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.

A harvesting system has a climbing unit with a body driven by traction wheels, a control unit, an articulated arm with a cutting implement at an extremity, a video camera focused on the cutting implement, and a computerized portable control station having a display and a user interface with inputs operable to control driving the traction wheels of the climbing unit, the articulation of the articulated arm, and the cutting implement. Video streamed in real time from the video camera is displayed on the display screen, and a user viewing the video display operates the inputs to position the cutting implement to cut a stem of a fruit or nut in the tree.

A harvesting system has a climbing unit with a body driven by traction wheels, a control unit, an articulated arm with a cutting implement at an extremity, a video camera focused on the cutting implement, and a computerized portable control station having a display and a user interface with inputs operable to control driving the traction wheels of the climbing unit, the articulation of the articulated arm, and the cutting implement. Video streamed in real time from the video camera is displayed on the display screen, and a user viewing the video display operates the inputs to position the cutting implement to cut a stem of a fruit or nut in the tree.

Provided is a suction and separation composite tube, and a suction cleaning machine and a harvesting machine using the same, which are highly cost effective and are capable of, with a relatively simple structure to keep the manufacturing costs low, separating items of relatively small specific gravity from items of relatively large specific gravity even if the output of a motor is set high, and thus reducing the likelihood of clogging or the like of sucked objects and effectively preventing damage to or breakage of a fan and a fan casing. The suction and separation composite tube includes a connecting tube portion, a suction tube portion, and a separation tube portion. The suction tube portion or the separation tube portion is integrally continuous with the connecting tube portion at a distal end thereof. The suction tube portion and the separation tube portion are combined together at an intermediate portion or proximal end portion thereof. Using the fact that the flow velocity of airflow involving sucked objects that have been sucked from a suction port decreases at a combining portion, the sucked objects are separated into items of relatively small specific gravity and items of relatively large specific gravity.

This disclosure includes a method for pruning a fruit plant. An exemplary method step includes obtaining an image of the fruit plant that has branches. Next, creating exclusion zones surrounding the branches. Then pruning the fruit plant based upon the exclusion zones.

This disclosure includes a method for pruning a fruit plant. An exemplary method step includes obtaining an image of the fruit plant that has branches. Next, creating exclusion zones surrounding the branches. Then pruning the fruit plant based upon the exclusion zones.

Harvesting tools are disclosed which may comprise a gripper including a set of finger elements constructed and arranged to envelop a target object pertaining to agricultural produce, and a manipulator carriage configured to actuate the gripper during operation to grasp the target object. Related systems and methods are also disclosed.

Harvesting tools are disclosed which may comprise a gripper including a set of finger elements constructed and arranged to envelop a target object pertaining to agricultural produce, and a manipulator carriage configured to actuate the gripper during operation to grasp the target object. Related systems and methods are also disclosed.

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.