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 consisting of a propelled driving device and associated 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 either vertical and/or horizontal movement, wherein:
- the proximal-end comprises a crop transporting mechanism designed to transport the harvested crop/fruit 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 and grabbing, size, color, shape, and brightness of the crop/fruit to be harvested;
- and a crop picking mechanism, said distal-end is designed to identify and harvest the fruit/crop and deliver same to the crop transporting mechanism of the proximal-end;
- wherein:
- the distal-end enables at least 2 more degrees of maneuverability for better accessibility of the picking head to the fruits/crop within the tree environment;
- said crop picking mechanism is selected from a detachable finger-like, a gripper and a suction, or any combination thereof, and
- each one of said robotic hybrid harvesting arms is adapted for vertical, horizontal and/or back and forth movements for accessing the fruits/crop and deliver same to a fruit/crop collecting catcher for further transporting toward the SPFCH;
- 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, identification based data connections, and optionally air/oil pressure connectors;
- e. a container/bin/box for collecting the harvested crop;
- f. a first conveying system for transporting harvested crop from each harvesting arm and/or boom into said container/bin/box;
- g. optionally, an automatic container/bin replacer when container/bin is full;
- h. optionally, a flat hydraulic tail lift platform for collecting harvested crop and/or packed harvested crop;
- i. optionally, a magazine holding collapsible/foldable bins/boxes and an automatic bin/box replacer mechanism designed to automatically open/unfold said collapsible/foldable bins/boxes whenever a bin/box is filled and needs to be replaced;
- j. a second automatic conveying/lifting system for emptying harvested crop from the SPFCH container in case of field crops, or downloading a bin to the ground, when full, in case of orchard's crops, in order to enable continues picking;
- wherein said computing system controls:
- the SPFCH navigation;
- the movement speed during harvesting, according to signals obtained by each one of the robotic picking arms;
- each one of the harvesting arms according to data obtained from said crop-identification optics, the type of crop being harvested, and/or the selected harvesting- or other task algorithm;
- and
- each one of the crop picking mechanism, according to signals obtained from said sensors and/or optics.