A robotic automated broccoli plant harvesting apparatus uses a vision system implemented with an RGB depth camera that provides imaging signals. Software operating on a microcomputer processes the imaging signals to identify the height and position of a broccoli plant to sever it with dual opposed cutting blades. In a preferred embodiment, the software algorithm combines color, texture, and distance information of the broccoli plant to reliably cut the broccoli stalk with ⅛-inch (3.175-millimeter) accuracy. Broccoli stalks of consistent lengths result in uniform, commercially viable products.

A robotic automated broccoli plant harvesting apparatus uses a vision system implemented with an RGB depth camera that provides imaging signals. Software operating on a microcomputer processes the imaging signals to identify the height and position of a broccoli plant to sever it with dual opposed cutting blades. In a preferred embodiment, the software algorithm combines color, texture, and distance information of the broccoli plant to reliably cut the broccoli stalk with ⅛-inch (3.175-millimeter) accuracy. Broccoli stalks of consistent lengths result in uniform, commercially viable products.

A method for estimating ripeness of produce includes illuminating the produce with light, measuring intensities of the light reflected from the produce at different frequencies, and determining a degree of ripeness of the produce from the relative intensities of the light reflected from the produce at the different frequencies.

A harvesting tool configured to independently grasp and twist a target object. Related systems and methods are also disclosed.

A harvesting tool configured to independently grasp and twist a target object. Related systems and methods are also disclosed.

A fruit picking method based on a three-dimensional parameter prediction model for a fruit comprises: performing first-time image acquisition processing on a to-be-picked fruit to obtain a first image; determining a first range; controlling a manipulator to perform first-time moving processing; performing intermittent gas injection treatment to lead to forced vibration of the to-be-picked fruit; performing second-time image acquisition processing many times to obtain a plurality of second images; screening out, by taking the first image as an reference object, two appointed second images deviating from an equilibrium position to the maximum extent; jointly inputting the images into a preset three-dimensional parameter prediction model for the fruit so as to obtain predicted three-dimensional parameters; controlling the manipulator to perform second-time moving processing; and performing cutting processing on a fruit stem position to make the to-be-picked fruit fall onto the manipulator.

A fruit picking method based on a three-dimensional parameter prediction model for a fruit comprises: performing first-time image acquisition processing on a to-be-picked fruit to obtain a first image; determining a first range; controlling a manipulator to perform first-time moving processing; performing intermittent gas injection treatment to lead to forced vibration of the to-be-picked fruit; performing second-time image acquisition processing many times to obtain a plurality of second images; screening out, by taking the first image as an reference object, two appointed second images deviating from an equilibrium position to the maximum extent; jointly inputting the images into a preset three-dimensional parameter prediction model for the fruit so as to obtain predicted three-dimensional parameters; controlling the manipulator to perform second-time moving processing; and performing cutting processing on a fruit stem position to make the to-be-picked fruit fall onto the manipulator.

The invention provides a tool, device comprising such a tool and a method using such a device for the automated separation of a branch of a plant. The tool comprises a frame, a first separating body, a first displacement unit for moving the first separating body to and fro with respect to the frame between a start position and an end position, and which first separating body is configured for producing a separation in the branch during the move from the start position to the end position. The tool furthermore comprises a pushing element and a second displacement unit for moving the first separating body and the pushing element towards each other and away from each other between an approaching position and a separating position, in which the pushing element and the first separating body are configured for causing a first elongate part of the plant to extend therebetween in the approaching position and for the pushing element to push the first elongate part of the plant in the direction of the separation plane belonging to the first separation body against a side of the first elongate part of the plant facing away from the branch of the plant during displacement of the pushing element in a pushing direction from the approaching position to the separating position.

The invention provides a tool, device comprising such a tool and a method using such a device for the automated separation of a branch of a plant. The tool comprises a frame, a first separating body, a first displacement unit for moving the first separating body to and fro with respect to the frame between a start position and an end position, and which first separating body is configured for producing a separation in the branch during the move from the start position to the end position. The tool furthermore comprises a pushing element and a second displacement unit for moving the first separating body and the pushing element towards each other and away from each other between an approaching position and a separating position, in which the pushing element and the first separating body are configured for causing a first elongate part of the plant to extend therebetween in the approaching position and for the pushing element to push the first elongate part of the plant in the direction of the separation plane belonging to the first separation body against a side of the first elongate part of the plant facing away from the branch of the plant during displacement of the pushing element in a pushing direction from the approaching position to the separating position.

An autonomous robot for harvesting produce from a plant include a base, an arm coupled to the base, and an end-effector coupled to the arm. The end-effector includes one or more grippers, each having a first cutter, second cutter, and a compliant member between the first cutter and the second cutter. The first cutter is configured to cut a stem of the produce at a first location. The second cutter is configured to cut the stem of the produce at a second location. The compliant member is configured to plastically deform to hold the stem of the produce.