System for topping and tailing lettuce heads using a camera-guided servo-controlled water knife

A method of trimming a whole lettuce head using a camera-guided trimming system, the lettuce having a top end and a tail end, the method comprising:

• conveying the lettuce head disposed between a lower feed conveyor and an upper feed conveyor, the lower feed conveyor having an input end and an output end, the upper feed conveyor disposed a fixed distance over and substantially aligned with the lower feed conveyor;
• capturing an image of the lettuce head using a digital imaging system disposed above the lower feed conveyor a fixed distance from the input end of the lower feed conveyor, wherein the digital imaging system is configured to determine a top-cutting profile using the captured image, wherein the digital imaging system is configured to determine a tail-cutting profile using the image;
• and
• trimming the top end of the lettuce head using a top-cutting mechanism disposed above the lower feed conveyor between the digital imaging system and the output end of the lower feed conveyor wherein the trimming includes operating a first cutting nozzle while a first armature is being articulated through at least one top-cutting arc, the top-cutting mechanism comprising:
• a first servo motor mechanically coupled to a first drive shaft;
• the first armature with a pivot end and a sweep end, wherein the sweep end is disposed a radial distance from the pivot end;
• the first cutting nozzle configured to trim the lettuce head, wherein the first cutting nozzle is mounted to the sweep end of the first armature;
• and
• servo-control circuitry configured to articulate the first cutting nozzle through the at least one top-cutting arc based on the top-cutting profile;
• trimming the tail end of the lettuce head using a tail-cutting mechanism disposed over the lower feed conveyor and near the top-cutting mechanism wherein the trimming includes operating a second cutting nozzle while a second armature is being articulated through at least one tail-cutting arc, the tail-cutting mechanism comprising:
• a second servo motor mechanically coupled to a second drive shaft;
• the second armature with a pivot end and a sweep end, wherein the sweep end is disposed a radial distance from the pivot end;
• and the second cutting nozzle to cut the lettuce head, wherein the second cutting nozzle is mounted to the sweep end of the second armature, wherein the servo-control circuitry is configured to articulate the second cutting nozzle through the at least one tail-cutting arc based on the tail-cutting profile.