A maturity determination device includes an image capturing device to capture a image including a plurality of first and second pixels; and a signal processing circuit configured to find an area size ratio of an intensity distribution of light of a first wavelength band on the basis of a predetermined reference value based on pixel values obtained from the plurality of first and second pixels, and to generate maturity determination information in accordance with the area size ratio. The first pixel includes a first light transmission filter, and the second pixel includes a second light transmission filter. The intensity of the light of the first wavelength band reflected by the fruits and vegetables varies in accordance with the maturity level, and the intensity of the light of the second wavelength band reflected by the fruits and vegetables is substantially the same regardless of the maturity level.

A maturity determination device includes an image capturing device to capture a image including a plurality of first and second pixels; and a signal processing circuit configured to find an area size ratio of an intensity distribution of light of a first wavelength band on the basis of a predetermined reference value based on pixel values obtained from the plurality of first and second pixels, and to generate maturity determination information in accordance with the area size ratio. The first pixel includes a first light transmission filter, and the second pixel includes a second light transmission filter. The intensity of the light of the first wavelength band reflected by the fruits and vegetables varies in accordance with the maturity level, and the intensity of the light of the second wavelength band reflected by the fruits and vegetables is substantially the same regardless of the maturity level.

A pneumatic cutter with a concealed blade includes a pouch in which an inner space filled with air is formed and which includes a variable portion configured to, upon a pneumatic pressure being applied to an inner portion of the pouch, protrude outward as the inner space expands and, in a case where the pneumatic pressure is not applied to the inner portion of the pouch, be concavely recessed inward as the inner space contracts; and a blade installed at the variable portion and configured to, upon the variable portion protruding outward due to the pneumatic pressure being applied to the inner portion of the pouch, protrude toward an object to be cut and cut the object to be cut.

A pneumatic cutter with a concealed blade includes a pouch in which an inner space filled with air is formed and which includes a variable portion configured to, upon a pneumatic pressure being applied to an inner portion of the pouch, protrude outward as the inner space expands and, in a case where the pneumatic pressure is not applied to the inner portion of the pouch, be concavely recessed inward as the inner space contracts; and a blade installed at the variable portion and configured to, upon the variable portion protruding outward due to the pneumatic pressure being applied to the inner portion of the pouch, protrude toward an object to be cut and cut the object to be cut.

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 system including a picking apparatus including at least two grippers. Each of the at least two grippers is configured to pick a respective individual crop of crops of a plant. The system is configured to move the at least two grippers of the picking apparatus in a rotational path. The system is configured to stop rotation of the picking apparatus when a first gripper of the at least two grippers is moved to a picking position along the rotational path. Other embodiments are described.

A harvesting vehicle including a body, a plurality of wheels coupled to the body, and a pick deck coupled to the body. The pick deck can include a plurality of picking systems configured to be carried over plants growing in at least one plant bed to harvest crops of the plants. The pick deck can include at least one sensor system configured to provide distance measurement data of a height of the pick deck over the at least one plant bed. The harvesting vehicle also includes a plurality of actuators each adjustably coupling the pick deck to the body, and a suspension control system configured to adjust at least a vertical position of the pick deck with respect to the body based at least in part on the distance measurement data. Other embodiments are described.

A harvesting system includes a vertical frame, a plurality of linear robots, a plurality of cameras and a processor. The vertical frame is configured to be positioned opposite a sector to be harvested. The robots are arranged in pairs stacked vertically in the frame, each pair including first and second robots that are configured to move together along a vertical axis, to move independently of one another along a horizontal axis, and have respective first and second robot arms that are configured to approach the sector and harvest fruit. The plurality of cameras is configured to acquire images of the sector. The processor is configured to identify the fruit in the images and control the robots to harvest the fruit.

A harvesting method performed by a harvesting device including an imaging unit, includes: by the harvesting device, determining, based on a first image imaged by the imaging unit during movement of the harvesting device, whether fruit is present; stopping the movement in a case of determining that the fruit is present, and determining whether target fruit to be harvested is present in the fruit; and harvesting the target fruit, in a case of determining that the target fruit is present.

A harvesting method is performed by a harvesting device. The harvesting device includes an upper harvest ring having an upper through hole through which a fruit can be passed, and a lower harvest ring disposed below the upper harvest ring and having a lower through hole through which the fruit can be passed. The harvesting method includes moving, by the harvesting device, the upper harvest ring and the lower harvest ring along a surface shape of the fruit to position a fruit stalk of the fruit or the fruit inside each of the upper through hole and the lower through hole, and moving, by the harvesting device, the upper harvest ring relative to the lower harvest ring to harvest the fruit.