US 9,226,446 B2 · Robotic fruit tree pruner and harvester machine

Abstract

This invention is a dual function tree pruner and fruit harvester that use the same equipment for pruning and for harvesting. The Fruit Tree Pruner and Harvesting Machine features: a Self-Propelled-Vehicle (SPV), computer controlled robotic arms, a Digital Imaging System (DIS), a Radar Ranger System (RRS), Global Positioning Satellite (GPS) Guidance System, Geographic Information System (GIS), a Power Pruner or Power Stem Cutter as appropriate, a fruit vacuum system, a fruit catcher, a fruit handling system, and a fruit bin loader. The operation is automated and the operator monitors and sets parameters. The Fruit Tree Pruner and Harvesting Machine can prune a tree to a predetermined profile. The tree can be shaped per the orchard's requirements. The invention utilizes data obtained during the pruning process to find the fruit, and to remove the fruit while maintaining the fruit quality suitable for the fresh market.

Claims21

Dependent claims

An agriculture vehicle comprising:

a mobile body;
a drive mechanism operatably connected to the mobile body;
a first radar ranging system secured to a first side of the mobile body and a second radar ranging system secured to an opposite second side of the mobile body, the first and second radar ranging systems are in communication with the drive mechanism;
at least one robotic arm on each of the first and second sides of the mobile body, the robotic arms of the first and second sides being staggered;
each robotic arm comprising a machine comprising at least one of a harvesting machine and a pruning machine, each machine comprising an elongated, narrow and triangular housing having smooth sides, the housing comprising a pair of cutter blades having cutting peripheries, the pair of cutter blades comprising a first cutter blade directly over a second cutter blade and each cutter blade configured to rotate on the same imaginary axis, the housing having an opening at an end exposing a portion of the first and second cutter blades.

2 more elements

Dependencies are inferred from the claim text.

Robotic fruit tree pruner and harvester machine

Life of this patent

Robotic fruit tree pruner and harvester machine

Life of this patent

Abstract

Claims21