Method and Apparatus for harvesting crops, the apparatus (1) comprising a carriage (2) provided with a harvesting device (41), a ground height measuring device to measure or estimate the ground height (S2) at each harvested crop, a crop height measuring device to measure the height of a crop(S4), a processor operatively connected to the ground height measuring device to generate baseline ground data (S3) and operatively connected to the crop height measuring device to determine a desired harvest height (S5), a comparator to compare the baseline ground data to the desired harvest height to determine if a particular crop is to be harvested by the harvesting device.

Method and Apparatus for harvesting crops, the apparatus (1) comprising a carriage (2) provided with a harvesting device (41), a ground height measuring device to measure or estimate the ground height (S2) at each harvested crop, a crop height measuring device to measure the height of a crop(S4), a processor operatively connected to the ground height measuring device to generate baseline ground data (S3) and operatively connected to the crop height measuring device to determine a desired harvest height (S5), a comparator to compare the baseline ground data to the desired harvest height to determine if a particular crop is to be harvested by the harvesting device.

A harvester for harvesting a produce planted in a field is provided. An exemplary harvester comprises a cutting and gripping unit, comprising: a top frame; a base ring structure; a plurality of supports arranged in a circular configuration to form a cage-like structure, wherein proximal ends of the plurality of supports are affixed to the top frame and distal ends of the plurality of supports are affixed to the base ring structure; a set of grippers connected to the top frame; a blade rotatably connected to the base ring structure, wherein the blade is configured to cut the produce while at least a part of the produce is enclosed within the plurality of supports and secured by the set of grippers.

The present invention provides a fruit harvesting, dilution and/or pruning system comprising: (a) a computerized system for mapping an orchard or a map of trees position and their contour in a plantation; (b) a management system for autonomous unmanned aircraft vehicle (UAV) fleet management for harvesting, diluting or pruning fruits; and a method for UAV autonomous harvesting, dilution and/or pruning of an orchard.

The present invention provides a fruit harvesting, dilution and/or pruning system comprising: (a) a computerized system for mapping an orchard or a map of trees position and their contour in a plantation; (b) a management system for autonomous unmanned aircraft vehicle (UAV) fleet management for harvesting, diluting or pruning fruits; and a method for UAV autonomous harvesting, dilution and/or pruning of an orchard.

Embodiments relate to a crop harvesting apparatus configured to garner or harvest crops from plants via vacuum suction and sort the garnered crops via a quick-switching gate system. A vacuum source generates the vacuum suction for the apparatus so that crops are garnered (or plucked) from the plant via suction through an end-effector, which are then transferred to a crop sorter by way of tubing that has a smooth inner surface. The crop sorter utilizes a gate system that exploits vacuum suction from the vacuum source and gravity to quickly and effectively sort the garnered crops into a hopper and a rejection bin.

Embodiments relate to a crop harvesting apparatus configured to garner or harvest crops from plants via vacuum suction and sort the garnered crops via a quick-switching gate system. A vacuum source generates the vacuum suction for the apparatus so that crops are garnered (or plucked) from the plant via suction through an end-effector, which are then transferred to a crop sorter by way of tubing that has a smooth inner surface. The crop sorter utilizes a gate system that exploits vacuum suction from the vacuum source and gravity to quickly and effectively sort the garnered crops into a hopper and a rejection bin.

A method and system provide the ability to manage an orchard. Sensor data that represents a first state of the orchard is captured via one or more sensors. The sensor data is captured as the one or more sensors are traveling through the orchard. An almanac is maintained. The almanac provides a state library of sequential states of a representative orchard and a task library for one or more tasks to be performed to transition between the sequential states. A task manager queries the almanac to identify a first task of the one or more tasks and allocates the first task to one or more robots that perform the first task.

A harvester selectively harvests edible crowns ready for harvesting. The harvester may include an imaging system for capturing image(s) of the edible crowns and a de-leafing component that removes leaves of the broccoli plant. For example, broccoli plants typically have an abundance of leaves that reside beneath, alongside of, and even above the edible crowns. The leaves may conceal the edible crowns and impact a quality of the image(s). The de-leafing component may be positioned in front of the imaging system, relative to a direction of travel of the harvester, to remove the leaves and isolate or expose the edible crown. Therein, the imaging system may image the edible crowns for use in determining whether the edible crowns are ready for harvesting.

A harvester selectively harvests edible crowns ready for harvesting. The harvester may include an imaging system for capturing image(s) of the edible crowns and a de-leafing component that removes leaves of the broccoli plant. For example, broccoli plants typically have an abundance of leaves that reside beneath, alongside of, and even above the edible crowns. The leaves may conceal the edible crowns and impact a quality of the image(s). The de-leafing component may be positioned in front of the imaging system, relative to a direction of travel of the harvester, to remove the leaves and isolate or expose the edible crown. Therein, the imaging system may image the edible crowns for use in determining whether the edible crowns are ready for harvesting.