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.

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.

Systems and methods here may include a vehicle with automated subcomponents for harvesting delicate targets such as agriculture. In some examples, the vehicle includes a targeting subcomponent and a harvesting subcomponent. In some examples, the harvesting subcomponent includes vacuum features which gently attach to target agriculture to secure it. In some examples, the harvesting subcomponent includes padded spoons to grasp and remove the target agriculture from the foliage.

A system for harvesting berries comprising a tendon-driven gripper having fingers made of a compliant material.

A system for harvesting berries comprising a tendon-driven gripper having fingers made of a compliant material.

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.

A device for picking a piece of fruit from a fruit plant. The device includes locating members arranged to be positioned around a piece of fruit to be picked. The locating members are actuatable from an open position to receive the piece of fruit between the locating members to a closed position to surround the stem by which the piece of fruit is attached to the fruit plant. The device also includes a mechanism for detaching the piece of fruit to be picked from the fruit plant. The mechanism is mounted on or relative to one or more of the plurality of locating members, and wherein the mechanism is arranged to detach the piece of fruit from the plant when the plurality of locating members are in the closed position.

A device for picking a piece of fruit from a fruit plant. The device includes locating members arranged to be positioned around a piece of fruit to be picked. The locating members are actuatable from an open position to receive the piece of fruit between the locating members to a closed position to surround the stem by which the piece of fruit is attached to the fruit plant. The device also includes a mechanism for detaching the piece of fruit to be picked from the fruit plant. The mechanism is mounted on or relative to one or more of the plurality of locating members, and wherein the mechanism is arranged to detach the piece of fruit from the plant when the plurality of locating members are in the closed position.