that removes leaves of the broccoli plant. For example, broccoli plants typically have an abundance of leaves that reside beneath, alongside of, and even above the edible crowns. The leaves may conceal the edible crowns and impact a quality of the image(s). The de-leafing component may be positioned in front of the imaging system, relative to a direction of travel of the harvester, to remove the leaves and isolate or expose the edible crown. Therein, the imaging system may image the edible crowns for use in determining whether the edible crowns are ready for harvesting.

An example system includes a vacuum generating device, a robotic arm, and a harvesting device coupled to the robotic arm. The harvesting device includes an end-effector having an inlet; a vacuum tube coupled to the inlet of the end-effector and to the vacuum generating device, where the vacuum generating device is configured to generate a vacuum environment in the vacuum tube; an outlet mechanism coupled to the vacuum tube; and a deceleration structure configured to decelerate fruit that has traversed at least a portion of the vacuum environment.

An example system includes a vacuum generating device, a robotic arm, and a harvesting device coupled to the robotic arm. The harvesting device includes an end-effector having an inlet; a vacuum tube coupled to the inlet of the end-effector and to the vacuum generating device, where the vacuum generating device is configured to generate a vacuum environment in the vacuum tube; an outlet mechanism coupled to the vacuum tube; and a deceleration structure configured to decelerate fruit that has traversed at least a portion of the vacuum environment.

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.

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.

An atmospheric water generation system comprises water vapor consolidation systems configured to increase the relative humidity of a controlled air stream prior to condensing water from the controlled air stream. The water vapor consolidation system comprises a fluid-desiccant flow system configured to decrease the temperature of the desiccant to encourage water vapor to be absorbed by the desiccant from an atmospheric air flow. The desiccant flow is then heated to encourage water vapor evaporation from the desiccant flow into a controlled air stream that circulates within the system. The humidity of the controlled air stream is thereby increased above the relative humidity of the atmospheric air to facilitate condensation of the water vapor into usable liquid water.