An improved method and apparatus for automatically picking a fruit is described. During the clamping stage, the movement of the fingers is controlled such that a specific maximum clamping force is not exceeded. In addition, during at least a part of the removal stage, the mutual position of the fingers is controlled by the drive such that their mutual distance does not increase.

An improved method and apparatus for automatically picking a fruit is described. During the clamping stage, the movement of the fingers is controlled such that a specific maximum clamping force is not exceeded. In addition, during at least a part of the removal stage, the mutual position of the fingers is controlled by the drive such that their mutual distance does not increase.

Systems and methods capable of selecting and positively grasping objects of interest within a cluttered environment are described. Some aspects of the present disclosure provide for real-time control of a robot that uses various sensors and reacts to sensor input in real time to adjust the robots path. In some embodiments, a robotic item picker includes an end effector having a shaft extending along a longitudinal axis between a proximal end and a distal end, a carriage configured to rotate about and translate along an intermediate portion of the shaft between a proximal position and a distal position, a suction device coupled to the distal end of the shaft, and a plurality of fingers spaced radially about the carriage. The robot may be a t-bot including a longitudinal member rotatable about a lengthwise axis of the longitudinal member, a carriage translatable along the lengthwise axis, and a radial member slidably mounted to the carriage. The end effector may be rotatably coupled at a distal end of the radial member.

Systems and methods capable of selecting and positively grasping objects of interest within a cluttered environment are described. Some aspects of the present disclosure provide for real-time control of a robot that uses various sensors and reacts to sensor input in real time to adjust the robots path. In some embodiments, a robotic item picker includes an end effector having a shaft extending along a longitudinal axis between a proximal end and a distal end, a carriage configured to rotate about and translate along an intermediate portion of the shaft between a proximal position and a distal position, a suction device coupled to the distal end of the shaft, and a plurality of fingers spaced radially about the carriage. The robot may be a t-bot including a longitudinal member rotatable about a lengthwise axis of the longitudinal member, a carriage translatable along the lengthwise axis, and a radial member slidably mounted to the carriage. The end effector may be rotatably coupled at a distal end of the radial member.

An example system includes a nozzle having an inlet; an outlet mechanism disposed longitudinally adjacent to the nozzle; a conduit longitudinally adjacent to the outlet mechanism, where the conduit includes a distal chamber, a middle chamber, and a proximal chamber that are longitudinally disposed along a length of the conduit; a partition block configured to move between (i) a first position at which the partition block is disposed laterally adjacent to the middle chamber, such that the partition block is offset from a longitudinal axis of the conduit, and (ii) a second position at which the partition block resides in the middle chamber between the distal chamber and the proximal chamber; and a deceleration structure disposed at a proximal end of the conduit and bounding the proximal chamber, where the deceleration structure is configured to decelerate fruit that has traversed the conduit.

An example system includes a nozzle having an inlet; an outlet mechanism disposed longitudinally adjacent to the nozzle; a conduit longitudinally adjacent to the outlet mechanism, where the conduit includes a distal chamber, a middle chamber, and a proximal chamber that are longitudinally disposed along a length of the conduit; a partition block configured to move between (i) a first position at which the partition block is disposed laterally adjacent to the middle chamber, such that the partition block is offset from a longitudinal axis of the conduit, and (ii) a second position at which the partition block resides in the middle chamber between the distal chamber and the proximal chamber; and a deceleration structure disposed at a proximal end of the conduit and bounding the proximal chamber, where the deceleration structure is configured to decelerate fruit that has traversed the conduit.

An end effector includes a cutting mechanism, a gripping mechanism, and a pivot component. The cutting mechanism and the gripping mechanism are coupled to the pivot component. The cutting mechanism is coupled to a first portion of the pivot component and the gripping mechanism is coupled to a second portion of the pivot component.

An end effector includes a cutting mechanism, a gripping mechanism, and a pivot component. The cutting mechanism and the gripping mechanism are coupled to the pivot component. The cutting mechanism is coupled to a first portion of the pivot component and the gripping mechanism is coupled to a second portion of the pivot component.

A me.sub.thod for determining output data from crop plant characteristics for a crop plan comprising, in a data processing system providing measurement data detected for a crop plant; determining model data representing a three dimensional model of the crop plant from the measurement data; segmenting the three dimensional model determining first crop plant characteristics for a first subpart of the crop plant provided in a first three dimensional segment segments; and providing output data at an output device. The output data comprise at least one of the following: media data and operation control data indicative of operation control signals for controlling operating of an agricultural machine working on the crop plant, the operation control signals comprising first operation control signals determined from the first crop plant characteristics and configured to control operation of the agricultural machine for applying an agricultural treatment to the first subpart of the crop plant.

A produce growing and harvesting system is provided for use with at least one motor, the system comprising: a plurality of vertical grow towers, each grow tower defining a bore and including a plurality of apertures extending to the bore from an ambient environment, and a cylindrical upper end; a tower gear at the cylindrical upper end, the tower gear in motive communication with the grow tower; and a grip and rotate system, the grip and rotate system including a body, an external gear for engaging the tower gear, a strut extending between the body and the external gear and in rotational communication with the external gear, a pair of arms attached to the body; a first grip jaw and a second grip jaw defining an opening sized to accept the cylindrical upper end of each grow tower, each grip jaw attached to one of the pair of arms, and including a plurality of rollers disposed in the opening.