# US 11,470,781 B2 · Method and apparatus for selectively harvesting crops > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,470,781 B2 - Document ID: US11470781B2 - Status: Granted - Kind: B2 - Application number: 16/307,758 - Filed: 2017-06-07 - Published: 2019-10-03 - Granted: 2022-10-18 - Earliest claimed: 2016-06-07 - Assignees: Kms Projects Limited - Applicants: Kms Projects Limited - Inventors: Estwick George; Peter Keeling - Web page: https://patentgrep.com/patent/US11470781B2 ## CPC - A01D 46/30: Robotic devices for individually picking crops - A01D 45/26: of cabbage or lettuce - A01D: HARVESTING; MOWING ## Abstract An apparatus (1) for harvesting crops, the apparatus (1) comprises a carriage (2), sensing means (3), a ground motion sensor (6) and a harvesting device (4), where the sensing means (3) is configured or configurable to determine the location of a first crop, the ground motion sensor (6) is operated or operable to determine the motion of the carriage (2) relative to the ground, the location data and the motion data being utilized to cause the harvesting device (4) to move to and harvest the first crop. ## Claims ### Claim 1 A method for harvesting crops in a single pass over the crops using a carriage provided with a harvesting device comprising a robotic arm, the method comprising: a) capturing image data with a sensor and then utilizing a processor to determine location data relating to a first crop based on the captured image data; b) capturing motion data of the carriage relative to a ground surface using a ground motion sensor; c) the processor determining the suitability of the first crop for harvesting either prior to or concurrent with step a); and d) the processor utilizing the location data and the motion data and causing the robotic arm to move to the first crop and the harvesting device to harvest the first crop only if the first crop is determined to be suitable for harvesting in step c), wherein the method comprises continuously moving the carriage in use. ### Claim 2 (depends on 1) The method according to claim 1, wherein the location data comprises x, y and z coordinates and where the z coordinates comprise data relating to the height of at least a part of the first crop relative to the ground surface. ### Claim 3 An apparatus for harvesting crops, the apparatus comprising a carriage carrying a sensor, a ground motion sensor, a processor, and a harvesting device comprising arm, where the sensor captures data and the processor is configured to use the data to determine the location of a first crop and to generate crop condition data, the ground motion sensor captures motion data and the processor is configured use the motion data to determine the motion of the carriage relative to the ground, the processor configured to utilize the determined location and motion to cause the robotic arm to move to the first crop and the harvesting device to harvest the first crop only if the first crop is determined to be suitable for harvesting, the processor configured to determine the suitability either prior to or concurrent with determining the location of the first crop, and wherein the carriage continuously moves during the harvesting of the first crop. ### Claim 4 (depends on 3) The apparatus according to claim 3, wherein the sensor is spaced from the harvesting device. ### Claim 5 (depends on 3) The apparatus according to claim 3, wherein the sensor comprises an image capture device configured or configurable to capture image data relating to the location of the first crop and/or configured or configurable to capture image data relating to the condition of the first crop. ### Claim 6 (depends on 3) The apparatus according to claim 3, wherein the ground motion sensor comprises a wheel. ### Claim 7 (depends on 3) The apparatus according to claim 3, further comprising a ground height sensor. ### Claim 8 (depends on 1) The method according to claim 1, wherein determining the suitability of the first crop for harvesting comprises capturing condition data relating to the first crop. ### Claim 9 (depends on 8) The method according to claim 8, wherein determining the suitability of the first crop for harvesting comprises comparing the captured condition data of the first crop with a database of crop condition data. ### Claim 10 (depends on 8) The method according to claim 8, wherein the sensor comprises an image capture device which is configured or configurable to capture image data relating to the condition of the first crop. ### Claim 11 (depends on 8) The method according to claim 8, comprising storing the condition data on a memory. ### Claim 12 (depends on 9) The method according to claim 9, comprising storing the condition data on a memory. ### Claim 13 (depends on 11) The method according to claim 11, comprising a remote server and/or a local memory. ### Claim 14 (depends on 12) The method according to claim 12, comprising a remote server and/or a local memory. ### Claim 15 (depends on 1) The method according to claim 1, comprising storing the location data and/or an indication of whether the crop was harvested on a memory comprising a remote server and/or a local memory. ### Claim 16 (depends on 3) The apparatus according to claim 3, comprising a memory storing or configured to store a database of crop condition data. ### Claim 17 (depends on 6) The apparatus according to claim 6, wherein the wheel is a non-driven wheel, and an encoder. ### Claim 18 (depends on 6) The apparatus according to claim 6, wherein the wheel is drawn by the carriage. ### Claim 19 A method for harvesting crops in a single pass over the crops using a carriage provided with a harvesting device comprising a robotic arm, the method comprising: a) capturing image data with a sensor and then utilizing a processor to determine location data relating to a first crop based on the captured image data; b) the processor determining the suitability of the first crop for harvesting either prior to or concurrent with step a); c) capturing motion data of the carriage relative to a ground surface using a ground motion sensor only if the first crop is determined to be suitable for harvesting in step b); and d) the processor utilizing the location data and the motion data and causing the robotic arm to move to the first crop and the harvesting device to harvest the first crop only if the first crop is determined to be suitable for harvesting in step b), wherein the method comprises continuously moving the carriage in use.