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.

An end effector for harvesting fruit. The end effector includes a collection device that has an opening with a plurality of prongs over the opening. The end effector also has an oscillating device secured to, and in an oscillating relationship with, the plurality of prongs.

An end effector for harvesting fruit. The end effector includes a collection device that has an opening with a plurality of prongs over the opening. The end effector also has an oscillating device secured to, and in an oscillating relationship with, the plurality of prongs.

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.

The present invention relates to automatic and high throughput smart, robotic, autonomous or driver operated, self-propelled field crops harvester (SPFCH) device of row crops, characterized by the need of selecting harvesting ripen crop, during relative long period of time. Harvesting is done by one or more modular robotic harvesting arms hanged on modular booms. When harvesting orchards fruits the SPFCH comprise at least one hybrid robotic arms equipped with a grabbing hand aimed to grab one or more fruit of a an adjacent fruits and also cut its connecting stem, and arm transporting mechanism that gently collects the fruits and transport them to the SPFCH main accumulation area. When harvesting cotton, the SPFCH of the invention may further comprise vacuum sucking hoses and at least one ginning unit that gin the seed-cotton during harvesting and accumulate the seeds in a self-container, and the lint by bales processed, on board by self-press.

The present invention relates to automatic and high throughput smart, robotic, autonomous or driver operated, self-propelled field crops harvester (SPFCH) device of row crops, characterized by the need of selecting harvesting ripen crop, during relative long period of time. Harvesting is done by one or more modular robotic harvesting arms hanged on modular booms. When harvesting orchards fruits the SPFCH comprise at least one hybrid robotic arms equipped with a grabbing hand aimed to grab one or more fruit of a an adjacent fruits and also cut its connecting stem, and arm transporting mechanism that gently collects the fruits and transport them to the SPFCH main accumulation area. When harvesting cotton, the SPFCH of the invention may further comprise vacuum sucking hoses and at least one ginning unit that gin the seed-cotton during harvesting and accumulate the seeds in a self-container, and the lint by bales processed, on board by self-press.

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.

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 feat has traversed the conduit.