Robotic fruit harvesting system and method

Abstract

Embodiments relate generally to a robotic fruit picking apparatus and a method of picking fruit. An example apparatus includes: a chassis; a robotic arm supported by the chassis and having an end effector, wherein the end effector includes a plurality of grippers and an extendable suction element; a vision system carried by the chassis and configured to identify pieces of fruit for picking; and a control system carried by the chassis and in communication with the vision system to control the robotic arm to pick identified pieces of fruit using the end effector. The control system may be configured to operate in a first mode to control the extendable suction element to extend the suction element towards a piece of fruit. The control system may be further configured to operate in a second mode following the first mode to retain contact with the piece of fruit by applying suction while freely allowing extension or retraction of the suction element based on movement of the piece of fruit.

Dependencies are inferred from the claim text.