A modular, human driven or autonomous/automatic self-propelled field crops harvester (SPFCH) device, for selective picking of crops, said device comprises:
- a. a detachable propelled carrier system of an automatic or self-propelled harvester comprising a propelled driving device and supporting mechanisms;
- b. a modular chassis, designed to be attached to said detachable propelled carrier system, said modular chassis comprises one or more modular, robotic hybrid harvesting arms, each arm comprises of:
- a proximal-end, a distal-end, and at least one robotic joint enabling vertical and horizontal movement, wherein:
- the proximal-end comprises a crop transporting mechanism designed to transport the harvested crop toward the SPFCH;
- and
- the distal-end comprises a picking head comprising:
- crop-identification optics;
- at least one sensor for sensing at least one of:
- proximity, rigidity, torque force for picking, size, color, shape, and brightness of the crop to be harvested;
- and a crop picking mechanism, said distal-end is designed to identify and harvest the crop and deliver same to the crop transporting mechanism of the proximal-end;
- wherein:
- the distal-end enables at least 2 or more degrees of maneuverability for better accessibility of the picking head to the crop within a tree environment;
- said crop picking mechanism is selected from a gripper and a suction, or a combination thereof, and
- each one of said robotic hybrid harvesting arms is adapted for vertical, horizontal and back and forth movements for accessing the crop and deliver same to a crop collecting catcher;
- c. a computing system comprising a processor and a memory adapted for:
- receiving data from said crop-identification optics;
- detecting crop to be harvested and potential contaminants;
- and operating all the robotic harvesting arms;
- d. one or more modular horizontal or vertical boom, each modular boom comprising secured hanging points to mount said at least one or more modular robotic arms selected according to the crop being harvested, each secured hanging point comprises electricity connectors, and identification based data connections;
- e. a container for collecting the harvested crop;
- f. a main conveyor for transporting the harvested crop from each harvesting arm or boom into said container;
- g. an automatic container replacer when said container is full;
- h. a magazine holding foldable containers designed to automatically open/unfold said foldable containers whenever a container is filled and replaced;
- and
- i. an automatic conveying system for emptying the harvested crop from the SPFCH;
- wherein said computing system controls:
- navigation of the SPFCH;
- a movement speed of the SPFCH during harvesting;
- each one of the harvesting arms according to data obtained from said crop-identification optics, the type of crop being harvested, and a selected harvesting-algorithm;
- and
- each one of the crop picking mechanism, according to signals obtained from said sensors or optics.