System and method for harvesting fruit
AssigneesThe United States of America as represented by the Secretary of Agriculture, Board of Trustees of Michigan State University
InventorsRenfu Lu, ZHAOJIAN Li, KYLE LAMMERS
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Abstract
A three-dimensional stereo vision camera communicates the location of a targeted fruit (preferably an apple) to a controller. The controller directs a vacuum selection tube to the location of the targeted apple. The selection tube has a gripping orifice that has a smaller diameter than the apple so that the vacuum suction from the selection tube grips the apple. The selected fruit is then rotated and pulled away from the tree canopy by the selection tube until the apple detaches from the canopy. The detached apple is then gently placed in a collection bin for later sorting and processing.
Claims19
A fruit harvesting system comprising:
- a camera identifying a targeted fruit;
- a controller/processor in communication with the camera;
- tilting and panning mechanisms in communication with the controller;
- a vacuum module comprising at least a vacuum source, the vacuum module being in communication with the controller;
- a vacuum selection tube being in pneumatic communication with the vacuum module, the vacuum module generating suction in the vacuum selection tube;
- and,
- a gripping orifice positioned on an end of the vacuum selection tube;
- whereby, the system is configured so that after the camera identifies the targeted fruit, the processor directs the tilting and panning mechanisms to move the vacuum selection tube adjacent to the targeted fruit so that suction from the vacuum selection tube enables the gripping orifice to grip, hold, and detach the targeted fruit from a plant.
The system of claim 19 wherein the vertical lifting means comprises a telescoping hydraulic lift.
Dependencies are inferred from the claim text.