A hand-guided garden, forestry and/or construction working apparatus has an inactive state, an active state and a variable setting, as well as an apparatus operator control element which can be activated by a user. In the inactive state, the garden, forestry and/or construction working apparatus is designed to be transferred into the active state triggered by activation of the apparatus operator control element, and in the active state the garden, forestry and/or construction working apparatus is designed to change the setting and not to be transferred into the inactive state triggered by activation of the apparatus operator control element.

A hand-guided garden, forestry and/or construction working apparatus has an inactive state, an active state and a variable setting, as well as an apparatus operator control element which can be activated by a user. In the inactive state, the garden, forestry and/or construction working apparatus is designed to be transferred into the active state triggered by activation of the apparatus operator control element, and in the active state the garden, forestry and/or construction working apparatus is designed to change the setting and not to be transferred into the inactive state triggered by activation of the apparatus operator control element.

The present invention provides a computerized system for mapping an orchard, and a method for producing precise map and database with high resolution and accuracy of all trees in an orchard.

The present invention provides a computerized system for mapping an orchard, and a method for producing precise map and database with high resolution and accuracy of all trees in an orchard.

A motorized multi-function tool including a handle assembly, a cover assembly, a rod assembly and an interchangeable tool assembly is disclosed. The handle assembly includes a handle that allows a user to operate the motorized multi-function tool. Within the handle is a battery to power a motor located in the cover assembly. The handle assembly and the cover assembly have the rod assembly therebetween connecting them to one another. The rod assembly includes a shaft which allows the user to set the motorized multi-function tool at different lengths to accomplish distinct tasks. Importantly, the cover assembly has the interchange tool assembly which allow for changing of tool heads for different functions to accomplish different tasks. The different tool heads may be used for manual labor work or for health and beauty purposes as well.

A robotic fruit picking system includes an autonomous robot that includes a positioning subsystem that enables autonomous positioning of the robot using a computer vision guidance system. The robot also includes at least one picking arm and at least one picking head, or other type of end effector, mounted on each picking arm to either cut a stem or branch for a specific fruit or bunch of fruits or pluck that fruit or bunch. A computer vision subsystem analyses images of the fruit to be picked or stored and a control subsystem is programmed with or learns picking strategies using machine learning techniques. A quality control (QC) subsystem monitors the quality of fruit and grades that fruit according to size and/or quality. The robot has a storage subsystem for storing fruit in containers for storage or transportation, or in punnets for retail.

A robotic fruit picking system includes an autonomous robot that includes a positioning subsystem that enables autonomous positioning of the robot using a computer vision guidance system. The robot also includes at least one picking arm and at least one picking head, or other type of end effector, mounted on each picking arm to either cut a stem or branch for a specific fruit or bunch of fruits or pluck that fruit or bunch. A computer vision subsystem analyses images of the fruit to be picked or stored and a control subsystem is programmed with or learns picking strategies using machine learning techniques. A quality control (QC) subsystem monitors the quality of fruit and grades that fruit according to size and/or quality. The robot has a storage subsystem for storing fruit in containers for storage or transportation, or in punnets for retail.

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.

In general terms, the present invention provides a passively compliant robotic arm having one or more variable stiffness joints controllable by first and second bi-directional actuators that can be independently operated. Each bi-directional actuator may be operable in a first configuration to urge the joint in a first direction, and in a second configuration to urge the joint in a second direction opposite to the first direction. The bi-directional actuators may be operated in a cooperating mode (high torque mode) in which they work in tandem (i.e. both in the first configuration or second configuration) to double the available torque output. The bi-directional actuators may also (or alternatively) be operated in a high stiffness mode (antagonist mode) in which they counter-act each other by operating so that they oppose one another (i.e. one in the first configuration and the other in the second configuration). The high torque mode may be utilised for an initial portion of a movement trajectory, and the antagonist mode for a final portion of the movement trajectory. The relatively high stiffness in the high stiffness/antagonist mode results from the combined effects of the non-linear force-deflection relationship of the first and second resilient members. The resilient members may each comprise an elastic element, tendon or other resilient member that can be stretched (elongated) to increase tension therein and thereby urge the joint to move.