Automated selective harvesting of crops with related systems and methods

AUTOMATED AND SELECTIVE HARVESTING OF AGRICULTURAL PRODUCTS WITH

RELATED SYSTEMS AND METHODS

CROSS-REFERENCE TO RELATED REQUESTS

This application is a continuation-in-part of US patent application Ser.

n.

December 2014, that the provisional application filed on the 20th also claims US provisional.

of the

USA

IMPI

14/576,598, filed claiming the benefit against

USA

USA

n.

61/919,168, December

2013.

This benefit application versus application

n.

62/116,890, filed Feb. 16, 2015. US Pat.

provisional applications for

USA

uu.

n.

N.

14/576,598 and the

61/919.168

62/116,890 are incorporated by reference herein in their entirety.

TECHNICAL FIELD your

This discussion refers generally to the harvesting of agricultural products, but in particular it refers to automated systems for selectively harvesting agricultural products from plants.

BACKGROUND

Various agricultural products, such as strawberries, have been commonly harvested using manual labor due to the delicate nature of agricultural products and the selective nature of harvesting.

For example, the

IMPI w

Clσ>

<or day laborers carry out harvesting by selectively collecting ripe produce from plants while leaving unripened produce on plants for later harvesting when ripe.

The high seasonal demand for day laborers and the limited amount of labor have resulted in higher labor costs of harvesting.

as with construction and agricultural products that are left without

Also, labor shortages have resulted in parts of fields being left unplanted in order to avoid the effort, expense and waste of growing unharvested produce.

BRIEF DESCRIPTION OF THE DRAWINGS

To facilitate a better description of the embodiments, the following drawings are provided which:

Figure 1 illustrates a top perspective view of the front from the left side of a harvesting robot, according to one embodiment.

Figure 2 illustrates a bottom perspective view of the rear from the right side of the harvesting robot of Figure 1;

Figure 3 illustrates a top perspective view of the front from the right side of a harvesting apparatus, according to the embodiment of Figure 1;

figure 4 illustrates a front view of a clamp of the w

σι σ>

<o

IMPI harvesting apparatus of Figure 3 in an open position;

Figure 5 illustrates a front view of the clip of Figure 4 in a closed position;

Figure 6 illustrates a top perspective view of the front from the left side of a carriage assembly, showing a stationary cam and top base covers, a guide assembly and a sprocket housing, in accordance with embodiment of figure 1;

Figure 7 illustrates a bottom perspective view of the front from the left side of various internal components of the Figure 6 carriage assembly, and not showing the stationary cam and top base covers, guide assembly and sprocket housing of figure 6;

Figure 8 illustrates a rear view of the carriage assembly of Figure 6, showing the stationary cam and upper base covers, guide assembly, and sprocket housing of the various internal components Figure 6, at and showing shows sprocket housing;

Figure 9 illustrates a rear top perspective view from the left side of a drive cam, actuator and stationary cam of the carriage assembly of Figure 6;

w

OI σ>

<o

<img file="MX385697B_D0001.tif" />

Figure 10 illustrates a rear view of the drive cam, the stationary cam actuator of Figure 9, and of the harvesting apparatus of Figure

IMPI of the

3, a gripper in the pick-up position being in the open position;

Figure 11 illustrates a rear perspective view from the right side of the drive cam.

actuator and stationary cam of figure 9, and of the harvesting apparatus of figure

3, the gripper in the harvesting position of Figure 10 being in the closed position;

Figure 12 illustrates a perspective view of the rear from the right side of a lower bearing assembly, according to the embodiment of Figure 1.

Figure 13 illustrates a top view of the harvesting robot of Figure 1, showing the carrier assembly of Figure 12 coupled to the carriage assembly of Figure 6 and the harvesting apparatus of Figure 3;

Figure 14 illustrates a bottom perspective view of the front from the right side of a foliage moving mechanism, according to another embodiment;

harvesting robot of figure 1 of the mechanism of figure 15 illustrates a view from the right side of the displacement of the foliage of figure 14 placed on a

IMPI w

σι or

to plant and

a cultivation bed, with the foliage displacement mechanism in a retracted position;

figure 16 illustrates a top view of the rear part of the displacement mechanism figure 14 that one of the foliage is placed on the plant of figure 15 in an extended position;

Figure 17 illustrates a front view of a computing system that is suitable for implementing various embodiments implementing a processing unit, according to one embodiment of the carrier assembly of Figure 12;

the figure illustrates a representative block diagram of an example of the circuit boards in the elements included inside the housing of the computer system of figure 17;

Figure 19 illustrates an embodiment for providing agricultural products;

flowchart of a device method in a figure 20 illustrates a selective plant harvesting, according to another top perspective view of the rear from the left side of a harvesting robot, according to an embodiment, shown place on the plant and the cultivation bed of figure 15;

Figure 21 illustrates a lower perspective view of the front part from the right side of the £ robot.

cropped from figure 20;

Figure 22 illustrates a right side view of a carriage assembly,

IMPI

MEXICAN INSTITUTE OF INDUSTRIAL PROPERTY a collection device, a collection device and an extractor of the agricultural product of the figure

20, in which the harvesting apparatus is in a lowered harvesting position and in which a clamp of the harvesting apparatus is in an open harvesting position;

Figure 23 illustrates a rear side view of the carriage assembly, the harvesting apparatus, the

OI figure agricultural product collection and extractor co

22;

Figure 24 illustrates a view from the right side of the cart assembly, the harvesting apparatus, the harvesting apparatus and the extractor of the agricultural product of figure

20, in which the harvesting apparatus is in a raised discharge position and a clamp of the harvesting apparatus is in a closed discharge position;

Figure 25 illustrates a view of the rear side of the cart assembly, the harvesting apparatus, the harvesting apparatus and the extractor of the agricultural product of figure

24;

Figure 26 illustrates a view from the right side of the cart assembly, the harvesting apparatus, the harvesting apparatus and the extractor of the agricultural product of figure

20, in which the harvesting apparatus is in the position

high discharge IMPI and the harvesting apparatus clamp ω oo σι σ&gt; &lt;0 is in an open discharge position;

Figure 27 illustrates a view of the rear side of the cart assembly, the harvesting apparatus, the harvesting apparatus and the extractor of the agricultural product of figure

26;

Figure 28 illustrates a perspective view of a leaf shifting system, according to one embodiment, which is placed on the plant and grow bed of Figure 15 in an open configuration;

Figure 29 illustrates a perspective view of the leaf shifting system of Figure 28 being placed on the plant and grow bed of Figure 15 and beginning to transition from an open configuration to a closed configuration;

figure 30 illustrates a perspective view of a leaf displacement system of figure 28, which is placed on the plant and the grow bed of figure 15 and has made a major transition from the open configuration to the closed configuration ;

Figure 31 illustrates a perspective view of a leaf shifting system of Figure 28, which is placed on the plant and grow bed of Figure 15 in the closed configuration;

Figure 32 illustrates a top perspective view w

σι σ&gt;

&lt;o

IMPI from the rear from the left side of a portion of a harvesting vehicle, according to one embodiment, traveling through rows of plant beds;

Figure 33 illustrates a rear view of the portion of the harvesting vehicle of Figure 32 traveling through the rows of plant beds of Figure 32;

Figure 34 illustrates a top view of the portion of the harvesting vehicle of Figure 32 traveling through the rows of plant beds of Figure 32;

Figure 35 illustrates a rear top perspective view from the right side of a Figure 32 Robot Positioning Carrier (RPC).

Figure 36 illustrates a bottom view of the front from the right side of the RPC of Figure 32 being carried on a rail of the RPC of Figure 33, and showing a portion of a drive system of the RPC of Figure 32 ;

Figure 37 illustrates a rear view of a portion of the Figure 32 RPC being carried on the Figure 33 RPC rail, and showing a drive mechanism for the Figure 32 RPC.

RPC of Figure 32 using a drive shaft from the RPC of Figure 32;

over time, showing side views of a Figure 38 illustrates a set of time-progressive views of an RPC on a rail above a plant bed, of

IMPI w

σι σ&gt;

&lt;or agreement with a realization;

Figure 39 illustrates a schematic of a portion of the plant bed of Figure 38, showing the position of the robots carried by the RPC of Figure 38 over time;

Figure 40 illustrates a top view of a portion of a vehicle over rows of plant beds, according to one embodiment, in a series of temporary views as the vehicle moves to plants;

across the rows of beds of Figure 41 illustrates a top view of the portion of the vehicle of Figure 40, showing an X axis and an X axis

And in a coordinate system for a guidance control system;

Fig. 42 illustrates a rear view of the vehicle of Fig. 40, showing a Y axis and a Z axis in the coordinate system of Fig. 41 for a guidance control system;

Figure 43 illustrates a top view of a plant bed, showing holes drilled for growing plants;

the figure illustrates a side view of suspension components for adjusting a vertical position of a wheel with respect to a body, according to one embodiment;

£

IMPI in Fig. 45 illustrates a perspective view of a part of a vehicle, according to one embodiment, showing a vehicle body in a suspension lowered position;

the figure illustrates a perspective view of the part of the vehicle of figure 45, showing the body of the vehicle in a position with the suspension raised;

Fig. 47 illustrates a flowchart of a method of selective harvesting of agricultural products, according to an embodiment;

Fig. 48 illustrates a flow chart of a method for providing a selective harvesting system for agricultural products, according to another embodiment;

Figure 49 illustrates a flow chart of a method of retaining foliage, according to one embodiment; Figure 50 illustrates a flow chart of a method of providing a foliage retention system, according to one embodiment;

Fig. 51 illustrates a flowchart of a method for providing a vehicle suspension system, according to one embodiment;

Figure 52 illustrates a flow chart of a method of providing a harvesting vehicle with a suspension system, according to one embodiment;

figure 53 illustrates a flowchart of a method w

σι or

&lt;o

IMPI to carry

perform positioning of the robots with station maintenance, according to one embodiment;

Fig. 54 illustrates a flowchart of a method for performing station-keeping robot positioning, according to one embodiment;

Fig. 55 illustrates a flowchart of an individual plant location positioning method, according to one embodiment;

Fig. 56 illustrates a flowchart of a method for providing a vehicle with individual floor location positioning, according to one embodiment;

Fig. 57 illustrates embodiment processing system; and Fig. 58 illustrates a robotic block diagram, a according to a block diagram processing system a harvesting machine, a according to an embodiment.

For greater figures with construction, simplicity, drawings, the clarity of the descriptions, illustration, details of the generally known characteristics and techniques can be presented here.

Additionally, elements to be omitted to avoid unnecessary complication of the drawing figures are not necessarily represented aw

OI σ&gt;

co

<img file="MX385697B_D0002.tif" />

IMPI scale.

For example, the dimensions of some of the elements in the figures may be exaggerated relative to other elements to help improve understanding of embodiments of the present invention.

The same reference numerals in different figures indicate the same elements.

The terms first, second, third, fourth, and the like in the description and claims, if any, are used to distinguish between like items and not necessarily chronologically for particular.

describe

A sequential order should be understood to mean that the terms so used are interchangeable in appropriate circumstances, so that the embodiments described herein are capable of operating, for example, in sequences other than those illustrated or otherwise described herein. Likewise, the terms includes has, and any variations thereof, are intended to encompass an inclusion, system, non-exclusive list, item, such that a process, method, device, or apparatus comprising one of the elements is not necessarily limited to those elements, but may include other elements that are not expressly mentioned or that are inherent to said process, subsequent, superior, inferior, on, below method, system, article, device or apparatus.

The terms left, right, front, similar in the description and in the claims, if the w

σι σ&gt;

or there are, are used for descriptive purposes and not necessarily to describe implied positions that are permanent relatives.

terms like this

be used

IMPI should be interchangeable under appropriate circumstances, so that embodiments of the apparatus, methods, and/or articles of manufacture described herein are capable of operating, for example, in orientations other than those illustrated or otherwise described herein. .

Similar terms couple, coupled, coupled, coupling should be understood broadly and refer to the mechanical and/or other connection of two or more elements.

Two more electrical elements can be coupled but not be coupled way.

with each other with each other electrically, mechanically from another

Coupling can be extended for any length of time,

P · permanently semi-permanently only for an instant.

Electrical coupling and the like should be broadly understood types.

include electrical couplings of all

The absence of the expression to be dismounted, removable and with the possibility of similar ones near the word in question, whether or not it is removable.

they are integral if they are part of the same piece of material.

coupled and the like does not mean that the coupling,

As defined herein, two or more elements

As defined herein, two or more elements are not integral material.

Such

IMPI

MEXICAN INSTITUTE OF INDUSTRIAL PROPERTY if each one is part of a piece different from what can be meant, minus one realizations, plus less realizations defines in the present, in some realizations, percent of the value approximately an additional five, approximately within more or statement.

In others it may mean within a hundred of the stated value.

In approximately can mean within plus or minus three percent of the stated value.

In other embodiments, approximately can mean within plus or minus one percent of the stated value.

DESCRIPTION OF EXAMPLES OF EMBODIMENTS

Various embodiments include a device for selective harvesting of agricultural products in a plant.

device may include a collection apparatus.

The

The collection apparatus can central geometric. The apparatus a plurality of grippers, rotating about a harvesting axis, may each include, spaced from the central axis and extending radially therefrom, different individual produce.

Each of the plurality of grippers can be adjusted between a position w 00 in each configured to pick up one of the open and a closed position.

Each of the plurality of w

σι in &lt;D clamps can be set to the open position so that

IMPI is open around the individual agricultural product.

Each of the plurality of grippers can be configured in the closed position so as to securely hold the individual produce as the harvesting apparatus rotates about the central axis.

Various embodiments include a method of providing a selective harvesting device for produce in a plant.

The method may include providing a collection apparatus.

The harvesting apparatus can rotate about a central axis.

The harvesting apparatus may include a plurality of grippers, each spaced apart from and extending radially from the central axis, and each individually configured to include providing a different harvesting cart.

a

The assembly of a first harvesting apparatus is one of the cart method products.

mechanism can also

The rotation set.

The can be configured so that it is coupled to the first rotation mechanism.

The first rotation mechanism can be configured to rotate the harvesting apparatus about the central axis in a rotational path with respect to the carriage assembly. Each of the plurality of clips is adjustable between an open position and a closed position.

Each

IMPI of the plurality of grippers can be set in the open position individually.

I know

Each of the plurality of clamps can be set securely open around the produce in the closed position so as to retain the central rotating harvesting apparatus from the produce.

Some individual embodiments, around the include a foliage displacement mechanism to facilitate the harvesting of agricultural products in a plant.

The foliage displacement mechanism can then be configured to include a surface extending normal to a plant bed.

foliage displacement configured so that plant bed.

It was grown from

The mechanism

The mechanism may also include a base extending parallel to the rear sliding surface of the further include a curved surface extending toward the foliage may extend from the base upward to the rear surface.

The foliage displacement mechanism may also include a channel that bisects a front of the base and up through the curved surface, extends to where the channel is configured so as to surround a center of the plant when the displacement mechanism of plant foliage. The mechanism moves towards the foliage displacement can be w 00 in in &lt;o

IMPI set, when moving toward the plant, so that ω oo σι o &lt;o moves the foliage up and toward the center of the plant to expose at least a portion of the produce.

Various embodiments include a system.

The system may include a harvesting apparatus including a plurality of grippers, each spaced from a central axis of the apparatus radially therefrom, collecting a harvesting apparatus extending and each configured so that individual produce different from the produce of the harvesting apparatus. the plants. The harvesting apparatus may be configured to use a first of the plurality of grippers to harvest a first individual produce of the produce in a first interval.

During a second period of time beginning with a second of the plurality of grippers harvesting a second individual produce of produce, ending with a third of the plurality of grippers harvesting a third individual produce of the produce, wherein the picking apparatus harvesting can be configured to discharge the first individual produce from the first of the plurality of grippers.

The second time period can start after the first interval.

The second and third of the plurality of grippers can be configured to hold the second, third individual produce,

<img file="MX385697B_D0003.tif" />

IMPI w 00 σι or «o respectively, at the end of the second time period.

Various embodiments include a method.

The method may include harvesting, at a first interval, a first individual produce of the plant produce using a harvesting apparatus. The harvesting apparatus may include a plurality of grippers, each spaced apart from and radially extending from a central axis of the harvesting apparatus, one and each configured so as to collect an individual agricultural product other than the agricultural products of the plants.

The method may also include collecting a second individual produce of produce to begin a second time period.

The second time period can start after the first interval.

Additionally, the method may include unloading the first individual produce during the second time period.

The method may further include harvesting a third individual produce of produce to end the second time period. The harvesting apparatus may retain the second and third individual produce at the end of the second time period.

provide a system.

The method may include providing a collection apparatus.

Provide the device

Various embodiments include a method for

IMPI w

in harvesting may include providing a plurality of clips.

Providing the harvesting apparatus may include connecting the plurality of clips to the harvesting apparatus such that each of the plurality of clips is spaced from and extends radially from a central axis. Each of the plurality of grippers can be configured to collect a different produce from the produce of the harvesting apparatus can be configured to use a first of the plurality of harvesting a first produce produce on a first individual plants.

so individual tweezers interval.

The one who stops

During a second period of time beginning with a second of the plurality of grippers harvesting a second individual farm of produce, product ending with a third of the plurality of grippers harvesting a third individual farm of produce, wherein the picking apparatus harvesting can be configured to discharge the first individual produce from the first of the plurality of grippers.

The second time period can start after the first interval.

The second and third of the plurality of individual produce grippers, respectively, at the end of the can be configured to hold the second and third second time periods.

IMPI w

σι or

&lt;o

Various embodiments include a system including a foliage displacement system.

foliage scrolling may include support and two or more mating surfaces.

allowed, that

The system of a structure with the movement of the support structure and configured so that they move between an open configuration of the foliage movement system and a closed configuration of the foliage movement system.

Both of these can be configured so as to move foliage of a plant towards a center of the plant, such that produce underlying the foliage is exposed, when the foliage movement system moves from the open configuration to the closed configuration.

Various embodiments include a method.

The method may include moving the foliage of a plant toward a center of the plant using two or more foliage displacement surfaces such that the underlying agricultural products of the plant beneath the foliage are exposed from one system, When the foliage movement system moves from an open configuration the foliage movement system supports the two to a closed configuration that can include more surfaces.

a

The two-mass structure of the foliage displacement system.

The £ system

IMPI on surfaces can be attached, with movement allowed, to the support structure and configured to move between the open configuration and the closed configuration.

The method may also include stationary retaining the foliage of the plant using two or more surfaces when the foliage displacement system is in the closed configuration, to keep the agricultural products of the plant exposed.

Various embodiments provide a system.

a system of system of providing include a method for

The method may include providing foliage scrolling.

displacement a structure of foliage support.

Provide a may include

Providing a foliage displacement system may also include providing two or more surfaces.

Providing a foliage displacement system may further include coupling, with movement permitted, the two or more surfaces to the support structure, such that the two or more surfaces are configured to move between an displacement configuration. of the foliage a closed configuration of the displacement system of the foliage.

The two or more surfaces of the plant can be configured such that the agricultural products of the plant underlying the foliage are exposed, when so as to move the foliage of a plant toward a center of growth.

IMPI w

σι or

&lt;or foliage scrolling system to move from open setting to closed setting.

Multiple embodiments include a harvesting vehicle. The harvesting vehicle may include a body that includes a plurality of harvesting systems configured to be transported over the plants, which are grown in a plurality of plant beds, in order to harvest the agricultural products of the plants.

Each collection system may include an imaging system and can be configured to (a) determine a height of the collection system above one of the plant bed(s) while the collection system is carried over the plants (b ) provide data for distance measurements as a function of height.

The harvesting vehicle may also include a plurality of wheels, each of which is upright relative to the body.

The harvesting vehicle may also include a suspension control system configured to perform:

receiving distance data from the plurality of determining collection system measurement information;

adjusting for vertical position adjustment of one or more of the plurality of wheels with distance measurement data supplied by at least one of the plurality of collection systems;

with respect to the body, depending, at least in part, on the w

σι σ&gt;

&lt;o

<img file="MX385697B_D0004.tif" />

IMPI control the adjustment of the vertical position of one or more of the plurality of wheels relative to the body based on the adjustment information.

Some embodiments include a method.

The method may include receiving the distance measurement data.

supplied from a plurality of harvesting systems that transport a harvesting vehicle, over the plants that are grown in one or more plant beds, with of harvesting the agricultural products of plants. Each collection system may include an imaging system and may be configured to determine a height of the collection system above one of the plant bed(s) while the collection system is carried over the plants.

Distance measurement data can be a function of height.

The harvesting vehicle may include a body comprising the plurality of harvesting systems and (b) a plurality of wheels, with respect to each body.

a

The has a position method also determining adjustment information for a vertical may include adjusting the vertical position of one or more of the plurality of wheels relative to the body as a function, at least one at least in part, of the plurality of systems. collection.

additional way,

The method may include controlling the fit of distance measurement data supplied by al

IMPI w

σι σ&gt;

&lt;o of the vertical position of the wheel(s) of the plurality of wheels with respect to the body based on the adjustment information.

Various embodiments include a method of providing a harvest vehicle.

The method may include providing a body comprising a plurality of harvesting systems configured to be carried over the plants, which are grown in one or more plant beds, in order to harvest the agricultural products of the plants. Each collection system may include an imaging system and be configured to (a) determine a height of the collection system above one of the plant bed(s) while the collection system is carried over the plants, and (b) provide the data for distance measurements as a function of height.

The method may also include providing wheels, each of which is positioned in a vertical plurality with respect to the body.

include provide

In an additional way, the method can configure the suspension control system so that it performs:

receiving distance measurement data from the plurality of collection systems;

determining fit information for wheels relative to the body, based, at least in part, on data from distance measurements fit of the vertical position of one or more of the plurality w

σι in &lt;o

IMPI supplied by at least one of the plurality of collection systems; and controlling the adjustment of the vertical position of one more of the plurality of wheels with respect to the body based on the adjustment information.

Various embodiments include a system.

The system may include one or more first carrier elements, each configured to carry two or more robotic systems.

The system may also include one or more second carrier elements configured to be coupled to a vehicle that can move across a surface.

Each of the first bearing elements can be coupled, with the permitted movement, to one of the second bearing element(s) and can be carried by one of these. The system can be configured so that it automatically maintains each of the first bearing element(s) in a first bearing and stationary position with respect to the surface, for a first period of time while the vehicle moves the second element(s). bearing in a first direction with respect to the surface, such that at least a part of each of the two most robotic systems carried by each of the first bearing element(s) is surface, during the first period of time, by each of the first bearing element(s).

transported stationary with respect to

ω oo σι σ&gt;

&lt;o

IMPI

Various embodiments include a method.

The method may include moving a vehicle across a surface in a first direction such that one or more second carrier elements coupled to the vehicle move in the first direction relative to the surface.

The second carrier element(s) may be coupled, with the allowed movement, to one more first carrier element(s) and may carry one or more of these, each being configured as robotic systems.

so I carried two more

The method may also include automatically compensating for movement in the first direction of the second support member(s) so as to automatically maintain each of the first support member(s) in a first stationary position with respect to the surface, period of time while carrier vehicle and during a first moves the second carrier elements in the first direction, such that at least a part of each of the two or more robotic systems carried by each of the first bearing element(s) is carried stationary with respect to the surface, during the first period of time, by each of the of first bearing elements.

provide a system.

The method may include providing

Multiple embodiments include a method for

IMPI ω

oo σι σ&gt;

&lt;or one or more first carriers, each configured to carry two more systems. The method may also include providing carriers to a robotic system.

one or

The most seconds configured so that they are coupled vehicle that can move across a surface.

Additionally, the method may include engaging, motion permitted, each of the with the first bearing elements, so that one of the second element(s) is(are) each carried by the second bearing element(s).

first one of or of

The system can include the load-bearing elements load-bearing elements that the second

The system can be configured to automatically maintain each of the first bearing element(s) in a stationary position with respect to the surface, for a period of time, while the vehicle moves the second bearing element(s) in a first position. direction relative to the surface, so that at least a part of each of the two or more robotic systems carried by each of the or carried by the first bearing elements is stationary with respect to that of the first bearing element(s).

Some embodiments include a vehicle.

The surface vehicle, during the first period of time, for each w

σι or

"either

<img file="MX385697B_D0005.tif" />

IMPI can include a body, a plurality of wheels coupled, with the allowed movement, to the body, a guidance control system.

The plurality of wheels can be configured to roll through the rows between the plant beds so that at least a part of the body moves over the plant beds.

The guidance control system can be configured to guide the vehicle along the

The guidance control system can be configured to track a different individual plant location of each individual plant of the plants, which are planned to be grown or grown in the plant beds.

Various embodiments include a method.

The method may include guiding a vehicle through the rows. Rows can be between plant beds. The vehicle may include a body, a plurality of coupled wheels, motion enabled, with the body, and a steering control system. The plurality of wheels can be configured to move along the rows, with at least a part of the body moving above the rows of plants.

The method may also include tracking a different individual plant location of each individual plant of the plants.

Some additional embodiments include a method plants, which are planned to be grown or grown on the beds w

σι σ&gt;

(EITHER

IMPI to provide a vehicle.

The method may include providing a body, providing a plurality of wheels motionally coupled to the body, and providing a steering control system. The plurality of wheels can be configured to roll through the rows between the plant beds so that at least a part of the body moves over the plant beds. The guidance control system can be set to guide the vehicle through the rows.

The guidance control system can be configured to track a different individual plant location of each individual plant of the plants, which are planned to be grown or grown in the plant beds.

Turning to the drawings, Figure 1 illustrates a top perspective view of the front from the left side of a harvesting robot 100.

Figure 2 illustrates a bottom perspective view of the rear from the right side of the harvesting robot 100.

The harvesting robot 100 is given merely by way of example, the embodiments of the harvesting robot are not limited to the embodiments offered herein.

The harvesting robot can be used in multiple embodiments, exemplified herein.

In many embodiments, harvesting robot 100 may include harvesting apparatus 110, other than shown or

describe in a way ω

oo σι σ&gt;

&lt;o

IMPI a cart set

140 and/or a carrier assembly 170.

In various embodiments, configure plants.

se the harvesting robot 100 can so that it harvests agricultural products from

In some embodiments, the harvesting robot 100 may be used to harvest agricultural produce, such as strawberries from strawberry plants.

In the same other ways the harvesting robot 100 can be used to harvest suitable agricultural crops, eg, peppers, chili peppers.

such etc.), such as tomatoes, peppers (eg.

oranges and/or other products

In different embodiments, the harvesting robot 100 can be configured to selectively harvest mature crops) (eg.

floors.

plant produce, (P leave produce other produce eg, unripe produce) in the

Continuing from the following drawing, Figure 3 illustrates a top perspective view of the front from the right side of the harvesting apparatus 110. The harvesting apparatus 110 is given merely by way of example, and embodiments of the harvesting apparatus are not intended. The embodiments offered herein are limited.

The harvesting apparatus can be employed in multiple embodiments specifically herein.

In multiple embodiments, harvesting apparatus 110 may rotate about an axis for different examples not shown or

describe of w

I HEARD

or) or

<img file="MX385697B_D0006.tif" />

central geometric IMPI

311.

In different embodiments, the harvesting apparatus 110 may include one or more tweezers, such as the tweezers

314 and/or 315.

In various embodiments, each of the clips (eg.

can be used to harvest one of the different individual farm products.

For example, gripper 312 can be used to pick a first strawberry;

gripper 313 can be used to pick up a second bur;

the clamp

314 can be used to harvest a third strawberry; and/or the gripper 315 can be used to pick a fourth bur.

In different embodiments, the harvesting apparatus

110 may include four clips (eg.

example, as shown in Figure 3.

In other embodiments, the number of clips (eg.

eg , 312-315) in the harvesting apparatus 110 can be one, three, four, five, six, seven, eight, nine, ten other suitable number of tweezers.

In some embodiments, the number of clips may be an even number.

In other embodiments, the number of clips may be an odd number.

In various embodiments, the number of grippers (eg, 312-315) in harvesting apparatus 110 may be a function of the average number of individual produce (eg, 312-315).

strawberries, etc.) that are expected to be harvested from individual agricultural products from the

312-315), a commitment (like a tweezers (p.

optimal compromise) between a plant, the time it takes to discharge the

Yo

IMPI w

σι σ&gt;

&lt;or the maximum number of individual commodities expected to be harvested and the time it takes to unload the individual commodities, and/or other appropriate factors.

Each clamp may be identical to the other clamps in the harvesting apparatus 110.

In different embodiments, the clips (eg.

315) may be spaced from a central axis 311 and/or may extend radially therefrom.

In multiple embodiments, oriented clamps radially (eg.

towards

312-315) may be external from a circumference of rotation of harvesting apparatus 110. In some embodiments, the gripper may be equally spaced in harvesting apparatus

110.

In various embodiments, harvesting apparatus 110 may include a frame 316, which may include one or more spokes, such as spokes 317,

318,

319 and/or 320. In various embodiments, each clip (eg.

eg 312-315) can be connected to a different radio (eg 317-320). For example, as shown in Figure 3, clip 312 can be connected to spoke 317;

clamp 313 can be connected to spoke 318;

clamp 314 can be connected to spoke connect to spoke 320.

(e.g. frame

312-315)

On itself and/or the clamp can be

In other embodiments, the frame may connect to the solid wheel of the various embodiments, frame

316 can be a solid wheel with or without spokes, and the calipers

IMPI w

in σ&gt;

&lt;or may include a connection mechanism, such as the 321 connection mechanism.

In multiple embodiments, the link mechanism 321 can be used to rotate the harvesting apparatus 110 about a central axis 311.

Continuing from the following drawing, Figure 4 illustrates a front view of the clip 312 in an open position. Figure 5 illustrates a front view of the clamp

312 in a closed position.

The clamp 312 is given merely by way of example, and the embodiments of the clamp are not limited to the embodiments offered herein.

The clip can be used in multiple different embodiments or examples that are not specifically depicted or described herein. In multiple embodiments, each of the other clamps (P· (FIG. 3)) in harvesting apparatus 110 (FIG. 3) may be identical or similar to clamp 312.

In various embodiments, the clamp 312 can be adjusted between the open position, as shown in Figure 4, and the closed position, as shown in Figure 5.

In different embodiments, gripper 312 may be configured in the open position (as shown in Figure 4) so ​​that it opens around a single produce, such as a single strawberry being grown in multiple embodiments, the gripper 312 can be configured in the closed position (as shown in Figure 5) planting strawberries, or other suitable produce.

in w

in σ&gt;

co

IMPI in a way that safely holds the individual agricultural product, such as strawberries

535, when the harvesting apparatus 110 (FIGS. 1-3) moves and/or rotates about the central axis 311 (FIG. 3).

In various embodiments, the clip 312 may include a first grip piece 410 and a second grip piece

420.

In other embodiments, a single support piece.

include the clamp 312 may include a grab or spoon type and a

In other different embodiments, three more pieces of embodiments, a first piece a more pieces of the clip 312 can grasp.

In multiple grips 410 may include a first grip frame 411 and/or a second grip piece 410 may include a second grip frame 421.

In some embodiments, the first grip frame 411 may provide a rigid support for the first grip part.

410, and/or second grip frame 421 may provide rigid support for the second grip piece

420.

In different embodiments, the first gripping frame 411 and/or the second gripping frame 421 can be made of a suitable rigid polymer (eg, polycarbonate (PC), acrylonitrile butadine styrene (ABS)), metal (eg. g., aluminium), or other suitable material.

410 may include a first gripping surface 412 and/or a second gripping piece 410 may include a second

In multiple embodiments, a first gripping piece w

OI σ&gt;

co

IMPI grip surface

422.

In different embodiments, the first gripping surface 412 may be connected to the first gripping frame

411 and/or can cover it less partially, and/or second gripping surface

422 it can be connected to the second gripping frame 421 and/or it can at least partially cover it.

In different embodiments, the first gripping surface 412 and/or the second gripping surface 422 can be made of elastic, thermoplastic (TPU)), rubber, a soft material, and/or rubber-like (TPE) (Foam, which can provide adaptable for neoprene, a contact, silicone, polyurethane a thermoplastic elastomer other suitable material smooth, soft and/or undamaged surface with produce and/or that may be suitable for contact with food.

For example, a first gripping surface 412 and/or a second gripping surface 422 can be made of a hardness silicone rubber.

shore

A.

The first gripping surface 412 and/or the second gripping surface

422 they can be within a range of hardness, such as below 50 A shore hardness.

In multiple embodiments, a first grip piece

410 may include a first tip 413 and/or a second piece In embodiments, the first tip 413 and/or the second tip 423 may be wedge-shaped and/or configured to grip 410 may include a second tip 423.

in many

ΙΜΡΙw

σι in co inserted between produce so as to separate an individual produce from neighboring produce (eg, a bush of produce) in order to harvest the individual produce without damaging neighboring produce.

For example, if a commodity to be picked is located between two nearby commodities, the first tip 413 can be configured to cradle between the commodity to be picked and one of the nearby commodities, and the second tip 423 can be configure so that it acts as a wedge between the agricultural product to be harvested and the other nearby agricultural products, which can separate and/or isolate individual produce from nearby produce.

nearby without damaging agricultural products

In some embodiments, a first grip piece

410 may include a first retaining surface 518, and/or a second gripping piece

410 may include a retaining surface 528.

Retaining surface 518 and/or retaining surface 528 can be configured to securely hold produce (eg.

g., bur 535) in collet 312.

In various embodiments, retention surface 518 and/or the retention surface

528 may include a concave surface, which may surround, as shown in figure 5, each of the w

in in

IMPI at least partially, the agricultural product (eg, strawberry

535) to facilitate the safe retention of the agricultural product.

In various embodiments, the clip 312 may be spring-loaded to be in the open position, as shown in Figure 4.

In different embodiments, a collet 312 may include a sliding block 430, which may be coupled to spoke 317, and may be configured to slide radially inward and outward along the radius.

In various embodiments, offset block 430 may include a pin 431, which may facilitate attachment of offset block 430 to embodiments, compression 432, radius

317.

radius 317 can include

In multiples a spring that can be compressed when offset block 430 is adjusted outwardly along radius 317 to adjust collet 312 to as shown in Figure 5, with the closed position, and that can be stretch in order to press displacement block 430 inward along radius 317 to adjust the collet

312 to the open position, as shown in the figure

4.

In various embodiments, clip 312 may include spring 433 and/or spring protector 434, which may cover and/or protect compression spring 432.

or more spring protectors, such as the spring protector

IMPI ω

oo σι σ&gt;

co

In multiple embodiments, a first grip piece

410 may include a first offset mounting portion 416 and a spoke mounting portion 417, and/or a second grip portion 420 may include a second offset mounting portion

426 a mounting part on the spoke 427.

In different embodiments, spoke mounting portion 417 and/or spoke mounting portion 427 may be hingedly attached to the spoke.

317, joint 429, as in a respectively.

joint

419 and/or a

In various embodiments, the first offset mounting part 416 and/or the second offset mounting part 426 may be connected via linked elements to the offset block 430, such that by adjusting the position of the offset block 430 it can be adjusted. the first grip piece 410 and/or the second grip piece 420 between the open position, as shown in Figure 4, and the closed position, as such as by rotating the around the joint shown in figure 5, first gripping piece

419 and/or rotation of

410 the second grip piece 420 around the joint 429.

In multiple embodiments, clip 312 may include second strap

424 and/or a second link piece 425.

The first strap 414 and/or the second strap 424 can be attached to a first strap 414, a first link piece 415, a

IMPI ω

oo σι o

&lt;o offset block 430.

The first link part 415 may be hingedly coupled to the first offset mounting part 416 at a hinge 418, p_EUd_and be engaged, such as engaged with slippage allowed, the first strip 414.

The second link piece

425 may be hingedly coupled to the second offset mounting part 426 at a hinge

428, and may be coupled, such as slidably coupled, to the second strap 424.

In multiple embodiments, the first strip 414 and/or the second strip 424 can be made of a flexible and/or semi-rigid abrasion resistant material, such as ultra high molecular weight (UHMW) polyethylene (UHMWPE).

As shown in Figs. 4-5, while offset block 430 fits radially outwardly at radius 317, first strap 414 can push first gripper 410 forward so that it rotates around the joint.

419 to the closed position, the first connecting piece

415 it can be slid outwardly along the first strip 414 away from the offset block 430 while adjusting the position of the first offset mounting part 416.

Similarly, as long as the block on the radius 317, the second strip 424 can push the second grip piece

420 forward so it rotates around offset 430 adjusts radially outward

IMPI w

in σ&gt;

&lt;o from joint 429 to the closed position, and

to the second link piece

425 the exterior can be slid along the second strip 424 away from the offset block 430 while adjusting the position of the second offset mounting part 426.

In various embodiments, while offset block 430 fits radially outwardly at radius 317, first strip 414 and/or second strip 424 may bend backwards (i.e., toward a center of frame 316 (FIG. 3). ) to compensate that the first gripping piece

410 and/or second grip piece

420, respectively, do not push fully forward in their rotation about joint 419 and/or joint

429 respectively.

For example, if the gripper 312 is used to harvest a large produce, the size of the produce may prevent the first gripper 410 and/or the second gripper 420 from being pushed fully forward in its rotation about the gripper. joint respectively.

419 and/or joint

When offset block 430 fits radially outwardly first ra at radius 317,

429 I know

414 and/or the second strip 424 can provide, respectively, grip piece

420, so as to securely retain a spring loaded stretch of the first gripper

410 and/or second w

in in

IMPI agricultural product (e.g., strawberry 535) in the gripper 312. In different embodiments, spring bending of the first strip 414 and/or the second strip 424 may advantageously allow the gripper

312 Collect various different size farm products and safely hold those different size farm products without damaging the farm products.

For example, gripper 312 can be configured to pick burs ranging from small to large burs.

oscillate

Continuing with the following drawing, figure 6 illustrates a top perspective view of the front from the left side of a stationary lower toothed upper cam

641,

652.

a 140 carriage assembly,

669 showing covers of a base guide assembly 651 and a caster housing Figure 7 illustrates a perspective view of the front from the left side of various internal components of the carriage assembly 140, not showing the stationary cam 669 and covers upper base 641, guide assembly 651 and sprocket housing 652.

Figure 8 illustrates a rear view of the carriage assembly 140, showing the stationary cam

669 and the upper base covers 641, the assembly guides various toothed components 652.

internal in

The wheel casing trolley assembly

140 is simply given to

651 Y

sprocket casing

652, and

showing w

σι σ&gt;

(EITHER

<img file="MX385697B_D0007.tif" />

IMPI exemplary mode, and carriage assembly embodiments are not limited to the embodiments offered herein.

The carriage assembly can be used in multiple different embodiments or examples that are not specifically depicted or described herein.

In multiple embodiments, the carriage assembly

140 may include a set of carriage support

640 a car

650.

In multiple embodiments, the cart

650 can be adjusted vertically relative to the carriage support assembly

640.

In different embodiments, the carriage support assembly

640 may include an upper base 641 and/or a lower base 642.

In various embodiments, the carriage support assembly 640 may include a left guide rod 643 and/or a right guide rod 644, which may extend from the upper base.

641 to bottom base 642.

In some embodiments, the carriage support assembly may include a vertical adjustment shaft 645.

In multiple embodiments, vertical adjustment shaft 645 can extend from the top base

641 to lower base 642, and can rotate with respect to upper base 641 and lower base 642.

In different embodiments, the vertical adjustment shaft 645 may embodiments, the upper base 641 may include a sprocket guard piece

647 .

In various be a threaded shaft, such as a spindle.

In different w

σι or

"either

In IMPI embodiments, carriage support assembly 640 may include a motor 64-6. Motor 64-6 may be a stepper motor or other suitable motor.

In different embodiments, the motor 64 6 may control the rotation of the vertical adjustment shaft 645.

For example, as shown in the figure showing components inside the sprocket guard 647 (FIGS. 6, 8) and not showing the sprocket guard cover 647 itself, the motor 646 may be coupled to a sprocket 74 6 inside the first sprocket guard 647, and the vertical adjustment shaft 645 may be coupled to a sprocket 745 inside the sprocket guard.

647 (figures 6,

8). Sprocket 745 can be positioned to mesh with sprocket 74 6 inside the sprocket guard.

647 (figures

By rotating the vertical adjustment shaft 645, the motor

646 can control the vertical position of the carriage 650.

In various embodiments, guide assembly 651.

just like the car

650 may include a shown in Figure 7, which shows the components within the guide assembly 651 and does not show the cover of the guide assembly itself 651, the assembly

750 and/or some embodiments, right linear bearing 751.

linear bearings

On various left 750 can guide 651 can include a left linear bearings

IMPI w

σι σ&gt;

(Or guide the vertical movement of the carriage 650 along the left guide rod 643, and/or the right linear bearings 751 can guide the vertical movement of the carriage

650 along the right guide rod embodiments, more springs, are

644.

In various carriage assembly 140 may include one such as spring 648 and spring 849, which may extend from carriage 650 to the upper base.

641 of the carriage support assembly 640. Spring 648 and spring 849 may be extension springs, which may beneficially support the carriage

650 so as to decrease the force required to carriage vertically raise the

650 relative to the carriage support assembly 640.

In multiple embodiments, carriage 650 may include a sprocket housing 652.

As shown in Figure 7, which shows the components inside the sprocket housing 652 and does not show the sprocket housing cover 652 itself, the carriage 650 may include a carriage locating insert 752. , which can be connected to the vertical adjustment axis 645 and can be configured so that it vertically adjusts the position of the carriage after a rotational movement of the vertical adjustment axis spindle

645.

In various embodiments, the part is fitted with a 645 vertical adjustment thread.

which corresponds to that of the carriage positioning axis

752 can be a ω nut

oo i heard σ&gt;

&lt;o

IMPI

In different embodiments, carriage 650 may include axis of rotation 655.

configure so that

110 (figures 1-3).

I know

Rotation shaft 655 can be attached to harvesting apparatus

For example, the axis of rotation 655 can be connected to the connection mechanism 321 (FIG. 3).

In multiple embodiments, the cart

650 may include motor

654. Motor 654 may be a stepper motor or other suitable motor.

In various embodiments, controlling the rotation of a shaft of the motor

654 can rotation 655 and/or harvesting apparatus 110.

For example, the 654 motor can be configured to control the angular positioning of the grippers (eg.

eg, 312-315 (FIG. 3)) in the collection apparatus 110 (FIGS. 1-3).

Figure 8, which inside the casing

As shown by various internal components of sprockets 652 (FIG. 6), motor 654 may be coupled to a sprocket casing 854 interior on sprocket 652 (FIG. 6), and axis of rotation 655 may be engaged to gear 855 inside the housing a wheel of gear wheels

652 (figure 6). Sprocket 854 can be positioned to mesh with sprocket 855 within sprocket housing 652 (FIG. 6). For example, the sprocket may be a worm gear sprocket without

By rotating the axis of rotation 655, the motor

854 can be a worm, and

gear wheel 855 w

in in co

IMPI

654 can control the angular position of the harvesting apparatus 110.

In various embodiments, carriage 650 may include a stationary cam 669 (FIG. 7).

In different

8, no embodiments, shown in the axis of rotation

655 can pass through a central region of the stationary cam

669.

In multiple embodiments, stationary cam 669 can facilitate adjustment position control (eg.

forceps (P· collection 110 open position, closed position) of the (figure 3)) (figures 1-3), (figure 3)) rotate in the apparatus while the forceps (p.

around the central geometric axis 311 (FIG. 3), as shown in FIGS.

10-11 and is described in greater detail below.

In some embodiments, carriage 650 may include drive cam 660.

The drive cam 660 can be configured so that the set position (P closed) of the collets (eg.

harvesting apparatus 110 of the tweezers (p.

facilitate position

312-315 (figures 1-3) , open control, of the position (figure 3) ) in the while each one e.g., 312-315 (figure 3)) is located on an agricultural product and is used to harvest it, detail next.

such as

In multiple embodiments, drive cam 660 may be a drop snail cam.

shown in the figures

10-11 and is described with greater

IMPI w

σι or

&lt;o

In various embodiments, the carriage

650 it may include a motor 653. The motor 653 may be a stepper motor or other suitable motor.

In multiple embodiments, the motor

653 may be coupled to drive cam 660 and/or may control rotation thereof.

In some embodiments, the carriage 650 may include an actuator 661. As shown in Figure 7, which shows the components of the carriage 650 (Figures 6,

8) With the stationary cam 669 (figures 6, 8) removed, the actuator may include a drive portion

761, which can fit vertically between the left bearings of the actuator

66 and the right bearings of the 767 actuator on the carriage

650 (figures 6,

8), and can be adjusted vertically so as to transfer the control position of the drive cam 660 to the collet (eg, 312-315 (Fig. 3)), which can adjust the adjustment position ( p.

open position, position (FIG. 3) ), closed) such as the clamp is shown in describes in greater detail various embodiments, include a slot (eg.

Figures 10-11 and below.

the slide drive part 7 64, is

In

761 can that can allow the actuator 661 to surround the axis of rotation 655, and that can allow the rotation

655.

In different embodiments, actuator 661 may include guide portions 762, each allowing vertical movement of actuator 661 with respect to ω

oo σι σ&gt;

either

IMPI one can fit horizontally between the left bearings of the 766 actuator and the right bearings of the 767 actuator respectively.

For example, the guide parts

762 can guide the vertical adjustment of the actuator 661 between, and prevent movement past, the upper and lower bearings of the left bearings 766 and/or the right bearings 767 .

realizations,

In certain guide portions 762 may include connecting pieces 763, which may connect actuator 661 to connecting bases 765 on sprocket housing 652 (Figs.

6, 8) of carriage 650 (figures 6,

8) by means of springs (p.

extension springs) other suitable elastic components, in order to bias the 661 actuator to a vertically upward position so that it contacts the 660 drive cam.

Continuing from the following drawing, Figure 9 illustrates a top perspective view of the rear from the left side actuator 661 one of a cam stationary drive cam

669.

The

660, a drive cam 660, actuator 661, and stationary cam 669 are given merely by way of example, and embodiments of the drive cam, actuator, and stationary cam present. The drive cam, actuator and stationary cam can be employed in multiple embodiments are not limited to

the embodiments offered in the w

in in different examples not specifically depicted or described herein.

IMPI

MEXICAN INSTITUTE OF INDUSTRIAL PROPERTY

In multiple embodiments, actuator 661 may include a cam interface piece.

960, which can follow the shape of the drive cam 660 so as to adjust the position of the actuator

661. In various embodiments, the drive cam 660 may be connected to a motor 653 (Figures 6-8) at the point of rotation 961, the drive cam 660 may rotate about the embodiments, point of rotation

961.

In multiples, the drive cam 660 can rotate counterclockwise, as seen from the rear perspective shown in Figure 9.

While rotating drive cam 660, cam interface member 960 may move along drive cam 660 from a base point 962 of drive cam 660 to a maximum point

963 of the drive cam 660, which can push the actuator

661 vertically down.

As drive cam 660 rotates further, cam interface piece 960 may drop back from peak point 963 to base point 962.

In various embodiments, actuator 661 may include a collet interface portion 969, which may interact with pickup 110 (FIGS. 1-3), so as to regulate the adjustment position of the collet (p.

(figure 3) ) between the with a clamp (p.

g ., 312-315 (figure 3)) in the

IMPI ω

oo σι o

&lt;o open position (as shown in figure 4) and the closed position (as shown in figure 5).

Gradual and continuous raising of drive cam 660 may beneficially allow motor 653 (Figs. 68) to precisely control the vertical position of the actuator.

661, which may advantageously allow the motor 653 to precisely control the clamp adjustment position (eg.

(FIG. 3)) in the harvesting apparatus 110 (FIG.

1-3) .

For example, the engine

653, drive cam 660, and actuator 661 can be used to fine-tune the position of the first tip 413 (Figs.

4-5) of the first grip piece 410 (figures 4-5) and the second tip 423 (figures 4-5) of the second grip piece 420 (figures 4-5), an agricultural product in order to fit in around individual produce to be harvested, to separate and/or isolate the individual produce to be harvested from other nearby produce, damaging nearby produce.

In different embodiments, the circular stationary cam may include a slot

968, which is

669 can be configured so that it surrounds the axis of rotation 655 (figs.

6-7) .

In various embodiments, the stationary cam

669 (figures 6, and the tweezers (p.

g., 312-315 (figure 3)) in the harvesting apparatus 110 (figures 1-3) can rotate can have a position with respect to the carriage

650

IMPI w

in σ&gt;

co around stationary cam

669.

In multiple embodiments, stationary rotation path 669 may include a first portion 964.

the cam

Stationary cam 669 can be configured to retain the clamps (eg (FIG. 3)) on harvesting apparatus 110 (FIGS. 1-3) in a closed position (as part is shown in FIG. 5) along from the first

964 of the rotation path.

In various embodiments, stationary different trajectory the trajectory

669 may include embodiments, that of releasing 967 from a rotation of the second part 965.

second part

965 Of cam

In the rotation you can include a position of and a collection position 966.

The stationary cam 669 will open the pliers (eg.

collection 110 (as can be configured so as to allow (figures shown in (figure 3)) in the apparatus

1-3) to the open position Figure 4), along the second part 965 of the rotation position path from the release 967 to the harvest position

Continuing illustrates one with the following drawing, the figure rear view of the drive cam 660, harvesting 110, the clamp being in the harvesting position 966 in the open position.

Figure 11 illustrates the actuator 661, the stationary cam 669, and the locking apparatus.

IMPI w

OI σ&gt;

co a rear perspective view from the right side of the 660 drive cam, the 661 actuator, the stationary cam

669 the harvesting apparatus

110, with the clamp 312 in the harvesting position 966 in the closed position.

In different embodiments, caliper 312 may include offset pin 1032 and/or bearing 1012.

In different embodiments, offset pin 1032 may be identical to pin 431 or may be connected to pin 431 (FIGS. 4-5).

In multiple embodiments, offset pin 1032 may be coupled to offset block 430 (FIGS. 4-5), so that adjusting offset pin 1032 can adjust offset block 430.

In multiple embodiments, bearing 1012 may be centered on offset pin 1032, and may rotate along the path of rotation of stationary cam 669.

Similarly, the clamp

313 may include displacement pin 1033 and/or bearing 1013;

the clamp

314 may include a scroll pin

1034 and/or a bearing 1014; and/or caliper 315 may include offset pin 1035 and/or bearing 1015.

Offset pin 1033, Offset pin 1034 and/or are identical to Offset pin 1032.

the bearing

1013, bearing 1014 and/or bearing 1015 can be offset pin

1035 They can be similar or

w σι σ&gt;

&lt;o

IMPI the 654 motor (figures 6-8) similar or identical to the 1012 bearing.

In multiple embodiments, you can rotate harvesting apparatus 110 in a counterclockwise direction, as seen from the rear perspective shown in FIGS.

10-11.

The gripper 312 can be rotated to the picking position 966 of the second portion 965 of the grippers rotational path (e.g.,

312-315 (FIG. 3)) along stationary cam 669.

In multiple embodiments, stationary cam 669 can include a stop edge 1066, which can stop rolling

1012 during rotation of harvesting apparatus 110 to stop gripper 312 in harvesting position 966.

In multiple embodiments, when the clamp

312 is in the harvest position 966, the gripper 312 may be oriented downward to allow the gripper

312 harvest an agricultural product from a growing bed.

When gripper 312 is rotated to the picking position

966, the drive cam 660 can be rotated so that the interface piece with the cam 960 of the actuator 661 can be at the base point 962 of the drive cam 660 and the actuator 661 is adjusted upward (eg.

with respect to e.g. retracted) the stationary cam 669. When the actuator figure 10, the interface part

661 can be in close proximity with the clamp 969 of the actuator of a second part 965 of the

661 is in the retracted position, as shown in the

IMPI w

σι σ&gt;

&lt;o stationary cam

669, so that the clip 312 can remain in the open position.

In various embodiments, while the clamp

312 rotated toward the harvest position 966, the gripper 315 can rotate along the rotational path of the stationary cam 669 from the first part 964 to the second part 965 in the embodiments position, the release cam 967.

stationary

in multiple

669 may include a release edge 1067, which may allow the clip 315 to gradually open from the closed position (as shown in Figure 5) to the open position (as shown in Figure 4) in the release position

967. When collet 315 rotates to the release position

967 and is opened to the open position, the gripper 315 can release an agricultural product that it is holding, such as in a harvesting device.

When the clamp 312 is in the harvest position

966 clamp is in the release position 967, the clamps 313 and 314 may be located along the first portion 964 of the rotational path of the stationary cam 669, which may hold the clamps 313 and 314 in the closed position, such as it is shown in figure 10.

For example, each of the clamps

313 and 314 may be holding an agricultural product.

966 pickup and in the open position as shown

In multiple embodiments, in position of

IMPI ω

oo σι o

&lt;or in the figure

10, the clamp

312 may be ready to collect a realization, agricultural product of a plant.

the load-bearing element

170

In several (figure 1) yo u can move the clamp assembly

312 be supported by the carriage 140, so that it is located above the agricultural product to be harvested. Motor 653 (FIGS. 6-8) can rotate drive cam 660 so as to contact collet interface portion 969 of actuator 661 with displacement pin 1032 of collet 312, la la el to adjust the position of the cam. the first gripping piece 410 (FIGS. 4-5) and the second gripping piece 420 (FIGS. 4-5) of the gripper 312, in order to individually adapt to harvesting.

is a larger one, around the agricultural product

For example, if the produce such as a large strawberry, the gripper 312 can be attached with a wider opening in the open position, and if the produce is smaller, such as a small strawberry, the gripper 312 may be attached with a narrower opening in the open position, which may allow the gripper 312 to separate and/or isolate the individual produce being picked from other nearby produce without damaging nearby produce.

appropriate for the produce to be picked, the carriage support assembly 140 can lower the carriage 150 so that

When collet 312 is set with the opening width w

σι in

CO

ΙΜΡΙ the first gripping piece 410 (FIGS. 4-5) and the second gripping piece 420 (FIGS. 4-5) of the gripper 312 can surround the harvested produce.

The motor

653 (figures 6-8) you can rotate the drive cam 660 so that the cam interface part 960 can move along the drive cam 660 to the maximum point 963, which you can push to extend the actuator

661 to an extended position, as shown in figure 11.

While the actuator 661 is extended, the collet interface portion 969 of the actuator 661 may push the shift pin 1032 so as to adjust the position of the collet 312 to the closed position (as shown in FIG. 11).

When collet 312 is in the closed position, collet 312 bearing 1012 can extend past the stop edge

1066 of the stationary cam 669, so that the clamp 312 can rotate along the first part 964 of the rotational path of the stationary cam 669.

In multiple embodiments, gripper 312 can securely hold the picked produce while gripper 312 rotates along first portion 964. After gripper 312 picks the produce, motor 654 (FIGS. 6-8) can rotate the to the harvest position 966.

Although the harvesting apparatus 110 is shown with 4 clamps (eg, harvesting apparatus 110 so that the clamp

315 rotate w

σι σ&gt;

&lt;o

IMPI harvesting apparatus 110 may include fewer tweezers, additional tweezers, and the first part 964 and the second part

965 of the rotational path of the stationary cam 669 can be adjusted accordingly.

Continuing with the following drawing, the figure illustrates a lower perspective view of the rear part from the right side of the support assembly 170.

Figure 13 illustrates a top view of the harvesting robot

100, showing carriage assembly

140 bearing assembly (figures 1-2,

6-8)

170 coupled to and harvesting apparatus 110.

Carrier assembly 170 is given merely by way of example, and embodiments of the carrier assembly are not limited to the embodiments offered herein.

The carrier assembly can be used in many different embodiments or examples that are not specifically depicted or described herein.

In various embodiments, carrier assembly 170 may include mounting bearing 1274.

In multiple embodiments, carrier assembly 170 and/or harvesting robot 100 may be mounted, on a plant to be harvested, on mounting pad 1274.

In different embodiments, mounting bearing 1274 may be a pivot bearing supporting 170 and/or the harvesting robot 100 with respect to the plant. For example, the harvesting robot 100 can rotate in gear, which can be used to rotate the assembly w

σι σ&gt;

&lt;0

<img file="MX385697B_D0008.tif" />

IMPI in a clockwise and/or counterclockwise direction, as seen in the top perspective shown in Figure 13, around the 1274 mounting bearing.

In multiple embodiments, carrier assembly 170 may include a carriage connection base 1284, which may be configured to mate with upper base 641 (FIGS. 6,

8), in order to attach the carriage assembly

140 to carrier assembly 170 and in order to move carriage assembly 140 relative to carrier assembly 170.

In different embodiments, carrier assembly 170 may include a motor 1275. Motor 1275 may be a stepping motor or other suitable motor.

In various embodiments, motor 1275 may control the rotation of an adjusting axis

1278, which adjusts the position of the connection base of the carriage

1284 and/or the carriage assembly 140 with respect to the mounting bearing

1274.

In different embodiments, adjustment shaft 1278 may be a threaded shaft, such as a spindle.

In some embodiments, the carrier assembly 170 may include a foliage displacement base.

1281, which can be coupled to a foliage displacement mechanism

1400, as shown in Figure 14 described below.

In different embodiments, the can connect to the foliage scrolling base 1281 at the connecting portions

1282

1383.

In multiple foliage displacement mechanism 1400 (figure 14) it w

I HEARD

OR) (OR

In IMPI embodiments, carrier assembly 170 may include a motor 127 6 . Motor 127 6 may be a stepper motor or other suitable motor. In various embodiments, motor 1276 may control the rotation of an adjustment shaft 1277, which adjusts the position of the foliage offset base.

1281 relative mounting bearing

1274.

In different embodiments, adjustment shaft 1277 may be a threaded shaft, such as a spindle.

In various embodiments, the support assembly 170 may include rails 1279 and 1280, which may allow the carriage connection base 1284 and/or the foliage displacement base radially

1281 toward them to slide, into mounting bearing 1274.

with towards possibility of out with

In multiple carrier assembly 170 can include one adjustment, with respect to embodiments, more sensors than the image 1290 and/or 1291.

Image sensors 1290 and/or 1291 may be cameras configured to detect optical image information.

In different embodiments, the supporting electronic assembly

In

1270 some may include embodiments, an electronic unit 1271 may include a control unit 1272 and/or a processing unit 1273.

In different embodiments, processors configured to receive information from image sensors 1290 and/or 1291 to determine the processing unit 1273 may include one or

plus

IMPI ω

oo σι σ&gt;

&lt;or location of agricultural products to be harvested.

For example, the processing unit can be configured to determine that certain produce is ripe and ready to be harvested, and that other produce is not yet ripe or damaged and should not be harvested.

In various embodiments, the control unit

1272 may be electrically coupled to a processing unit 1273 and/or may include one or more controllers to control motors in harvesting robot 100, such as motor 646 (FIGS. 6-8), motor 653 (FIGS. 6-8), 654 engine (figure 6-8), 127 engine 5 (figures

12-13) and/or the 1276 motor (FIGS. 12-13).

Continuing from the following drawing, the figure illustrates a bottom perspective view of the front from the right side of a foliage moving mechanism 1400.

The foliage moving mechanism 1400 is given merely by way of example, and the embodiments of the foliage moving mechanism are not limited to the embodiments offered herein.

The foliage displacement mechanism can be employed in multiple different embodiments or examples that are not specifically depicted or described herein.

in multiple

00 can be configured to move the foliage of a plant to expose at least a portion of the products embodiments, the foliage moving mechanism

IMPI ω

oo σι σ&gt;

&lt;o agricultural that there is under the foliage.

which may allow the image sensors 1290 (figures 12-13) and/or 1291 (figures

12-13) detect produce and/or allow the tweezers (p.

agricultural collection.

eg,

110 (figures 3, 10-11)) of the apparatus of (figures

1-3) collect the products

In various embodiments, foliage moving mechanism 1400 may include a rear surface 1410.

In multiple embodiments, embodiments, one the rear surface may have a flat rectangular shape.

a back surface

In

1410

1410 different ones can be configured so that a plant bed is spread out normally, as shown in the figure described below.

In various embodiments, foliage displacement mechanism

1400 can include a base 1420.

The base 1420 can be configured so that the bed therein extends parallel to that of plant growth, from a trailing edge 1411 the trailing surface

1410 towards the center of the plant, as shown in figure 15 described below.

have a

In different embodiments, base 1420 may be semicircular in shape.

of the foliage

1400 can include a 1440 surface.

Surface 1440 may extend from base 1420 upwards.

In various embodiments, the displacement mechanism w

OI σ&gt;

co

<img file="MX385697B_D0009.tif" />

IMPI up to back surface

1410.

In different embodiments, at least one or more parts of the surface

1440 they can be curved and/or have a concave shape.

In some embodiments, at least one or more portions of surface 1440 may be modeled as at least one portion of an ellipse.

In various embodiments, foliage moving mechanism 1400 may include a channel 1450.

In multiple embodiments, channel 1450 may extend from base 1420, at a bottom of channel 1451, up through surface 1440 to a top of channel 1452.

In some embodiments, the base

1420 may extend outwardly toward the sole, from a left side of the back surface 1410 to a left front side 1421, and from a right side of the back surface 1410 to a right front side

1422.

In multiple embodiments, base

1420 it can recede back, in the direction of the rear surface 1410, in the center of the base 1420 between the front left 1421 and the front right 1422, to the bottom of the channel 1451.

In different embodiments, foliage movement mechanism 1400 may include mechanisms

1431 can be configured to engage the foliage shifting mechanism

1400 the connection base 1430 and/or 1431.

The connecting mechanisms 1430 and w

in σ&gt;

&lt;o

IMPI displacement of foliage 1281 (figures 12-13) in the connecting parts

1383 (figure 13) and/or

1282 (figures respectively.

The motor 127 6 can be configured to adjust the position of the foliage moving mechanism 1400 in order to move the foliage moving mechanism 1400 closer to or further away from the plant.

In multiple embodiments.

while the foliage mechanism 1400 is moving towards the plant, the foliage movement mechanism 1400 can be positioned so that the channel

1450 surround the center of the plant.

In different embodiments, the foliage displacement mechanism

1400 it can be set, when moving towards the plant, so that it moves the foliage up and towards the center of the plant.

For example, curves in surface 1440 can be configured to lift foliage up and toward the center of the plant, which can advantageously prevent damaging and/or entangling foliage (such as leaves, stems, and/or leaves). or flowers) of the plant.

Continuing illustrates one with the view from the following drawing, the right side of a figure 15 harvesting robot 100 and a movement mechanism of the

1400 placed on a 1510 floor and a bed of a retracted position.

foliage cultivation

To help with water evacuation, the 1501 grow bed can be slightly sloped. In

1501, with foliage scrolling mechanism

1400 in w

in other examples, the bed can be flat. Plant

IMPI

MEXICAN INSTITUTE OF INDUSTRIAL PROPERTY

1510 may be a strawberry plant, as shown in Figure 15. In other examples, plant 1510 may be a tomato plant, a pepper plant (eg, bell peppers, chili peppers, an orange tree, or other suitable plant). .

As shown in Figure 15, plant 1510 may have a center 1513 (eg, a crown of a strawberry plant), and foliage 1512, such as leaves, stems, and/or flowers, that grow by above the growing bed 1501. The plant 1510 may have produce 1511 which, when mature, is located in the growing bed 1501. At least some of the produce 1511 may be covered by foliage 1512.

In multiple embodiments, such as the one shown in Figure 15, the harvesting robot 100 can be mounted and/or supported such that the central axis 311 of the harvesting apparatus 110 is parallel to the growing bed.

1501.

In various embodiments, foliage moving mechanism 1400 may be connected to a supporting mechanism

170 in the connection part 1282 and/or the connection part

1383 (figure 13) at 1281 with one or more connecting rods, such as connecting rod 1520.

The carrier mechanism

1400 from a retracted position, as shown in figure 15, towards the plant 1510 to move the foliage 1512

170 can adjust foliage scrolling mechanism

IMPI w

in up and towards the center 1513 of the plant 1510 in order to expose the agricultural products detect the image sensor 1290 and/or the

1291 (figures 12-13) and/or harvested 100.

1511 they should image sensor collect by robot

In multiple embodiments.

center 1513 can be accommodated within channel 1450 (FIG. 14) when the foliage displacement mechanism plants 1510.

In various embodiments, centered on

1400 moves to the mounting bearing 1274 the plant

1510.

When mounting bearing 1274 is centered over plant 1510, mounting bearing 127 4 can be configured to rotate harvesting robot 100, the carrier assembly

170, cart assembly 140, harvesting apparatus 110, and/or foliage movement mechanism 1400 around plant 1510. When an agricultural commodity, such as one of the agricultural commodities 1511, is positioned for harvesting, bearing of mounting

1274 can rotate carrier assembly 170 such that the clamp (eg.

(figure 3)) at harvest position 966 (figures 9-11) is radially on a line extending from the center

1513 of the 1510 plant through the agricultural product (eg, cart assembly

140 radially inward toward floor 1510, (c) carriage assembly 140

1511) to collect, (b) the support assembly 170 can move

IMPI w

OI σ&gt;

co can lower the carriage 650 (FIGS. 6, 8) to lower the harvesting apparatus 110 in order to allow a gripper (eg.

g ., 312-315 (figure 3)) closes and collects the agricultural product (P

1511).

In some embodiments, motion of harvesting robot 100 may beneficially conserve motion, and/or may perform a minimum amount of motion, such as to harvest an average maximum number of produce (eg.

eg, 1511) from plant 1510 in a rotation.

realizations,

For example, in some the harvesting robot 100 can be configured to harvest three agricultural products from the plant

1510.

In other embodiments, harvesting robot 100 can be configured to harvest less or more produce from plant 1510.

In different embodiments, the harvested produce may be deposited on a harvesting device while the harvesting robot 100 moves to another plant.

Continuing illustrates mechanism with the following drawing, the figure shows a top view of the back of the foliage slider 1400 placed on the plant 1510 in an extended position.

In multiple embodiments, when the displacement mechanism of the

1512 that moves (figure 15), the image sensors 1290 and/or

1291 (figures 12-13) can detect the agricultural products foliage 1400 is extended towards the plant 1510, the foliage

IMPI w

σι in to

1511 in the cultivation bed 1501, and the processing unit

1273 (figures 12-13) can determine the agricultural products to harvest, as a function of maturity.

In multiple embodiments, harvesting robot 100 (FIGS.

1-2,

13,

15) can rotate around the plant 1510 with the foliage scrolling mechanism

1400 in the extended position, as shown in figure 16, in order for the processing unit 1273 (figures 12-13) to determine which agricultural products (P·

1511) are better agricultural products to collect.

Continuing with the following drawing, the figure illustrates an exemplary embodiment of a computing system 1700, all or part of which may be suitable for implementing the processing unit 1273 (FIGS. 12-13) and/or the processing 2173 (figure

21, described below).

As an example, a different stand-alone housing 1702 (and all or a portion of its internal components) may be suitable for implementing processing unit 1273 (FIGS. 12-13) and/or processing unit 2173 (FIG. 21).

Also, one or more elements of the computer system 1700 (eg.

e.g., the monitor with refresh

1706, keyboard 1704 and/or mouse 1710, etc.) may also be present. The computer system 1700 comprises a housing

1702 containing one more circuit boards (will not be appropriate to implement the techniques described in the ω

oo σι o

&lt;o

IMPI shown), the 1712 Universal Serial Bus (USB) port, the 1716 Compact Disc Read-Only Memory (CD-ROM) and/or Digital Video Discs (DVD), and the 1714 Hard Drive .

A representative block diagram of the elements included on the circuit boards inside the 1702 housing is shown in Figure 18.

The central processing unit (CPU) 1810 in Figure 18 is coupled to a system bus

1814 in FIG. 18. In various embodiments, the architecture of CPU 1810 may be compatible with any of several different families of commercially distributed architectures.

Continuing with Figure 18, the system bus 1814 is also coupled to memory 1808, a storage unit from which the memory storage unit

1808 It comprises both read-only memory (ROM) and random access memory (RAM).

The non-volatile parts of the memory storage unit

1808 ROM can be coded with a suitable boot code sequence to restore the 1700 computer system (Fig.

17) to a functional state after a system reset.

In addition, memory storage unit 1808 may comprise microcode, as a basic memory storage unit system of various embodiments disclosed herein may comprise input-output (BIOS).

In some examples, the or

the w's

in in memory storage unit

1808, a device

IMPI

USB-equipped electronic devices, such as an external memory storage drive (not shown) attached to the 1712 Universal Serial Bus (USB) port (figures 17-18), a 1714 hard drive (figures

17-18) and/or a unit of

CD-ROM or DVD 1716 (figures 17-18).

In the same example or in different examples, the memory storage unit(s) of the various embodiments disclosed herein may comprise an operating system, which may be a software program that manages the hardware software resources of a computer and/or or computer network. The operating system can carry out basic, prioritizing tasks such as, for example, controlling and allocating memory, processing instructions, input and output devices, and managing files.

control facilitate networking

Some examples of common operating systems may include the operating system (OS)

Microsoft® Windows®,

Mac® OS, UNIX® OS and Linux® OS.

Such as circuit module is used herein, of computational processing, limiting, a of processor and/or represent any such as, but without microprocessor character type, complex instructions a (CISC), microcontroller, a a computing microprocessor with set of reduced instruction set (RISC), controller, a computing microprocessor with

IMPI ω

oo σι σ&gt;

(Or a very long instruction word (VLIW) microprocessor, a graphics processor.

a digital signal processor any other type of processor or processing circuitry capable of performing the desired functions.

In some examples, the processor(s) of the various embodiments disclosed herein may comprise CPU 1810.

In the embodiment shown in Figure 18, various I/O devices, such as the disk controller

1804 adapter, 1824 graphics adapter, 1802 video controller, 1826 keyboard adapter, 1806 mouse adapter, 1820 network adapter, and other 1822 I/O devices can be attached to the system bus

1814.

Keyboard adapter 1826 and mouse adapter 1806 are coupled to keyboard 1704 (FIGS. 17-18) and mouse 1710 (FIGS. 17-18), respectively, of the computer system.

1700 (FIG. 17).

Although the 1824 graphics adapter and video driver

1802 are shown as separate units in Figure 18, Video Controller

1802 it may be integrated into the 1824 graphics adapter or vice versa in other embodiments.

The 1802 video controller is suitable for the 1706 refresh monitor (figs.

17-18) in order to present the images on a screen 1708 (figure 17) the system can control the hard disk drive 1714 (figures 17-18), the USB port 1712 (figures 17-18) and the memory unit. CD-ROM 1716 computer 1700 (FIG. 17).

The 1804 disk controller

IMPI ω

oo σι o

&lt;or (figures 17-18) .

In other embodiments, different units can be used to control each of these devices independently.

In some embodiments, network adapter 1820 may comprise and/or be implemented as a card

WNIC (wireless network interface controller) (not shown) connected or attached to an expansion port (not shown) on computer system 1700 (FIG. 17).

In other embodiments, the WNIC card may be a wireless network card integrated into the computer system.

1700 (figure 17).

A wireless network adapter can be integrated into a computer system

1700 having wireless communication functions built into the motherboard chipset (not shown), implemented by means of one or more dedicated wireless communication chips (not shown), connected via a bus

PCI (Peripheral Component Interconnect) or Computer System PCI Express

1700 other (figure 17) of a USB port 1712 embodiments, the adapter (figure 17).

net

1820

En may comprise and/or be implemented as a wireless network interface controller card (not shown).

computer system 1700 (FIG. 17), these components and their

Although many other components of the

IMPI w

σι σ&gt;

&lt;or interconnection are widely known to those of skill in the art.

Accordingly, additional details concerning the construction and composition of computer system 1700 and the circuit boards inside case 1702 (Fig.

17) .

When the computer system 1700 in Figure 17 is running, instructions the

CPUs

1810 program (figure stored

18) running on a USB-equipped electronic device connected to the 1712 USB port, on a CD-ROM or DVD in the 1716 CD-ROM and/or DVD drive, on a 1714 hard drive, or on a thumb drive memory 1808 (FIG. 18).

A part of the program instructions stored on these devices may be suitable for carrying out at least part of the techniques described below.

Although computing system 1700 is illustrated as a desktop computer in Figure 17, examples can be found where computing system 1700 can take a different form while maintaining similar unique computing functional elements.

1700.

In server servers, one of those described for the some group cloud system implementations, set of computers the system computers servers.

informatic

1700 can comprise a single computer, a w

σι or

&lt;o

IMPI

Usually, a group or set of servers can be used when the demand on the computer system

1700 exceeds the reasonable capacity of a single computer server. In certain embodiments, the computer system

1700 it may comprise a portable computer, such as a laptop. In certain different embodiments, computing system 1700 may comprise a mobile device, such as a smartphone.

In certain additional embodiments, computing system 1700 may comprise an embedded system.

Continuing with the following drawing, the figure illustrates a flow diagram of a method 1900 for the purpose of providing a device for selective harvesting of agricultural products in a plant in accordance with the present disclosure.

The method

1900 it is given merely by way of example and is not limited to the embodiments offered herein.

Method 1900 may be employed in multiple different embodiments or examples that are not specifically depicted or described herein.

In some embodiments, the procedures, processes, and/or activities of method 1900 may be performed in the order listed.

In other embodiments,

1900 they can be carried out in any suitable order. In other different embodiments, one more of the procedures, processes and/or activities of the method ω

oo σι o

&lt;o

IMPI procedures, processes and/or activities of the method

1900 can be combined or omitted.

In some embodiments.

the plant may be a strawberry plant and each of the produce may be a strawberry. The plant may be similar or identical to plant 1510 (FIG. 15).

Each of the produce may be similar or identical strawberry 535 (FIG. 5). In other embodiments, the plant may be another suitable plant.

Referring to Figure 19, method 1900 may include a block 1901 to provide a harvesting apparatus.

In multiple embodiments, harvesting apparatus may be similarly identical to harvesting apparatus 110 (FIGS. 1-3).

In different embodiments, the harvesting apparatus may rotate about a central axis.

The central axis may be similar or identical to the central axis 311 (FIG. 3).

In various embodiments, the central axis may be parallel to a plant bed.

The cultivation bed can be similar or identical to the cultivation bed

1501 (figure 15).

In various embodiments, the harvesting apparatus may include a plurality of grippers, each separate for a different harvest.

of a central geometric axis products spreading agricultural individual

The individual agricultural product may be similar radially from this, and each configured so that w

in in or

identical to agricultural product 535, or

to another product

IMPI

MEXICAN INSTITUTE OF INDUSTRIAL PROPERTY suitable agricultural.

The tweezers can be similar to the identical tweezers (figure

In some embodiments, the plurality of clips may include four clips.

For example, the harvesting apparatus may include four, five, six, seven, eight plus tweezers.

In other embodiments, the plurality of clips may include fewer than four clips.

In different embodiments, each of the plurality of clips is adjustable between an open position and a closed position.

The open position may be similar to the identical open position shown in figure 4.

The closed position may be similar or identical to the closed position shown in figure 5.

In various embodiments, each of the plurality of grippers may be configured in the open position to open around the individual produce.

In various embodiments, each of the plurality of grippers may be configured in a closed position so as to securely hold the individual produce as the harvesting apparatus rotates about the central axis.

In some embodiments, each of the plurality locks the individual produce in the closed position for different sizes of the individual produce.

In tweezers it can be configured so that it retains so w

σι σ&gt;

(EITHER

<img file="MX385697B_D0010.tif" />

In IMPI multiple embodiments, each of the plurality of clips may include a first grip piece and a second grip piece.

The first grip piece may be identical to the first grip piece 410 (FIGS. 4-5).

The second grip piece can be similar or identical to the second grip piece

420 (figures

4-5) .

In multiple embodiments, each of the first grip piece and/or the second grip piece can include a metal frame covered, at least partially, with a silicone rubber.

In different embodiments, for each of the plurality of pliers, the first gripping member may include a first wedge-shaped tip and/or the second gripping member may include a second wedge-shaped tip.

The first wedge-shaped point may be similar to or identical to the first point 413 (FIGS. 4-5), and/or the second wedge-shaped point may be similar to or identical to the second point 423 (FIGS. 4-5). In different embodiments, when each of the plurality of clips is in the open position (as shown in FIG. 4), the first wedge-shaped tip and the second wedge-shaped tip can be adjusted so that they meet. around the individual agricultural product so as to separate the next.

In various embodiments, each of the individual produce plurality of one or more produce w

σι σ&gt;

(EITHER

<img file="MX385697B_D0011.tif" />

IMPI clips may further include a first flexible strip connected to the first grip piece and/or a second flexible strip connected to the second grip piece.

The first flexible strip may be similar or identical to the first strip

414 (figures

4-5), and/or the second flexible strip may be similar or identical to the second strip 424 (FIGS. 4-5).

In various embodiments, when the gripper is adjusted in the closed position about the individual produce, the first flexible strip and the second flexible strip can be configured to bend to accommodate different sizes of the individual produce.

Then the 1900 method can include a block

1902 to provide a set of embodiments, the carriage assembly.

cart can

In being different simi identical to carriage assembly 140 (figures 1-2,

6-8) .

In some embodiments, the carriage assembly may include a first rotation mechanism.

In multiple embodiments, the first rotation mechanism can be similar or identical to the axis of rotation 655 (figures 6-7), to the motor 654 (figures 6-20

8), to the gear wheel 8 54 (figure 8) and/or to the gear wheel

855 (figure 8).

In various embodiments, the harvesting apparatus may be configured to be coupled to the first rotation mechanism and may be configured to rotate the harvesting apparatus about the first rotation mechanism.

In some embodiments, w

σι σ&gt;

&lt;o

Central geometric IMPI on a rotational path with respect to the carriage assembly.

In some embodiments, the carriage assembly may further include a first cam that surrounds the first rotation mechanism.

The first cam may be similar or identical to stationary cam 669 (FIGS. 6,

In different embodiments, the carriage assembly may further include an actuator.

The actuator may be identical to actuator 661 (figures 6-11), motor 653 (figures 6-8) and/or drive cam 660 (figures

6-7,

9-11).

In some embodiments, the first cam may be configured to hold the plurality of clips in the closed position during a first portion of the rotational path and to allow the plurality of clips to open to the open position during a second portion of the rotational path. part of the rotational path, from a release position to a retract position.

The first part of the rotation path can be similar to the first part 964 (figures 9-11), and/or the second part of the rotation path can be similar to the second part 965 (figures 9-11). .

The release position may be similar or identical to the release position 967 similar or identical to the harvest position 966 (figs.

9-11).

In different embodiments, the first cam is (figures and/or the pickup position may be £

IMPI can be configured to stop the rotation of the harvesting apparatus, when each of the plurality of grippers is rotated to the harvesting position in the second part of the path of embodiments, rotation.

In various ways the actuator may be configured to adjust an opening width of one of the plurality of grippers in the harvesting position in order to isolate the individual produce, and to close the gripper to retain safely the individual agricultural product.

The harvesting clamp may be similar identical to the clamp

312 at harvest position 966, as shown in Figures 10-11. The first cam may be configured such that, as each of the plurality of release pliers rotates up from the rotational path, the position of each of the plurality of pliers may be configured so that it opens to the open position to release the individual produce. in a collection device.

Next, method 1900 can optionally include a block

1903 to provide a load bearing assembly. The carrier assembly may be similar or identical to carrier assembly 170 (Figs.

1-2,

12-13).

In some rotation mechanism.

The second rotation mechanism may be similar or identical to mounting bearing 1274 (figure embodiments, the carrier assembly may include a second w

U1 or

&lt;0

<img file="MX385697B_D0012.tif" />

IMPI

12-13).

In various embodiments, the second rotating mechanism can rotate around the plant apparatus when the second rotating mechanism is centered on the plant.

Then the 1900 method can include a block

1904 to provide different embodiments, one or more image sensors being similar.

In the image sensor(s) may be identical to the 1290 image sensor (Figs.

12-13) and/or to the image sensor 1291 (FIGS. 12-13).

Then the 1900 method can include a block

1905 to provide a processing unit.

processing can be simi processing realizations, so that image for identical

1273 (figures

In

The unit the unit of different the processing unit can be configured to receive information from the determine the location of the sensors of agricultural products to be harvested.

Next, method 1900 may optionally include a block 1906 to provide foliage scrolling.

In multiple embodiments, mechanism (foliage scrolling figures may be similar

14-16).

In several identical to the mechanism of displacement of the foliage e

1400 realizations, the mechanism of £

Foliage Shift IMPI can be configured to move the foliage of the plant and expose at least a portion of the produce to the image sensor(s). Foliage may be similar or identical to 1512 foliage (fig.

fifteen). In some embodiments, the foliage movement mechanism may include a trailing surface.

posterior surface may be similar identical posterior surface

1410 (figure

14) .

In multiple embodiments, the back surface can be configured to extend normal to a plant bed.

In various embodiments, the foliage moving mechanism may include a base.

The base may be similar or identical to base 1420 (FIG. 14).

In various embodiments, the base can be configured to extend parallel to the bed from the rear surface toward the plant.

Τ'

In some embodiments, the foliage moving mechanism may include a curved surface.

The curved surface may be similar or identical to surface 1440 (FIG. 14).

different posterior extend.

may be some

In embodiments, from

Multiple similar or embodiments, the mechanism of which is identical to the channel 1450 (FIG. 14), can be mounted on the curved surface up to the surface.

embodiments, the channel may bisect

In a scroll part of the foliage may include a channel.

The channel

IMPI in front of the base and extend up through the curved surface.

In various embodiments.

the channel can be configured to surround a center of the plant when the foliage moving mechanism moves towards the plant. The plant center may be similar or identical to the 1513 center.

In some embodiments, the foliage moving mechanism may be configured, when moving toward the plant, to move the foliage up and toward the center of the plant.

Continuing with the following drawing, figure 20 illustrates a top perspective view of the rear from the left side of a harvesting robot.

2000 placed on a plant

1510 and a 1501 grow bed.

Figure 21 illustrates a bottom perspective view of the front from the right side of the harvesting robot

2000.

The harvesting robot

2000 it is given merely by way of example, and the embodiments of the harvesting robot are not limited to the embodiments offered here. The harvesting robot can be employed in multiple different embodiments not specifically depicted or described herein.

The harvesting robot 2000 may be similar to the harvesting robot 2000 may be similar or identical to various components of the harvesting robot 100 (FIGS. 1 harvesting 100 (FIGS. 1-2,

13,

15) , and various components £

Yo

2, 13, 15) .

harvesting robot

In many embodiments, the may include a harvesting apparatus 2010, cart 2040, and/or carrier assembly 2070.

IMPI

MEXICAN INSTITUTE OF INDUSTRIAL PROPERTY

2000 a set of

The 2010 harvesting apparatus may be similar to the 2010 harvesting apparatus

110 (figures 1-3,

10-11,

13, 15), and various components of the harvesting apparatus 2010 may be similar or identical various components of the harvesting apparatus

110 (figures 1-3,

10-11,

13,

The carriage set

2040 may be similar to carriage assembly 140 (figures 1-2,

6-8,

13,

15) , and various components of the assembly may be similar or identical trolley

2040 to various components of the carriage assembly 140 (FIGS. 1-2, carrier 2070 can be (FIGS. 1-2,

12-13,

6-8,

13, 15). The assembly similar to the bearing assembly 170

15), and various components of carrier assembly 2070 may be similar identical various components of carrier assembly 170 (FIGS. 1-2,

12-13,

15) .

In various embodiments, harvesting robot 2000 may be configured to harvest agricultural produce from plants. In some embodiments, the harvesting robot

2000 It can be used to harvest agricultural products, such as strawberries, for strawberry plants. In the same or other harvest crops, such as tomatoes, peppers (eg.

g ., bell peppers, chillies, etc.), oranges and/or other products realizations, the harvesting robot 2000 can be used £

IMPI in suitable agricultural.

In different embodiments, the harvesting robot 2000 may be configured to selectively harvest mature produce from plants, (Pproducts leave other produce (e.g., unripe produce) on the plants. For example , the harvesting robot can be used to harvest produce 1511 when ripe, various embodiments, harvest produce (FIG. 20), from a plant 1510 (FIG. 20).

the harvesting robot

In

2000 You can farm and unload the harvested products, the robot simultaneously.

In other harvested 2000 can be used to collect other individual items that are not agricultural products. For example, in some embodiments, harvesting robot 2000 may be used to collect and/or unload recycled items at a recycling facility.

In various embodiments, harvesting apparatus 2010 may rotate about a central axis, which may be similar to or

3) .

In identical to the central geometric axis 311 (figure multiple embodiments,

2010 may include clamps, (FIG. 21), clamps 312-315 such as may be (FIG. 3).

the harvesting apparatus as the similar

In various calipers 2011-2014 identical embodiments, each (figures 20-21), caliper 2015 (figure 20) and caliper 2116 £

IMPI on one of the tongs can be used to pick one of the different individual produce.

In the embodiment of the collection apparatus 2010 shown in Figures 20-21 and Figures 22-27 (described later), the collection apparatus 2010 includes embodiments, the number of collection 110 may be two, eight, nine, other different embodiments, of a geometric axis six clamps.

tweezers three, number on four, proper

In other apparatus five, of seven, tweezers.

In the clips they may be centrally spaced and/or may extend radially therefrom.

In multiple embodiments, carriage assembly 2040 may include a carriage support assembly

2041 and a 2045 car.

Carriage Support Assembly 2041 may be similar identical to Carriage Support Assembly

640 (figures

8), various components of carriage support assembly 2041 may be similar or identical to those of carriage support assembly 640 (Figs.

Carriage 2045 may be similar or identical to Carriage 650 (figures

6,

8) , and various truck components

2045 may be similar or identical to those of the 650 trolley (figures 6,

In various embodiments, carriage 204 may include a shaft coupled to harvesting apparatus 2010, and which may be driven by a motor on carriage 2045 (which rotates 2146 (FIG. 21), which may be configured so £

IMPI may be similar or identical to motor 654 (FIG. 6, for rotating harvesting apparatus 2010. In multiple embodiments, carriage support assembly 2041 may control a vertical position of carriage 2045, similarly as shown in the car set

140 (figures 1-2,

6-8,

13,

15) and described above, which can raise and/or lower the harvesting apparatus 2010.

For example, carriage 2045 and harvesting apparatus 2010 can be set in a lowered position, as shown in Figure 20.

Similarly, carriage 2045 and harvesting apparatus 2010 can be set in a raised position, as shown in Figure 21.

In multiple embodiments, the carriage support assembly

2041 may include a lower base 2042 may be similar or

642 (figures 6-8).

In several inferior 2042.

The base identical to the lower base embodiments, the carriage support assembly

2041 may include stem splitting rod 2043, which can be connected to bottom base 2042.

In different embodiments, separation of stems tension one as one the rod of

2043 can be configured so that stem from an individual produce, from produce 1511 (FIG. 20), such as farm (eg, 1511 (FIG. 20)) from plant 1510 (FIG.

For example, in multiple embodiments, a product a clip (eg.

eg -, the caliper

2012) collect the product £

IMPI in agriculture (p.

e.g., 1511 (figure 20)) can be separated from an e.g., stem (p.

the stem

2019 (figure 20) ) agricultural linking the agricultural product (p.

20)) to the plant (p.

press a stems

2043 product eg, 1511 (figure eg, the 1510 plant (figure 20)), part of the stem with while pulling the product apart (P1511 (figure

20)), which can provide perpendicular (figure 20)) a traction force with respect to the stem (p.

eg, substantially the stem 2019 of the produce from the junction of the stem (eg, the stem 2019 (FIG. 20)) with the produce.

In different embodiments, the produce can be lifted up by the gripper (eg, the 2012 gripper) after it has been harvested, and the stem (eg, the 2012 gripper).

stem 2019 (FIG. 20)) can be extended downward stem splitting rod 2043, to which tension can be applied and result in the stem (eg.

2019 (figure 20) ) agricultural (P is separated so

1511 (figure e.g., the effective stem of the product

In multiple embodiments, the clip (eg.

2012) that collects the produce (e.g., 1511 (FIG. 20)) can be lowered through stem separation rod 2043, stems 2043 can be stationary with such as relative to carriage support assembly 2041, and can stay on its is shown in figure 20.

£ separation rod

IMPI at the time the 2045 cart, the 2010 harvesting device and the grippers (p.

grapple 2012) are lowered to collect produce (e.g. 1511 (figure 20)), as shown in figure 20.

After the clamp (p.

eg,

2012) closes around an agricultural product (eg, 1511 (FIG. 20)), cart 2045, harvesting apparatus 2010, and grippers (eg, gripper 2012) can be raised, as as shown in figure 21.

Because the stem separation rod 2043 remains stationary when the clamp (eg.

2012) rises, the tension of the stem separation rod 2043 can put a tension on the stem (eg, stem 2019 (FIG. 20)) and pull the berry from the stem (eg, stem 2019 (figure 20)).

In multiple embodiments, stem separation rod 2043 and/or lower base 2042 may surround the stem (eg.

the stem

2019 (figure 20)) of the agricultural product (e.g., 1511 (figure

20) ) being harvested, so that the 2043 stem splitting rod will apply tension to the stem (eg.

the stem 2019 (FIG. 20)) while lifting and/or rotating produce (eg, 1511 (FIG. 20)) in the gripper (eg.

g., 2012).

In multiple embodiments, the carrier assembly 2070 mounting bearing 2074 (FIG. 20) may be identical to the mounting bearing

1274 (FIG. 12).

In may include a mounting bearing 207 4 (figure 20).

£

IMPI in multiple embodiments, similar to

described above in relation to Figure 12, the carrier assembly 2070 and/or the harvesting robot 2000 can be mounted on the plant 1510 (Figure 20) to be harvested on the mounting bearing

2074, the mounting bearing may provide rotation of the harvesting robot 2000 with respect to the plant 1510 (FIG. 20). Similar to that described above in relation to FIG. 12, in multiple embodiments, carrier assembly 2070 may include a motor (not shown), which may rotate mounting bearing 207 4, and/or a motor (not shown). sample) , which can rotate an adjustment axis 2078 of the support assembly

2070, which can adjust the position of a carriage connection base (not shown) and/or carriage assembly

2040 with respect to the mounting bearing 2074, which can adjust the distance of the harvesting apparatus 2010 from the center of the plant 1510 (FIG. 20).

In some embodiments, carrier assembly 2070 may include one or more image sensors, such as image sensors 2190 and/or 2191. Image sensors 2190 and/or 2191 may be cameras configured to detect optical image information.

lighting, different such as

In various light embodiments,

2192 me

2193.

the

In embodiments, carrier assembly 2070 may carrier assembly 2070 may include one or more sources of £

ΙΜΡΙ to include a 2071 electronic unit.

electronic unit

2071 may be similar to electronic unit 1271 (figure and various components of electronic unit 2071 may be similar or identical to various components of electronic unit embodiments,

1271 (figures

12) .

In multiples the electronic unit 2071 can include a control unit 2072 and/or a processing unit 2173 (FIG. 21).

Control unit 2072 may be similar or identical to control unit 1272 (FIG. 12), and processing unit 2173 may be similar or identical to processing unit 1273 (FIG. 12).

For example, the control unit

2072 it can be a suitable programmable logic controller (PLC), which can control the motors in the harvesting robot 2000.

processing unit

2173

In several it can be realization of the computer system

1700 embodiments, similar (figure 17), the one that can include one or more processors configured so that they receive information from the image sensors 2190 and/or

2191 to determine the location of the agricultural products to be harvested.

For example, the processing unit can be configured to determine which produce is ripe and ready to be harvested, and which is damaged and should not be harvested.

In various embodiments, the cart assembly 2040 and/or other agricultural products are not yet mature or

are £

IMPI on carrier assembly 2070 may include a pick-up apparatus 2001. In multiple embodiments, after a gripper (eg.

g ., the 2012 grapple) has harvested an agricultural product (eg.

1511 (figure 20) ) from a picking position, the gripper (p.

the gripper 2012) can rotate while holding the agricultural product (eg.

e.g., 1511 (figure

20) ) , which may allow another gripper to pick another crop. In multiple embodiments, once the gripper (eg, gripper 2012) has rotated to a dump position, where the produce (eg,

1511 (figure

20) ) can be unloaded from the gripper (p.

the clamp

2012) to the collection apparatus

2001.

In multiple embodiments, the collection apparatus 2001 can contain the agricultural products that have been discharged from the clamps (Pla clamp

2012).

In multiple embodiments, the harvesting apparatus 2001 may include a gate 2002 (FIG. 20), which can be opened to allow emptying of the harvesting apparatus 2001, such as when the harvesting apparatus is full or when the harvesting robot 2000 is empty. located so that the collection apparatus can be emptied into a suitable container, such as,

20) and has returned embodiments, harvesting harvesting conveyor when the harvesting robot 2000 has its starting position.

In multiples the gate 2002 (figure 20) can be opened after the rotation around the plant 1510 (figure £

IMPI's

using a 2003 actuator.

the 2040 carriage assembly and/or

In various embodiments, the carrier assembly 2070 may include a produce extractor 2004 (FIG. 20), which may facilitate moving a produce (eg.

ex · /

1511 (figure 20)) from a gripper (e.g. 2012) in the discharge position to the collection apparatus 2001.

In multiple embodiments, produce extractor 2004 may include extraction plate 2005 (FIG. 20) and actuator 2006 (FIG.

twenty). In different embodiments, the extraction plate 2005 can prevent the agricultural product (eg.

e.g., 1511 (figure

20) ) falls off the clamp (p.

eg, 2012) when the clamp is opened to unload the agricultural product (eg.

1511 (figure 20)).

In various embodiments, the extraction plate

2005 can push the produce out of the gripper (eg.

g., 2012) to pickup plate 2001, when the gripper

2012) is in the open position.

In multiple embodiments, actuator 2006 can move draw plate 2005.

Continuing from the drawing below, the figure illustrates a right side view of the carriage assembly

2040, the collection apparatus 2010, the collection apparatus 2010 collection apparatus is clamp

2012 in a position of in a lowered position and the pickup is in a

2001 and the 2004 Farm Produce Extractor, in which the £

IMPI in open position.

Figure 23 illustrates a rear side view of cart assembly 2040, harvesting apparatus 2010, harvesting apparatus 2001, and produce extractor.

2004, in which the harvesting apparatus 2010 is in the lowered position and the gripper 2012 in the harvesting position is in the open position.

Figure 24 illustrates a right side view of the carriage assembly 2040, the harvesting apparatus 2010, the harvesting apparatus 2001 and the produce extractor 2004, in which the harvesting apparatus 2010 is in a raised position and the clamp 2015 in the discharge position it is in a closed position.

Figure 25 illustrates a rear side view of cart assembly 2040, harvesting apparatus 2010, harvesting apparatus 2001, and produce extractor.

2004, in which the harvesting apparatus 2010 is in the raised position and the gripper 2015 in the discharge position is in the closed position. Figure 26 illustrates a right side view of the carriage assembly 2040, the harvesting apparatus 2010, the harvesting apparatus 2001 and the produce extractor 2004, in which the harvesting apparatus 2010 is in the raised position and the clamp 2015 in the position of a view from the rear side of the carriage assembly 2040, the collection apparatus 2010, the collection apparatus 2001 and discharge is in the open position.

Figure 27 illustrates £

IMPI the extractor of agricultural products

2004, in which the harvesting apparatus 2010 is in the raised position and the gripper 2015 in the discharge position is in the open position.

In multiple embodiments, the clips (eg.

20112015, 2016) of the harvesting apparatus 2010 may default to a closed configuration via a spring. For example, the clamp

312 shown in Figure 4 can be modified so that a compression spring 432 (Figure 4) can be located on the other side of pin 431, to force displacement block 430 out along radius 317, in order to set the clamp 312 in the closed position, such as the closed position of the clamp

312 in figure 5.

compression

In yet another embodiment,

432 may be located in the same position spring shown in Figure 4, although an extension spring may be substituted, which may similarly force displacement block 430 outward along radius 317 to adjust the collet. 312 in the closed position.

In multiple embodiments, each of the clips (eg.

ex * r

2011-2015,

2116) of the collection apparatus

2010 may include a jaw pad, such as the jaw pad 2718 shown on the caliper 2015 in Figure 27.

of jaws 2317 shown in the gripper 2012 of Figure 23, or

In multiple embodiments, t

the pad of ω

oo σι σ&gt;

&lt;0

IMPI jaws (p.

eg, 2317 (figure 23),

2718 (figure 27)) can provide a surface on the inside of the clip (eg.

2011-2015,

2116) to prevent a crop harvested in the gripper (eg 2011-2015, 2116) from shifting from the gripping parts (eg 2011-2015, 2116).

410,

420 (figure 4) ) and fall into an articulated area near the joints (eg.

419, 429 (FIG. 4)).

For example, when gripper 2015 is opened to the unloading position in Fig.

27, the produce pad 2718 can prevent a produce inside the gripper 2015 from falling into the joints of the gripper 2015.

In multiple embodiments, harvesting apparatus

2010 can move the tweezers (p.

2011-2015, 2116) in a rotation path centered with respect to the central geometric axis of the harvesting apparatus 2010.

In various embodiments, a harvest position may be located at the bottom of the rotational path, such as the position of gripper 2012 shown in FIGS.

22-27.

can

In other embodiments, such as on one side of the one on top of the tweezers (p.

2011-2015,

2116) can be set to open to an open position, such as the rotation path.

In multiple embodiments, each £

IMPI &lt;o open position of the clamp 312 in Figure 4, when the clamp (p·

2012) is located in the harvest position, as shown in figures 22-23.

multiple embodiments, the clip (p.

e.g., 2012) located

In the harvesting position it can be opened to the open position to harvest an agricultural product.

In various embodiments, the collet (eg, 2012) located in the harvesting position can be opened to the open position before the harvesting apparatus 2010 and the collet (eg, 2012).

eg, 2012) in the harvesting position are lowered to collect the agricultural product lowered.

the while

In multiple embodiments, the gripper (eg, 2012) in actuator position, in such embodiments, harvesting can be opened using a as the actuator

2210.

In multiples the actuator 2210 can be configured to contact a caliper pin, such as pin 431 in Figure 4 or the offset pin

1032 in figure 10, described above, and move the pin to adjust the position of the grip parts (eg.

410,

420 (figure 4)) of the clamp (p.

2012) adjust the clamp (p.

multiple

2012) in the open position.

In embodiments, pin 413 inward Figure 4) actuator 2210 may pull along radius 317 to open the collet (eg.

2012).

on the

On multiple pin inwards along the radius (eg pull the £

embodiments, the 2210 actuator can be configured so

IMPI

MEXICAN INSTITUTE OF INDUSTRIAL PROPERTY to adjust the position of gripping parts (eg,

410,

420 in Fig. 4) in order to fit around the individual produce being harvested, as described above in relation to actuator 661 in Fig. 10.

In different embodiments, before the harvesting apparatus 2010 and the gripper (eg, 2012) in the harvesting position are lowered to harvest the produce, and after the harvesting apparatus 2010 and the gripper (p. .

e.g., 2012) in the picking position are raised (eg.

with the agricultural product in the clamp (p.

2012)), the 2010 harvesting apparatus, and the clamp (p.

g., 2012) in the harvest position can be located in the raised position, as shown in figures 24-25.

In multiple embodiments, when the harvesting apparatus

2010 is in the raised position, each of the clamps (p.

eg, 2011-2015,

2116) may be in the closed position, which may allow harvesting apparatus 2010 to rotate with one or more produce in one or more of the grippers (eg, 2011-2015, 2116).

In multiple embodiments, when the forceps apparatus (P the forceps

2015) can be opened to the open position to unload an agricultural product from harvest 2010 is in the raised position, one of the

Κ

IMPI's

clamp (p.

eg, 2015), as shown in figures 2627.

In different embodiments, a dump position may be located at the top of the rotational path, such as the position of gripper 2015 shown in Figures 22-27.

In other embodiments, the dump position may be located at a different location on the rotation path, such as on one side of the rotation path at a bottom of the rotation path.

In multiple embodiments, each of the clips (eg.

2011-2015,

2116) can be configured to open to an open position, such as the open position of collet 312 in Figure 4, when the collet (eg, 2015) is located in the unload position, such as shown in the figures

26-27.

In multiple embodiments, the gripper (eg, 2015) located in the unloading position is opened to the open position to unload an agricultural product from the gripper (eg, 2015).

the

In multiple embodiments, the actuator position, discharge is such as the embodiments, the actuator the clamp (p.

can open eg,

2015) using in an actuator

2220.

in multiple

2220 can be configured to contact a caliper pin, such as the

1032 in figure 10, described above, and move the pin to adjust the position of the grip parts (eg.

pin 431 in the figure or offset pin £

IMPI ex · ,

410,

420 (figure 4)) of the clamp (p.

eg,

2015) adjust the caliper (p.

eg, 2015) in the open position.

In multiple embodiments, the actuator 2220 can pull the pin in along the radius (eg, pull the pin 413 in along the radius 317 in Figure 4) to open the collet (eg, 2015).

In different embodiments, once the clip (eg.

eg ,

2015) in the unloading position, the extractor of agricultural products is

2004 can agricultural product from the open gripper (eg.

discharge position to open, eject

2015) a 2001 collection apparatus.

the the in the

For example, the 2006 actuator can move the extraction plate

2005 towards the collection plate 2001, as shown in the figure extraction

26.

In multiple embodiments,

2005 can be configured so between the grip pieces (eg.

410, 420 the plate that fits (figure 4)) of the caliper (p.

g., 2015) in the unloaded position, when the clamp (eg.

eg, 2015) is in the open position.

In various embodiments, each of the clips (eg.

2011-2015,

2116) can pick a different individual produce, and the harvesting apparatus 2010 can be set to unload (eg, unload harvesting 2010 is picking the produce into the individual grabs (eg,

2011-2015,

2116).

By continuous way) the agricultural products while the apparatus

100 £

IMPI example, the agricultural products can be unloaded during a period in which the agricultural products are being harvested.

In some embodiments, a clip (eg.

2011-2015, 2116) can harvest a first agricultural product at first.

Subsequently, a gripper, different from the gripper that harvested the first agricultural product, can harvest a second agricultural product, after which a gripper, different agricultural product, from the can gripper that harvested harvested a third second agricultural product.

During the period between the harvesting of the second crop and the third crop, the first crop can be unloaded from the gripper that picked the first crop.

In some embodiments, the gripper that harvested the first produce can harvest the third produce.

In other embodiments, the gripper that picks the third produce may be different than the gripper that picked the first produce.

In multiple embodiments, the second produce may be retained in the grab that picked up the second produce, when the first produce is discharged from the grab that picked up the second produce.

In different agricultural products, they can be retained respectively, when the tweezers that have been collected by the realizations, the second agricultural product and the third

101 £

third agricultural product.

realizations, using the apparatus of

In multiple collection 2010,

IMPI

MEXICAN INSTITUTE OF INDUSTRIAL PROPERTY As shown in figures 20-27, the 2012 gripper in the picking position can pick up an agricultural product and the 2012 gripper

2015 in unloading position you can unload an agricultural product from the grapple

2015. The harvesting apparatus 2010 can rotate so that the gripper 2013 (or if it rotates in the other direction of rotation, the gripper 2011) can harvest a produce while the gripper 2012 holds the produce until it rotates to the discharge position.

Harvesting apparatus 2010, in the embodiment shown in Figures 20-27, can hold up to four individual produce at a time, when grab 2012 has just harvested a produce and grab 2015 has not unloaded the produce, since the 2013 gripper and the 2014 gripper also hold produce. Clip 2116 and clip 2011 can be empty.

In other embodiments, an agricultural product in the clip (eg.

2015) in the unloading position can be unloaded before the gripper (p.

ex ·_r

2012) in the harvesting position is used to harvest an agricultural product, in which case the harvesting apparatus can retain until interspersed harvesting a series followed by harvests and discharges, with one discharge, etc.

In several three agricultural products.

In various embodiments, one can

102 £

IMPI's

embodiments, during this entire series of unloaded harvests, the harvesting apparatus may retain at least one agricultural product.

In other embodiments, the harvesting apparatus may hold at least two produce, three produce, four produce, or another suitable number of produce, each in individual grippers.

In other different embodiments, an agricultural product in the clamp (P·

2015) in the unload position can be unloaded at the same time as the gripper (e.g.,

2012) in the picking position collects an agricultural product. In such embodiments, the gripper may be considered to have discharged the first produce during the period of time between the harvesting of the second produce and the third produce, as described above.

In other embodiments, harvesting apparatus 2010 may include a different number of clips, as described above.

For example, the harvesting apparatus may include two grippers, and a harvest at one of the two grippers may be followed by a discharge at the other gripper, after which the other gripper may harvest another individual crop.

In multiple embodiments, the continuous download of

2116) of the harvesting apparatus 2010 may beneficially allow the harvesting robot 2000 to harvest agricultural products from the grippers (eg.

eg,

2011-2015,

103 £

IMPI on multiple agricultural products while rotating around a plant.

For example, if a plant has seven mature produce that is ready to be picked, the harvesting robot 2000 can circle the plant and pick all seven plants while simultaneously unloading at least some of the crops. produce while moving in circles around the plant and collecting all seven produce.

The discharged agricultural products can be advantageously collected in the collecting apparatus 2001.

Continuing with the following drawing, the figure illustrates a perspective view of a sheet moving system 2800 positioned on the plant 1501 in an open configuration.

Figure 29 illustrates a perspective view of the sheet displacement system

2800 placed on the 1501 floor and beginning to make the transition from the closed configuration.

placed perspective of the envelope transition greater configuration open configuration

Figure 30 illustrates a system of up to a scrolling view of plant leaves 1501 that has made one in

2800 one from open to closed configuration.

The figure illustrates a view placed on the plant 1501 in the closed configuration. The 2800 sheet shifting system is simply given in perspective of the sheet shifting system

2800

104

IMPI &lt;0 by way of example, and the embodiments of the harvesting robot are not limited to the embodiments offered herein. The sheet shifting system can be employed in multiple different embodiments not specifically depicted or described herein. The leaf moving system 2800 may be similar to the foliage moving mechanism 1400 (FIG. 14), and the leaf moving system may be configured to move the foliage of a plant, such as the foliage 1512 of the plant. 1510, to expose at least part of the agricultural products that are under the foliage, which may allow image sensors 1290-1291 (figures 12-13) and/or image sensors 2190-2191 (figure 21) to detect produce and/or allow grippers (eg.

312-315 (figures 3,

10-11),

2011-2015 (figures 20-21),

2116 (figure 21) ) collect the agricultural products, such as the 1511 agricultural products.

In different embodiments, sheet moving system 2800 may include a support structure 2810, a first assembly 2850, and/or a second assembly

2870.

Altogether multiple embodiments, each of the first

2850 the second set

2870 it can be support 2810, others as shown in figures 28-31.

realizations, one of the first set

2850

On the trailer, with movement allowed, to

the structure of

105 £

IMPI in second set 2870 may be movably coupled to support structure 2810, and the other of first set 2850 and second set 2870 may be fixedly coupled to support structure 2810.

For example, sheet moving system 2800 may include a first set rail 2815 to engage, with movement allowed, the first set

2850 support structure 2810, and allow the first set

2850 extends from and/or retracts into support structure 2810.

Sheet moving system 2800 may include engaging,

2870 second support a rail of the second set

2817 for with the allowed movement, the support structure 2810, the second set and allow the set

2870 extends from the structure of

2810 and/or retracts in it.

In various embodiments, the support structure

2810 may include one or more motors (not shown) to drive the extension/retraction of the first set 2850 along the rail of the second set 2815 and/or the extension/retraction of the second set 2870 along the rail of the second set 2817.

In some embodiments, the displacement system may move relative to each other, and may push foliage 1512 toward the center 1513 of plant 1510 and/or leaves 2800 may include two or more surfaces, which

106 £

keep it on this one.

In some embodiments, for example,

IMPI

MEXICAN INSTITUTE OF INDUSTRIAL PROPERTY each of the two or more surfaces can be curved or flat surfaces, which can push the foliage 1512 towards the center 1513.

As shown in FIG. 28, the second set 2870 may include a second set base surface 2871, a second set first winged surface 2872, and a second set winged surface 2873.

In multiple embodiments, the second set base surface 2871 may be fixedly coupled to the second set rail 2817, each of the second set first winged surface

2872 the second winged surface of the second set 2873 can rotate with respect to the base surface of the second set 2871.

For example, in some embodiments, sheet shifting system 2800 may include arms 28212822 and sprocket 2831, with arm 2821 coupled to sprocket 2831 at one end of arm 2821 and coupled to arm 2822 at the other end. of arm 2821, and arm 2822 coupled to arm

2821 at one end of the arm

2822 attached to the first winged surface of the second set

2872 at the other end of the arm 2822, so that when similar surface, the winged of the second set

2872.

In such a way that the sheet shifting system 2800 can rotate the sprocket 2831, it can rotate the first

107 £

include arms 2823-2824 and another sprocket (not shown).

IMPI

MEXICAN INSTITUTE OF INDUSTRIAL PROPERTYshows), with arm 2823 attached to the sprocket at one end of arm 2823 and attached to arm 2824 at the other end of arm 2823, and arm 2824 attached to arm

2823 at one end of arm 2824 and coupled to the second winged surface of the second assembly 2873 at the other end of arm 2824, so that when the gear rotates, it can rotate the second winged surface of the second assembly 2873.

In some embodiments, the sheet movement system 2800 can rotate the second set first winged surface 2872 and the second set second winged surface 2873, when the second set 2870 is extended and/or retracted along the second set rail.

2817.

In multiple embodiments, while the second set 2870 retracts along the rail of the second set

2817, the base surface of the second set

2871, the first winged surface of the second set 2872 and/or the second winged surface of the second set 2873 can push the foliage 1512 towards the center

1513 from the 1510 floor.

As shown in figure 28, the first set

2851, a first winged surface from the first set 2852 and a second winged surface from the first set 2853.

In

2850 can include a base surface from the first set

108 £

IMPI in multiple embodiments, the base surface of the assembly 2851 may be fixedly coupled to the first assembly 2815, first to the rail, and each of the first assembly winged surface 2852 and the first assembly winged second surface 2853 may rotate relative to each other. to the base surface of the first set 2851.

For example, in some embodiments, the sheet shifting system

2800 may include arms 2851-2826 and sprocket

2832, with arm 2825 attached to sprocket 2833 at one end of arm 2825 and attached to arm 2826 at the other end of arm 2825, and arm 2826 attached to arm

2825 at one end of arm 2826 and coupled to the first winged surface of the first assembly 2852 at the other end of arm 2826,

2833, prime so that when it rotates the sprocket it can rotate the whole

2852.

In the first way similar surface, winged system of the displacement of sheets

2800 may include a first arm (not shown), arm 2828, and another sprocket (not shown), with the first arm coupled to the sprocket at one end of the first arm and coupled to arm 2828 at the other end of the first arm. arm, and arm 2828 coupled to the first arm at one end of arm 2828 and coupled to the end of arm 2828, so that when the gear rotates, can rotate the second winged surface of the second winged surface of the first set 2853 into the other

109 £

ΙΜΡΙ in first set 2853.

the displacement system

In some embodiments, blade 2800 can rotate the first set's first winged surface 2852 and the first set's second winged surface 2853, when the first set 2850 is extended and/or retracted along the first set's rail.

2815.

In different embodiments, the second set 2850 may include a first set first plate surface 2854 and/or a first set second plate surface 2855.

In multiple embodiments, the first assembly's first plate surface 2854 may be fixedly coupled to the first assembly's winged surface 2852 such that the first assembly's first plate surface 2854 rotates as the first assembly's winged surface rotates. first set

2852.

In various embodiments, the first assembly's second plate surface 2855 may be fixedly coupled to the first assembly's second winged surface 2853 such that the first assembly's second plate surface 2855 rotates as the first assembly's second winged surface rotates. first set 2853.

In multiple embodiments, while the first set

2815, the base surface of the first set 2851, the first plate surface of the first set 2854 and/or the second

2850 retracts along the rail of the first set

110

IMPI on plate surface of first set 2855 can push foliage 1512 toward center 1513 of plant 1510.

In multiple embodiments, each of the base surface of the first set 2851, the first winged surface of the first set

2852, first set second winged surface 2853, second set base surface 2871, second set first winged surface 2872, and second set second winged surface 2873 may be a rounded surface, such as a portion of a cylinder.

In multiple embodiments, when the blade scrolling system

2800 is in the closed configuration, as shown in Figure 28, the first set base surface 2851, the first set winged surface 2852, the first set second winged surface 2853, the second set base surface

2871, the first winged surface of the second set 2872 and the second winged surface of the second set

2873 they can form a cylindrical shell that encloses the first plate surface of the first set

2854, the second plate surface of the first set 2855 and/or the foliage

1512.

In various embodiments, each of the first set winged surface 2873 may be larger than the first set winged surface 2852 and the second set winged surface

2872 Y

the second

111 £

IMPI on second winged surface of first set

2853, to allow the first winged surface of the second set

2872 and the second winged surface of the second set 2873 capture more of the foliage

1512, as shown in figure 29.

Because the first set's first winged surface 2852 and the first set's second winged surface 2853 are smaller, unable to capture as much foliage 1512, the first set 2850 can use the first set's first plate surface

2874 and the second plate surface of the first set

2855 to capture more of the foliage 1512, as shown in figure 29.

In multiple embodiments, the first set first plate surface 2874 and the first set second plate surface 2855 can capture foliage 1512 and sweep foliage 1512 into the cylindrical canopy shown in Figure 31.

As partially shown in the figure by the first set first plate surface 2854, while the first set first plate surface 2854 and the first set second plate surface 2855 rotate inward as the scrolling system sheets

2800 transitions from the closed configuration (as shown in figure 31), the first plate surface of the first assembly 2854, and the open configuration (as shown in figure 28) to the

112 £

second plate surface of the first set 2855 can

IMPI

MEXICAN INSTITUTE OF INDUSTRIAL PROPERTY sweep the interior of the first winged surface of the second set 2872 and set

2873, closed displacement, the of such as surface surface enclosed second winged surface in the second way that when the leaf system

2800 is in the configuration shown in figure 30, the first plate of the first set 2854 and the second plate of the first set 2855 can be completely inside the cylindrical cover described above.

In multiple embodiments, the foliage

1512 can be retained within a circumference to display produce

1511, allow a robot to harvest around products

in of

100 the multiple agricultural plant (figure 1),

2000 (figure 20) ) rotate

1510 detect collect

1511 no foliage interference 1512.

In embodiments, the circumference may be dictated by the type of plant being harvested.

For example, in some plants, circumference may not be greater than approximately inches (20.32 centimeters (cm)), such as strawberry plants, inches (15.24 cm), inches (17.78 cm), inches (12.7 cm) other may be another suitable circumference.

In multiple embodiments, the appropriate circumference displacement system.

For other plants the circumference

113 £

IMPI in the foliage 2800 can be transported so that the lower part of the foliage displacement system 2800, as a lower part of the base surface of the first set

2851, the first winged surface of the first set

2852, the second winged surface of the first set 2853, the first plate surface of the first set 2874, the second plate surface of the first set 2855, the base surface of the second set 2871, the first winged surface of the second set 2872 and/or the second winged surface of the second set 2873 may be at a first distance from the crop bed 1501, when the leaf displacement system 2800 makes the transition figure 28) figure 31).

from open configuration to closed configuration

In multiple embodiments, (shown at (shown at the distance may depend on produce size (eg, 1511) and/or typical foliage size (eg, 1512) when produce are harvested, so the agricultural displacement system (p.

g., 1512).

sheets

1511),

For example,

2800 do not capture produce but capture foliage (eg.

in some embodiments, such as when the produce is strawberries, the distance may be (10.16 cm).

In other embodiments, the distance may be about 2.5 inches (6.35 cm) or about 3.0 or between about 2 inches (5.08 cm) and 4 inches.

114 £

IMPI in inches (7.62 cm) .

In other embodiments, the distance may be another suitable distance.

In multiple embodiments, the sheet moving system 2800 can be kept below the carriage assembly

2070 (figures 20-21) of the harvesting robot 2000 (figure 20) of the carrier assembly 170 (figure 1) of the harvesting robot

100 (Figure 1).

For example, the 2800 Sheet Moving System can be held between the mounting bearing

2074 (figure 20) and plant 1510, when mounting bearing 2074 is centered on plant 1510.

In multiple embodiments, it can be held stationary so that the leaf moving system 2800 does not rotate relative to the plant 1510 when the harvesting robot 2000 (FIG.

20) or the harvesting robot 100 (figure 1) rotates around the plant

1510 to detect harvesting of produce, which can beneficially hold foliage 1512 in place without leaf shifting system 2800 damaging foliage 1512 or getting caught in foliage 1512.

In multiple embodiments, when the harvesting robot (eg, 100 (FIG. 1), 2000 (FIG. 20)) corresponding to the plant system, the leaf displacement system

2800 approaching a leaf shift 2800 may be in the open configuration, as shown in plant 1510, such as a plant along a row of

115

IMPI in figure 28, and/or the first set 2850 can be arranged on one side of the plant 1510 and the second set 2870 can be arranged on the opposite side of the plant 1510, as shown in figure 28, which can beneficially allow the harvesting robot (eg.

g ., 100 (figure

2000 (figure 20)) and the support structure 2810 of the sheet displacement system

2800 approach the 1510 floor and stand centered on the floor

1510, after which the blade shifting system can transition from the open configuration to the closed configuration.

After the harvesting robot (p.

100 (Figure 1),

2000 (figure 20)) has finished the rotation around the plant

1510 (and completion of produce detection and harvesting at plant 1510), leaf detection system 2800 can transition from the closed configuration (as shown in Figure 31) to the open configuration (as shown in figure 28).

In other embodiments, sheets may have other configuration scrolling systems.

For example, a base surface may be surrounded by two winged surfaces, each of which may rotate with respect to the base surface and the two winged surfaces, to close into a triangular shape and retain foliage 1512.

base surface and can capture foliage

1512 inside of

116 £

IMPI in

Continuing with the following drawing, Figure 32 shows a top perspective view of the rear from the left side of a harvesting vehicle.

3200 moving through rows of plant beds

3280. Figure 33 illustrates a rear view of harvesting vehicle 3200 traveling through rows of plant beds 3280. Figure 34 illustrates a top view of harvesting vehicle 3200 traveling through rows of plant beds 3280. The harvesting vehicle 3200 is given merely by way of example, the embodiments of the harvesting vehicle are not limited offered herein.

the realizations

The harvest vehicle can be employed in multiple different embodiments, examples not shown or present.

specifically described in the

The rows of plant beds may include plant beds 3281-3290, which are spaced so as to form rows 3291-3299.

Plant beds 3281-3290 can include rows of plants, such as plants 3220.

In some embodiments, the plant beds

3280-3290 can be slightly angled, such as on each side of each of the plant beds 3280-3290 to help with the angle of the bed can include rows of plants. The plants

3230 it can be a strawberry plant, a tomato plant, water eviction.

In multiple embodiments, each side in

117 £

a pepper plant (eg, bell peppers, chili peppers, etc.),

IMPI

MEXICAN INSTITUTE OF INDUSTRIAL PROPERTY an orange tree or other suitable plant.

In multiple embodiments, the harvesting vehicle

3200 can be used to harvest 3220 plants.

In multiple embodiments, harvesting vehicle 3200 may include wheels, such as wheels 3201-3204, and a body

3210.

In multiple embodiments, wheels can roll along rows (eg, 3291-3299) between plant beds (for embodiments,

3281-3290) .

For example, some wheels 3201-3202 may roll along row 3292 and wheels 3203-3204 may roll along row 3298,

3200 be beds spread over of plants harvest four so that the six beds of

3283-3288), plant beds are (p.

plant harvesting vehicle (e.g., can use for plant beds

3284-3287) at the same time.

In other embodiments, the harvesting vehicle 3200 may be spread over more or fewer plant beds and may harvest more or less plant beds at a time. In the embodiment illustrated in Figure 32, the rows

3291-3299 may be straight, although in a different embodiment, the rows may be curved.

In multiple embodiments, body 3210 may include embodiments may be beams on other suitable frame members to provide support to body 3210 at

I of frame

3211-3212, which in some

118

IMPI across the plant beds (eg, 3283-3288) on which the 3210 body extends.

In various embodiments, body 3210 may include arms 3213 and 3214 on each side of harvesting vehicle 3200, which may include global positioning system (GPS) receivers 3215 and 3216, respectively.

In different embodiments, rails of the body elements include

3210 can robot positioning carriers

3334-3337 (figures

33-34).

(RPC)

In multiple embodiments, the rails of RPCs 3334-3337 can carry robot positioning carriers (RPCs) 3240, 3250, 3260, and 3270, respectively.

In multiple embodiments, each RPC can carry robots, such as harvesting robots.

3461-3464 (figure 34), as explained in more detail below.

In various embodiments, body 3210 may include an RPC drive system 3230, which may control the position of RPCs 3240,

3250, 3260 and 3270 with respect to the rails of RPCs 3334-3337.

In multiple embodiments, the drive system of the

RPC 3230 may include an RPC 3231 motor, RPC 3232 drive, RPC 3233 drive shaft block, and RPC 3234 drive frame may be mounted to body 3210, such as frame parts 3211- 3212.

In frame of

CPR

3234.

In different embodiments, the

119 £

IMPI in various embodiments, the RPC 3231 motor can be mounted on the RPC 3234 drive frame, and can drive the RPC 3232 drive block so as to rotate the RPC 3233 shaft.

In multiple embodiments, the axis of the RPC

3233 can be extended through each of the RPC 3334-3337 rails to control the position of the RPC 324,

3250,

3337,

3260 and 3270 with respect to the 3334 RPC rails as explained in more detail below.

Continuing illustrates a view with the following drawing, the figure in top perspective of the back from the right side of the

RPC 3260. Figure 36 illustrates a bottom view of the front from the right side of the RPC 3260 being carried on the RPC rail.

3336 and showing a part of a drive system of the

CPR 3230.

Figure 37 illustrates a rear view of a portion of the RPC 3260 being carried on an RPC 3336 rail, showing an RPC 3260 drive mechanism using the RPC 3233 drive shaft.

The RPC 3260 is given merely by way of example, and the RPC embodiments are not limited to the embodiments offered herein.

The RPC can be used in multiple different embodiments or examples that are not depicted here.

3230 it is given merely by way of example, and the embodiments of the RPC drive system are not specifically limited herein.

The RPC drive system

120 £

IMPI in embodiments offered herein.

The RPC drive system can be employed in multiple different exemplary embodiments that are not specifically depicted or described herein.

In multiple embodiments, each RPC (eg.

eg,

3240,

3250,

3260 and 3270) can be the same as the others, such as the

CPR

3260.

In multiple embodiments, the

RPC 3260 can carry Harvest Robots 3461-3464, which can be similar or identical to Harvest Robot 100 (Figure 1) and/or Harvest Robot

2000 (figure 20).

In some embodiments, each harvesting robot (eg.

3461-3464) may include a mounting bearing, such as the mounting bearings

3521-3524 respectively.

mounting bearings

3521-3524 may be similar or identical to mounting bearing 1274 (figure 12) and/or 2074 (figure 20).

In multiple embodiments, the RPC 32 60 can

F 1 include a support frame 3510, which may include mounting parts 3511-3514, which can be connected to the mounting multiple bearings embodiments, the

3521-3524 pieces respectively.

mounting

In

3511-3514 can be modular connecting pieces, which can be coupled, with the possibility of being disassembled, the robots of a harvesting robot (eg.

3461-3464) in case of malfunction, to connect different types cropped 3461—3464 respectively, such as to replace

121 £

IMPI in robotics, such as hole drilling robots, as described in more detail below.

In various embodiments, the RPC 3260 can carry four robots, others as shown in Figures 35-36.

In embodiments, the

CPR

3260 it can carry other number of robots, such as 1, 2, 3, 5, other suitable number of robots.

robots, for

6, 7, 8, 9, 10, 11, 12

By carrying multiples, the RPC 3260 can place multiple robots in place that each perform tasks simultaneously, such as harvesting plants or other convenient tasks.

In multiple embodiments, the RPC 32 60 can position the robots so that the robots can simultaneously perform tasks independently without interference from other robots.

For example, as shown in Figures 35-36, the RPC 3260 can space the robots two on each side, staggered, as shown later in Figure 39 and described below.

In multiple embodiments, for ease of maintenance, each robot (eg, 3461-3464) may have its own autonomous controller and processors, which may be in communication with and/or have electrical connections to.

3. 4)). Each of these robots can include the motor, position sensors, controls by solenoid controls, the rest of the harvesting vehicle (eg, 3200 (figures 32122 £

cameras, vision processing.

strobe controls

IMPI

MEXICAN INSTITUTE OF INDUSTRIAL PROPERTY and/or other suitable components. robots (pg.

34613464) can act like a hive of bees that are directed to perform certain tasks when they are queued and report back when they are completed, so that the higher-level system in the harvesting vehicle (eg.

3200 (figures 32-34) ) can carry out the following steps.

In multiple embodiments, the robots (eg.

3461-3464) can perform these basic functions simultaneously and independently when commanded.

In the event of a malfunction of one of the robots (eg.

3461-3464) , it is advantageous to be able to change the robot (p.

3461-3464) quickly so that the rest of the robots (p.

3461-3464) can continue working.

A quick change system can be implemented for the robots (eg.

3461-3464) minimizing the mechanical electrical connections involved in replacing a robot (p.

34613464).

By including multiple RPCs (p.

3240,

3250,

3260,

3270 (figures 32-34)) each with multiple robots (p.

3461-3464) in the harvesting vehicle 3200 (figures 32-34), the harvesting vehicle 3200 (figures 32-34) can carry out operations (eg.

harvesting, harvesting drilling, increasing the harvesting vehicle's harvesting efficiency

3200 (figures 32-34).

by holes) in multiple rows during the operations of

123 £

IMPI's

example.

the harvesting vehicle

3200 (figures 32-34), shown in figures 32-34, includes 16 different harvesting robots, which can harvest agricultural products in 16 different plants simultaneously.

In other embodiments, harvesting vehicle 3200 (FIGS. 32-34) may include more or fewer harvesting robots and/or robots of a different type (eg.

g., hole drilling robots or other suitable type of robots).

In multiple embodiments, the RPC 3260 support frame 3510 may include rail-engaging mechanisms 3515 and 3516, which may be configured to glide-engage the RPC rail.

3336. For example, each of the coupling mechanisms with the coupling rail

3515-3516 can the RPC 3260 to the rail include several wheels for the RPC 3336 to facilitate movement of the RPC 3260 relative to the RPC 3336 rail, as shown in Figure 36.

In multiple embodiments, the drive shaft of the RPC

3230 can span across each RPC rail, such as the 3336 RPC rail, and can include two spools one on each side of the RPC rail, such as the 3711 and 3712 spools (figure 37) on each side of the RPC rail. CPR 3336.

In several

3638 (figures 36-37) at one end of the RPC 3336 rail and a 3739 rail wheel (figure 37) at the other end of the embodiments, the 3336 rail may include a rail wheel

124 £

IMPI rail of RPC 3336.

In some embodiments, the rail wheel

3638 can be on one side of the RPC 3336 rail, such as the same side as the 3711 spool, and the rail wheel

3739 it may be on the other side of the 3336 RPC rail, such as the 3712 spool.

As shown in the figure

37, in various embodiments, a cable 3713 (FIG. 37, not shown in other figures for clarity) may be wrapped around spool 3711, extending from the front side of spool 3711, below spool 3711 and wraps around 3638 rail wheel, extends under 3336 RPC rail to 3739 rail wheel wraps around 3739 rail wheel so it extends under around spool

3712.

In multiple embodiments, the 3712 cable may be attached to the RPC 3260 below the rail of the RPC 3336, such as on the rack.

3510 (connection not shown).

In multiple embodiments, cable 3713 can create a positive coupling system, so that when the drive of the

CPR

3233 rotates in a first direction of rotation and rotates spools 3711-3712 in the first direction of rotation, spool 3711 can wind more

3713, which can result in the 3713 cable moving the RPC 3260 in a backward direction.

Similarly, cable 3713 while reel 3712 unwinds cable

125 £

IMPI as the RPC 3233 drive shaft rotates in a second direction and rotates spools 3711-3712 in the second direction of rotation, spool 3712 can spool more 3713 cable as spool 3711 unspools cable

3713, which can result in the 3713 cable moving the 3260 RPC in a forward direction.

As shown in Figure 36, the RPC 3231 motor can use the RPC drive block to drive the RPC 3230 drive shaft in either direction of rotation.

In multiple embodiments, each

RPC (eg,

3240,

3250, 3260, 3270 (figures 32-34)) on the harvesting vehicle

3200 may be driven via the input shaft of the

RPC 3233, (p.

which is common,

3240, and that can move and position each RPC

3250,

3260,

3270 (figures

32-34)) together in the same position on the different plant beds (eg 3284-3287 (figures 32-34)).

Continuing from the drawing below, the figure illustrates a set of temporal views 3811-3817 over time, showing side views of a progression of a 3803 RPC on a 3802 rail over a plant bed

3801. Figure 39 illustrates a schematic of part of the plant bed 3801, showing the position of the robots

3803 may be similar or identical to RPC 3240, 3250, 3260

3270 (figures 32-34).

The 3802 rail may be similarly carried by the 3803 RPC over time. The RPC

126 £

IMPI is identical to the rails of RPCs 3334-3337 (figures 32-34).

In multiple embodiments, the RPC 3802 can carry robots 3804-3807, each of which can be similarly identical to harvest robot 100 (FIG. 1) or harvest robot

2000 (Another suitable robot is shown.

For example, robots

3804-3807 may be hole drilling robots.

Time views 3811-3817 advance sequentially, showing the progression of RPC 3803 and rail 3802 over plant bed 3801.

plant bed can include a row of plants

3901 (FIG. 39) and a row of plants 3902 (FIG. 39), each of which may be a straight curved plant row.

For example, floor row 3901 may include floors 3881-3895 and floor row 3902 may include floors 3821-3835. In some embodiments, robots 38043807 can harvest from plants 3881-3895 and 3821-3835 based on the pattern legend shown in Figure 39, and as described in more detail below.

a

In multiple embodiments, rail 3802 is vehicle connected, (Figs.

32-34), embodiments, one the such as another a vehicle vehicle vehicle can speed approximately direction (p.

of suitable.

advance steady harvested

3200

At a multiple first speed (eg, from right to left in Fig. 38) approximately constant, so that rail 3802 advances at

127 £

ΙΜΡΙ in with respect to

the plant bed 3801.

In multiple embodiments, RPC 3803 can be moved relative to rail 3802, as explained above for RPC

3260 and the RPC 3336 rail in relation to the 3637 figures.

In multiple embodiments, the movement of the RPC 3803 relative to the rail

3802 can beneficially hold the 3804-3807 robots in a stationary position relative to the 3801 plant bed.

As shown temporary 3811 and 3812 are in the figure

38, the views progressive temporal views during a first period of time, in which the RPC 3803 is maintained in a first bearing and stationary position with respect to the plant bed 3801, while the rail 3802 moves in the first direction with respect to to the plant bed 3801. While in the first carrying position, the robots (P3804-3807) can be stationarily transported to a first group of robot positions, so that the robot

3807 is stationary transported to plant 3821, robot 3806 is stationary transported to plant 3881, robot

3805 is transported stationary to plant 3824 and the robot

3804 transported stationary to plant 3884.

RPC 3803 remains in the first bearing position and the first group of robot positions remains constant

As shown in temporary views 3811 and 3812, the

128 £

IMPI on while rail 3802 advances in the first direction.

To achieve this maintenance of the RPC 3803 position, the RPC

3803 it can move relative to rail 3802 in a second direction, which is opposite to the first direction, at the same speed that rail 3802 moves in the first direction relative to plant bed 3801.

In a period of time between the time views shown in time views 3812-3813, the

RPC 3802 can be moved from the first support position to a second support position.

The RPC movement

3802 from the first bearing position to the second bearing position may be an adjacent progression.

By adjacent progression it can be meant that the robots move to a position immediately adjacent to the previous position, such as moving to the next floor in a row of floors.

To achieve this adjacent progression of the RPC 3803, the RPC 3803 can be moved relative to the rail

3802 in the first direction while the rail 3802 continues its movement in the first direction with respect to the plant bed 3801, so that the RPC 3803 moves faster in the first direction with respect to the plant bed

3801 that whatever the rail 3802 moves in the first direction with respect to the plant bed 3801.

progressive during a second period of time, in which

Temporary views 3813 and 3814 are temporary views

129 £

the RPC 3803 remains in the second load-bearing position and

IMPI

stationary with respect to plant bed 3801, while rail 3802 moves in the first direction with respect to plant bed

3801.

While in the second carrying position, robots (e.g. 3804-3807) can be stationary transported to a second set of robot positions, such that robot 3807 is stationary transported to plant 3822, robot 3806 is transported stationary to plant 3882, robot

3805 is transported stationary to plant 3825 and the robot

3804 plant 3885 is transported stationary.

As shown in temporary views

3813 and 3814, the RPC 3803 is held in the second support position and the second group of robot positions remains constant while the rail

3802 go in the first direction.

To achieve this maintenance of the position of the RPC

3803, the RPC 3803 can move relative to the rail 3802 in a second direction, which is opposite to the first direction, at the same speed that the rail 3802 moves in the first direction relative to the plant bed 3801.

In a period of time between the temporary views shown in temporary views 3814-3815, the up to a fourth bearing position.

The RPC movement

3802 from the second supporting position to the fourth

RPC 3802 can be moved from the second load-bearing position

130 £

IMPI bearing position can be an adjacent progression.

To achieve this adjacent progression of the RPC 3803, the RPC 3803 can be moved with respect to the rail 3802 in the first direction while the rail 3802 continues its movement in the first direction with respect to the plant bed 3801, so that the RPC 3803 moves faster in the first direction relative to plant bed 3801 than rail 3802 moves in the first direction relative to plant bed 3801.

Time views 3815 and 3816 are progressive time views for a fourth period of time, in which the

CPR

3803 is held in the fourth bearing position and stationary with respect to the plant bed 3801, while the rail 3802 moves in the first direction relative to the plant bed 3801. While in the fourth bearing position, robots (P·

3804-3807) a first set of robot positions can be stationarily transported, such that robot 3807 is stationary transported to plant 3823, robot 3806 is stationary transported to plant 3883, robot

3805 stationary transport to plant 3826 and robot

3804 stationary transport the •3815 and 3816, the RPC 3803 remains in the fourth carrying position and the fourth group of robot positions remains plant 3886.

As shown in temporary views

131 £

σι

CD (O first constant while the rail

IMPI

MEXICAN INSTITUTE OF INDUSTRIAL PROPERTY

3802 move in the direction.

To achieve this maintenance of the position of the RPC

3803, the RPC 3803 can be moved with respect to the rail 3802 in a second direction, which is opposite to the first direction, and

the same speed as the rail 3802 moves in the first direction with respect to the plant bed 3801.

In a period of time between the time views shown in time views 3816-3817, the

RPC 3802 can be moved from the fourth bearing position to a third bearing position.

The RPC movement

3802 from the fourth carrying position to the third carrying position can be a jump frog progression.

By frog-jump progression we can refer to robots moving to a position that is not immediately contiguous with the previous position and skipping (or jumping on top of) other positions that have already been so that they are move from one plant in a row of plants to another plant in a row of plants that is past other plants that have already been harvested. To achieve this jump frog progression of the RPC 3803, the RPC 3803 can move relative to the 3802 rail in the first direction while the 3802 rail continues to move in the first direction so the RPC 3803 moves faster in the first direction relative to to plant bed 3801 than to move the direction with respect to plant bed 3801, so that

132

IMPI on rail 3802 in the first direction with respect to the plant bed

3801.

In multiple embodiments, RPC 3803 may move faster in the first direction relative to rail 3802 during jump progression than during adjacent progression.

frog that

The temporary view 3817 is a temporary view during a third time period, in which the RPC 3803 is held in a third stationary and supportive position with respect to the plant bed 3801, while the rail 3802 moves in the first direction with respect to the plant bed. with respect to the plant bed 3801.

While in the third bearing position, the robots (P

3804-3807) can be stationarily transported to a first set of robot positions, such that robot 3807 is stationarily transported to plant 3827, robot

3806 stationary transport to plant 3887, robot 3805 stationary transport to plant 3830 and robot

3804 transported stationary to plant 3890.

The RPC

3803 remains in the third bearing position and the third set of robot positions remains constant as rail 3802 advances in the first direction.

In order to achieve this RPC 3803 stall keeping, the RPC 3803 can be reversed to the first direction, at the same speed that rail 3802 moves in the first direction relative to moving relative to rail 3802 in a second direction, that

133 £

IMPI in plant bed 3801.

In multiple embodiments, the process can be repeated in a similar manner as explained in the progression of temporary views 3811-3817 in the progress positions of the robots in order to continue placing the robots in progress positions on the plants, for plants 3828,

3829,

3831-3835 and so on in the row of floors 3902, for the floors

3888,

3889,

3891-3895 and so on in the row of plants 3901.

In each group of robot positions, the robots (p.

3804-3807) can carry out the tasks simultaneously.

For example, if robots 3804-3807 are harvesting robots (eg, harvesting robot 100 (FIG. 1), harvesting robot 2000 (FIG. 20)), each of the robots

3804-3807 can simultaneously rotate independently around the plants in the group of robot positions, to detect and collect the agricultural products of the plants.

In multiple embodiments, the periods during which robots (eg, 3804-3807) are held in each group of robot positions may depend on the nature of collecting positions seconds of the task.

For example, for agricultural products using robot robots during a set period, another period suitable for such as harvesting, the RPC 3803 can stay in each group of

134 £

agricultural products.

For other types of robots.

such

IMPI

MEXICAN INSTITUTE OF INDUSTRIAL PROPERTY as hole drilling robots, the period in each position can be shorter, such as another suitable period of time.

In multiple embodiments, movement from one set of robot positions to the next set of robot positions, for an adjacent progression, may be a suitable period

3803 up to the example, for robots the RPC robot needed to move to the next set of positions to collect produce.

By using harvested, the RPC 3803 can carry out adjacent progression for a set period, such as

1.5 seconds or other suitable period needed to move the

CPR

3803 in embodiments, progression is movement from adjacent.

a

In multiple group of robot positions to the next group of robot positions, for a frog jump progression, there may be a suitable period needed to move the RPC 3803 to the next group of robot positions.

when

For example, jumping other groups of farmers to harvest produce using harvesting robots, the RPC 3803 can perform the leapfrog progression for a set period, such as 2.5 seconds, or another suitable period needed to move the RPC 3803 in the appropriate necessary to collect agricultural products, or

frog jump progression.

135 £

IMPI in

In multiple embodiments, maintaining the RPC station

3803 in each group of robot positions can advantageously allow the vehicle (eg, harvesting vehicle 3200 (FIGS. 32-34)) to move at approximately constant speed, so that the vehicle does not need to start/stop between each set of robot positions, and so that the vehicle can avoid the wasted time required to start and stop, and the large amount of energy consumed required to accelerate and decelerate the vehicle at each start and stop.

Continuing from the following drawing, the figure illustrates a top view of rows of plant beds 4000, showing a temporary 4001 vehicle 4011-4013, in a progression of views as vehicle 4001 moves through rows of plant beds 4000. Vehicle 4001 is given merely by way of example, and embodiments of the vehicle are not limited to the embodiments offered herein.

The carrier can be employed in multiple different embodiments or examples that are not specifically depicted or described herein.

The vehicle

4001 may be similar or identical to vehicle 3200 (figures

32-34), and only parts of the vehicle may be shown may include a body with four rails from RPC 400425

4007, which may be similar or identical to the rails of

3200 for greater clarity.

For example, vehicle 4001

136 £

IMPI's

RPCs 3334-3337 (figures 33-34), and can carry the

RPCs, such as RPC 3240,

3250,

3260 and 3270 (Figs. 3234), respectively, although not shown here in Fig. 40.

In multiple embodiments, vehicle 4001 may include wheels on each side of vehicle 4001, such as wheels 4002 on a first side of vehicle 4001 and wheels 4003 on a second side of vehicle 4001.

In multiple embodiments, vehicle 4001 may move through rows of plant beds 4000, may include plant beds, such as plant beds 4021-4032, and rows, such as rows 4041-4051, in between. plant beds (eg.

4021-4032).

In various embodiments, wheels 4002-4003 can roll along the rows (eg.

4041-4051) between plant beds (eg,

4021-4032).

For example, in some embodiments, as shown in temporary view 4011, the wheels

4002 can roll along row 4047 and wheels

4003 can roll along row 4041, so that vehicle 4001 is spread over six plant beds (p.

plant beds 4021-4027), and can be used to harvest and/or drill holes in four plant beds (eg.

eg , plant beds 4023-4026) at a time.

For example, rail 4005 can be placed on plant bed 4025, rail 4006 can be placed on plant bed 4024, and rail 4004 can be placed on plant bed 4026,

137 £

IMPI on rail 4007 can be placed on plant bed 4023.

In other embodiments, vehicle 4001 can be spread over more or less plant beds and can harvest more or fewer plant beds at a time.

Vehicle 4001 can progress through the ranks (e.g. f

4041, 4047) in a first direction for harvesting and/or drilling holes in plant beds (eg, 4023-4026), such as from right to left in Figure 40.

Rows can be straight curved.

As shown in temporary view 4012, after reaching the end of the rows (p.

4023-4026), vehicle 4001 can turn wheels 4002 and 4003 through a right angle to proceed to the next set of rows.

After reaching the next set of rows, vehicle 4001 may again turn wheels 4002 and 4003 through a right angle to proceed along the next set of rows in a second direction that is opposite to the first direction such as left-hand embodiments, right in figure 40.

each wheel (eg 4002) independently.

As shown in

in multiple

4003) can rotate from temporary view 4013, wheels 4002 can roll along row 4045 and vehicle 4001 extends over six plant beds (e.g. plant beds 4026-4031), and can use wheels 4003 can roll along row 4051, so

138 £

IMPI in for harvesting and/or drilling holes in four plant beds (eg, 4027-4030 plant beds) at once.

For example, rail 4004 can be placed on plant bed 4030, rail 4005 can be placed on plant bed 4029, rail 4006 can be placed on plant bed 4028, and rail 4007 can be placed on plant bed

4027.

The vehicle

4001 it can similarly progress along the 4000 plant bed rows in a meandering manner to process each 4000 plant bed row.

In multiple embodiments, vehicle 4001 may be guided by a guidance control system, as explained in more detail below.

In multiple embodiments, vehicle 4001 can be used to drill holes for planting plants so that harvesting robots (eg, 100 (fig.

1), 2000 (figures 20-21)) that transport agricultural products (eg strawberries or other agricultural products) collect the agricultural products (eg.

strawberries other agricultural products). In multiple embodiments, a guidance control system can position the RPCs (eg.

3240,

3250,

3260,

3270 (figures 32-34)), which can lead the hole drilling robots to the holes to be drilled, such as positioning the harvesting robots (eg, 100 (figure 1),

2000 (figures

20-21)) other suitable robots.

In multiples it is shown in figure 43 and described below, for

139 £

IMPI embodiments, robots can be positioned to carry out tasks (eg drilling holes, harvesting produce, etc.) by the guidance control system based on a location from GPS receivers ( eg, GPS receivers 32153216 (FIGS. 32-34)) and/or other approaches, such as those described below.

For many types of plants there are three phases in a plant life cycle in the field, namely planting, growing and harvesting.

In the initial phase there are no plants in the field and therefore the placement and positioning of the plants is not established.

In some embodiments, the guidance control system may calculate target plant locations based on an initial reference position or orientation.

These plant target locations can then be used to place RPCs (eg.

3240, 3250, 3260,

3270 (figures

32-34)) and the robots carried by the RPCs to drill the holes in the plants themselves.

In different embodiments, the actual plant locations may be stored in a database for later use.

In some embodiments, orientation datum locations with floor offsets may be stored based on a computed floor position based on a fixed floor spacing.

140 £

IMPI in

Knowing the locations of the plants precisely can be an important aspect in facilitating the positioning of the vehicle 4001 on the center of the plants of the position sources in a repeatable manner.

However, the nature

GPS standalone error that from the commercial contains generally combine to affect the solution

GPS error over time.

GPS positioning with standard positioning service (SPS) can have horizontal errors of the order of 10 meters.

The types

WAAS with satellite-based augmentation, such as (satellite-based augmentation system,

Augmentation System) in the United States,

Wide Area can reduce that meter-level error, with additional augmentation services and error reduction techniques even further, down to the local decimeter level for Area Differential GPS (LADGPS), down to of the centimeter for real-time kinematic (RTK) systems.

A precise positioning of the vehicle 4001 a precise determination of the RPCs (p.

facilitates

3240,

3250,

3260, 3270 (figures 32-34)) and the robots carried by the RPCs, which, when combined with knowledge of

RPC and/or plants, can be used to carry out tasks with multiple robots at the same time (eg.

the multiple robot positions at the locations of the

141 £

IMPI to keep collecting multiple plants at the same time).

A potential challenge when dealing with sub-inch accuracy with GPS alone, that commercially available GPS systems are generally only accurate to 0.433 inches (1.10 cm) when using

RTK, and may have a low refresh rate.

While moving at approximately 1 mile per hour (mph) (1.61 kilometers per hour (kph) ), with a GPS position output of 20 hertz (Hz), Vehicle 4001 can move 0.12 inches (0.30 cm) each second, and 0.0061 inches (0.0154 cm) between each refresh of the position of the

GPS.

Lower refresh rates, a higher combiner speed, can result in a greater distance traveled between each refresh of the mouse position.

GPS.

Some implementations can work with a lower refresh rate using a combination of

GPS dead reckoning using a vehicle speed

4001 to estimate the position at that instant of the combine.

When rows (eg, rows 4041-4051) are 50 inches (127 cm) on center, with even smaller plant spacings, those spacings can drive a computational process that uses a referencing system based solely on the latitude and longitude.

Computing inaccuracies due to floating-point rounding during

142 £

of a geographical distance using the law of cosines

IMPI

MEXICAN INSTITUTE OF INDUSTRIAL PROPERTY can cause such errors over small distances.

since the value of the cosine approximates

1.0.

Some alternatives, such as the formula of

Haversine, may be affected by the error that stems from treating the earth as a sphere instead of an oblate spheroid.

Vincenty's solutions can offer benefits suited to the needs of plant location calculations. The Vincenty solutions are derived as the two iterative methods:

(a) a direct solution, which computes a second point given an initial position, a bearing (bearing), and a distance;

and (b) an inverse solution, which computes the distance and bearing between two points.

The starting location of a row can be given either by an area around a starting point or by a starting line defined by two points.

A distance from the start location can then be calculated for each of the plants in the row.

The distance traveled as the tractor moves down the row can then be calculated using a number of different inputs, such as GPS speed, ground speed, GPS time, and/or direction of travel.

With this, a more accurate estimate of distance can be calculated since the last GPS update, the last location

143 £

IMPI on track than by simply using only GPS locations.

From the point of view of advanced planning, some embodiments can travel the queue with the vehicle

4001 to get the start and stop coordinates for each row along with the direction of travel (orientation) of the row.

From this, the start locations of each row can be calculated from the start location of the first row in the group.

When calculating plant locations using a latitude/longitude system, using Vincenty's direct solution allows calculation of a position given an initial position, bearing, and distance.

This can form a two-part solution to finding the origin of each row, given the starting point of the field and the direction the rows run, and the distance between each row, and the location of each plant in the row, given the direction the rows run and the distance between each plant.

For the first step of the process, the following equation gives the position of the origin for each row:

where φ^,ΐ λ ^row.i are latitude longitude, \$row,i&gt;

row.i) “ V {φο^ϋ^ΦβΐβΙά i 2 respectively, from the beginning of the row, φ$ and λθ are the latitude

144

IMPI and the longitude, respectively, of the field's point of origin, ^Pfield is the orientation of the field's rows, órow is the distance between the rows, and the function V(x) is the direct Vincenty solution.

Once the origin position for each row is known, the position of each plant in the row can be calculated:

(.ΦρΙί,η» λρΐί,η) “ V (Φ row,i&gt; * row,b Ψπ€ΐα&gt; Splt) where φ_ρ1ί,_η are the latitude and longitude, respectively, of the nth plant in the row, φ row,i and ^row.i are the latitude and longitude, respectively, of the start of the row, φ^_βια is the orientation of the field rows, Splt is the distance between plants in the row, and the function V(x) is the direct Vincenty solution.

In order to precisely place the robots on each of the floors, the location of the robot can be determined.

GPS with respect to each row as well as the location of the RPC (robot positioning support element) with respect to the phase center of the GPS antenna.

Accurately knowing all of these values ​​in order to maintain a tolerance of +/- 0.75 inches (1.90 cm) on robots can pose a number of challenges.

As analyzed inches (1.10 cm) , which uses most of the tolerance.

Another possible problem is that a previous refresh rate, the GPS accuracy is at most 0.433

145 £

IMPI's

Low GPS position output may cause uncertainty with the current position and velocity of vehicle 4001, if vehicle drive system 4001 causes an unanticipated acceleration and deceleration to occur between updates.

Continuing with the following drawing, the figure illustrates a top view of part of a vehicle 4001, showing the orientation system.

vehicle a geometric axis X and a geometric axis Y coordinates for a control system in a of

Figure 42 illustrates a rear view of

4001, showing a Y axis and a Z axis in the coordinate system of FIG. 41 for an orientation control system.

When analyzing factors such as platform layout and lever arms, the guidance control system can use a defined frame of reference from which to derive measurements and assign axes of rotation for the position parameters of the guide. the platform. Looking at motion and translations from the perspective of a theoretical driver of vehicle 4001, these can be defined by a frame of the body of vehicle 4001, designated by B with a subscript for each axis (eg.

Βχ,

By, positive X geometry axis pointing in the direction shown in Figure 41, which can

B._z). The body frame B can be defined as a clockwise coordinate system, with the

146 £

IMPI to be in the same direction as rails 4004-4007, and the positive axis Y pointing in a direction from wheels 4003 toward wheels 4002, as shown in Figure 41.

Since the coordinate system is clockwise, the positive Z axis can point down from the bottom of the platform toward the ground, as shown in Figure 42.

The direction of travel can change if the combine header is translated along a row in the opposite direction, although the body frame axes described herein will not change with the direction of travel.

With the body frame eges defined as shown in figures 41-42, roll can be defined, around the yaw and pitch post parameters.

to the geometric axis on, specifically, the

Rolling is a rotation

X of the body, which tilts the platform from side to side.

Pitch is a rotation about the Y axis of the body, and is equivalent to tilting the platform forwards backwards.

Yaw is about the Z axis of the body, and is the direction the platform is facing.

Each GPS receiver (eg, 3215-3216 (figures 32-34)) GPS receiver antenna (eg, 3215-3216 (figures

32-34)).

This calculated position can be used to provide the calculated position of the phase center

147 £

vehicle navigation

4001, although usually the physical mounting location of the GPS receiver (eg.

IMPI

MEXICAN INSTITUTE OF INDUSTRIAL PROPERTY la ej ·,

3215-3216 (figures 32-34)) on the frame parts (p.

ex · ,

3211-3212 (figures 32-34)) is not ideal for this purpose due to blockages in the clear line of sight.

In multiple embodiments, the receptors of

GPS (P3215-3216 (figures 32-35)) can be mounted on top of the 4001 vehicle, such as on arms 3213-3214 (figures 32 respectively, as shown on the 3200 harvesting vehicle (figures 32-34). ) to ensure clear lines of sight, which can facilitate reception

Improved GPS.

In order to provide a position that is favorable for autonomous navigation, the position of the

GPS can be referenced to a 4100 Guidance Point Control (GPC).

The GCP 4100 can serve as a reference for calculating other locations on the vehicle 4001, such as the positions of each RPC (eg.

g., 3240, 3250, 3260, 3270 (figures 32-34)) and each robot (p.

3461-3464 (Figure 34)) that is carried by each RPC (e.g.,

3240,

3250,

3260,

3270 (figures 32-34)).

The GCP can be used as a reference point for navigating arm position information

GPS can be assumed toggle to incorporate each of the vehicle's 4001. Calculate the position of GCP 4100 from

148

IMPI on GPS receivers (eg, 3215-3216 (Figures 32-34)) on arms 3213-3214 (Figures 32-34) relative to GCP 4100.

Information from the lever arm of the receptors of

GPS (eg, 3215-3216 (figures 32-34)) can be determined by measurement, both on the vehicle itself

4001 by using a modeling program to determine the distances.

In most embodiments, the guidance control system can incorporate additional information from the lever arm of each of the robots.

This lever arm information from robots, when used in conjunction with lever arm information from GPS receivers (e.g., 3215-3216 (figures 3234)) can allow calculation of the position of each robot. depending on the position of the GPS receivers (3215-3216 figures (32-34)).

If the assumption can be made that the

CPR (eg.

3240,

3250,

60,

3270 (figures 32-34)) is aligned with the geometric axis (X) of the body forward, the absolute position of each robot can be determined,

The position, specifically the yaw, pitch, and roll of vehicle 4001 can be used to form a Direct Cosine Matrix (DCM) that relates the position of vehicle 4001 to the navigation frame pointing to the north.

This DCM, named C is shown below:

149 £

σι σ&gt;

(Or cos φ sin φ + sin φ sin Θ cos φ sin φ sin φ + cos φ sin Θ cos φ

COSO COSφ

Cq = cos Θ sin φ

IMPI

MEXICAN INSTITUTE OF INDUSTRIAL PROPERTY . — sin0 eos φ eos φ + sin φ sin Θ sin φ sin φ eos Θ sin φ eos φ + eos φ sin Θ sin φ eos φ eos Θ where φ is orientation of vehicle 4001, Θ is pitch and φ is roll .

Position measurement with only two GPS antennas can suffer from a lack of adequate degrees of freedom to truly measure axis of rotation.

Since any rotation about the axis formed between the two receivers is invisible without external assistance, only two components of the platform's position (ie, (a) yaw and (b) pitch or roll) can be measured.

In order to compensate for the lost degree of freedom, assumptions can be made about the platform, such as that it is approximately level platform sway (as the maximum dimension of the platform at all times it produces through the combine) the she is despicable.

However, this approach eliminates any possibility of GPS-only measurement of the lost axis to help level the combine header itself, and does not allow measurement of areas with potential slopes (eg.

g., fields in California).

Error in determining horizontal position dominated by yaw error, rather than pitch or RPC (eg, 3240, 3250, 3260, 3270 (figures 32-34)) is

150 £

IMPI in balance.

Some embodiments may use two GPS receivers, or a dual antenna GPS receiver, to calculate the orientation of the platform.

Using the precision of coupled RTK GPS with a separation of several meters between antennas (or receivers) can reduce the orientation error to less than a few tenths of a degree.

In order to provide visibility into the remaining aspects of vehicle 4001's position, specifically pitch and roll, a low-cost inertial measurement unit (IMU), consisting of a trio of accelerometers ( accels) and orthogonal gyros to measure the inertial accelerations of the vehicle 4001, facilitates the calculation of a pitch and roll position solution without the use of GPS data.

In multiple embodiments, vehicle 4001 may include an IMU, such as in a GPS receiver (eg.

eg,

3215 or 3216 (figures 32-34)) or in another position.

By itself, a sufficiently sensitive platform sensors, low-cost inertial measurement system may not be as good as determining orientation since it may simply determine the offset from the initial starting point such as the multiple (or from GPS with multiple antenna) can provide if gyros are measured.

use of a system

GPS an absolute reference of the orientation, which,

151 £

8í wishes.

can be helped by gyro measurements

IMPI

MEXICAN INSTITUTE OF INDUSTRIAL PROPERTY to take into account a loss of GPS.

The undemanding dynamic environment of vehicle 4001 and the clear-sky nature of a farm combine to make this a low chance of occurrence.

In order to compute the lever arm calculations using geodetic coordinates, the guidance control system may perform some intermediate calculations.

These calculations can be made with the same assumptions described above.

The navigation frame body frame matrix can be applied to lever arm information for RPCs (eg, 3240, 3250, 3260, 3270 (Figures 32-34)) (eg, lever arm lever for a RPC in the geometric axis X (LA_RPCX), lever arm for an RPC on the geometric axis Y (LA^cy) and lever arm for an RPC on the geometric axis Z (LA_RPCZ) _r with the geometry axis X of the body adjusted as a function of the distance SPos_CPR) of the RPC (p.

3240, 3250, 3260, 3270 (figures 32-34) from the origin, to form the offsets of the lever arm distances in terms of the north, east, and descending (NED) axes (as with the body frame, being the positive descending).

THE

LArpc,NED γΝ^heb

RPC,X LA

THE

ÓPos_Rpc

CPR,Y

RPC^

152 £

IMPI's

The equations for applying a lever arm to a position stops

If the equations can be derived to compute a change in position makes the assumption that the levers are really a second, the formulas used to compute (δλ) .

due to a used speed.

velocity arm distances during a period of 1 position change can be the change of latitude (δφ) and longitude δφ = δλ =

vn

Rm + hv_AND sec φ

R_T + h where φ is the latitude at that instant, h is the elevation at that time v_AND is instant, v_N is the curvature speed in meridional, the speed in the north direction, and the east direction. R_M is the radius of

Rt is the radius of transversal curvature of the earth, so that:

where rp is

rm —

Rp(le²) ^/1 ^— and² without² φ

Rp is the polar radius,

R_P = 6378137.0m , and e is the eccentricity of the ellipsoid, = 0.00669438.

to the lever arm, the position change can be applied

Once the position change due to

153 £

IMPI GPS position:

Φρρε — ΦΰΡΞ + δφ

Arpc — *GPS + δλ where φ_ΡΡυ^{it is} Yo^a RPC latitude, Á_RPU is the length of

CPR, φ_ΰΡ5 is the GPS latitude, and Á_gps is the GPS longitude.

Due to the length of the berry picking season, there is a source of positional error that gradually grows over time due to the movement of continental plates.

The plates themselves move by anywhere from 1 to 10 cm per year, consuming available positioning error.

this measurement error

Using a standard GPS, you can get lost in the noise and uncertainty present in the system, although with an RTK GPS, this error will show up as a position drift at a later time if no compensation is used.

In order to compensate for this, the position of the base station can be measured before planting and subsequently measured again before harvesting takes place.

Some embodiments may apply the position difference as an offset to stored plant locations.

In multiple embodiments, the positioning control system of each robot within 0.5 inches (1.27 guided can advantageously provide precision

154 £

IMPI cm)

In some embodiments, the positioning accuracy of each robot using the guidance control system may be more accurate, such as within

0.25 in (0.635 cm), which has been measured when testing the guidance control system.

In multiple embodiments, the guidance control system can facilitate precision farming, such that each location of an individual plant (eg.

g., for growing and/or harvesting from plants).

In various embodiments, the precision farming providing guidance control system may allow the origin of the harvested produce to be traced back to the individual plant or a limited group of individual plants from which the produce was harvested.

For example, a lot of strawberries may include an identifier that can be used to identify the origin of strawberries harvested down to a group of plants (eg, 8 plants, other suitable number of plants) at monitored locations.

Continuing from the following drawing, the figure illustrates a top view of a 4 300 plant bed, showing the holes drilled for growing the plants.

As explained above, in multiple harvesting vehicles

3200 (figures

32-34) may include hole drilling robots (p.

the vehicle of realizations, the robots of the vehicle 4001 (figure 40) or the

155 £

Harvested IMPI 3200 (figures 32-34), the harvesting robots (p.

g ., 3461-3464 (figures 34-35) can be replaced by hole drilling robots).

For example, each hole drilling robot may be a cylindrical shaft pneumatic actuator that can drill a hole in a plant bed, such as through plastic in a plant bed, to create a hole for planting. a plant (eg, a strawberry plant or other type of plant).

In multiple embodiments, the vehicle (eg, the vehicle

4001 (figure 40) or the harvesting vehicle 3200 (figures 3234)) can transport the hole drilling robots in the RPCs (eg.

eg,

3240,

3250,

3260,

3270 (figures 32-24)) to drill hole rows, such as hole rows 4321 and 4322.

For example, hole row 4321 can include holes 4301,

4302 and 4303 in a row, and the row of holes

4322 may include 4311 holes,

4312 and 4313 in a row.

In multiple embodiments, each of the holes approximately from above, in a row can be uniform.

Such being as the rows can be straight or curved.

Continuing with the following drawing, the spacing indicated Figure 44 illustrates a side view of the suspension components relative to a body 4406. The suspension components 4400 are given merely by way of example, and embodiments of

4400 to adjust a vertical position of a 4401 wheel with

156 £

IMPI in suspension components are not limited to the embodiments offered here. The suspension components can be employed in multiple different example embodiments that are not specifically described herein.

In different embodiments, the suspension components

4400 may include the 4401 wheel, a 4402 axle, a 4402 wheel stud

4403, a 4404 swivel assembly, a 4405 wheel carrier, a 4406 body, a 4407 adjusting mechanism, and/or an actuator

4408. Wheel 4401 may be similar or identical to wheels

3201-3204 (figures 32-34) and/or 4002-4003 (figures 40-43).

Body 4406 may be a part of body 3210 (FIGS.

3234), as well as a part of the arms 3213-3214 (figs.

3215

In multiple embodiments, wheel 4401 may be coupled to and rotate about a shaft 4402, which may be coupled to a wheel mount 4403.

In various embodiments, the wheel stud

4403 can be coupled, with the allowed movement, to the wheel support

4405 by turning assembly 4404, which can allow wheel 4401 to turn in a different direction.

In various embodiments, by means of the adjustment wheel mechanism support

4407,

4405 it may be may be a sliding coupling another suitable coupling, which coupled, with the allowed movement, to the body

4406

157 £

IMPI

8ϊ can allow vertical adjustment of the wheel bracket

4405 relative to body 4406. In various embodiments.

4405 wheel mount can be adjusted vertically up or down relative to the body

4406 with the 4408 actuator.

Actuator 4408 may be, for example, a hydraulic or electric actuator.

In various embodiments, the actuator

4408 can be controlled by a ride control system, such as the 5803 ride control system (figure 58, which in some described below), embodiments may be an active ride system.

In various embodiments, the ride control system (P

5803 (figure

58, described below)) can control the vertical position of the wheel 4401 with respect to the body 4406. When the wheel 4001 is on a surface, by adjusting the vertical position of the wheel

4001 with respect to the body 4406 can raise or lower the body

4406 with respect to the surface.

In multiple embodiments, each wheel assembly on the vehicle (eg, wheels 3201-3204 (FIGS. 32-34) on harvesting vehicle 3200 (FIG. 32) and/or 4002-4003 (FIGS.

40-43) in the vehicle

4001 (figure 40)) may include suspension components that may provide a range of vertical adjustment of the wheel 4401 with respect to the body 4406.

4400 suspension components.

In some embodiments,

158 £

IMPI's

For example, in some embodiments, the vertical adjustment range of wheel 4401 relative to body 4406 may be 10 inches (25.4 cm).

In other embodiments, the vertical adjustment range may be more or less than 10 inches (25.4 cm).

Continuing with the following drawing, the figure illustrates a perspective view of a 4500 vehicle, showing a body

4520 of the 4500 vehicle in a lowered suspension position.

Figure 46 illustrates a perspective view of vehicle 4500, showing a body 4520 of vehicle 4500 in a raised position from the suspension.

Vehicle 4500 is given merely by way of example, and embodiments of the vehicle are not limited to the embodiments offered herein. The vehicle can be used in multiple different embodiments or examples that are not specifically described herein. Vehicle 4500 may be similar or identical to vehicle 4001 (figure 40) and/or harvesting vehicle

3200 figures (32-34), and various components of the vehicle

4500 may be similar identical to those on the vehicle

4001 (figure 40) and/or those of the harvesting vehicle 3200 (figures

32-34).

include a body

4520 and 4501-4504 wheels, each of which can be part of the suspension components

In multiple embodiments, the vehicle

4500 can

159 £

associates

4511-4514 respectively.

Each of be similar suspension components

4511-4514 can

IMPI

MEXICAN INSTITUTE OF INDUSTRIAL PROPERTY are identical to the 4400 suspension components (figure 44), and can raise and/or lower the vertical position of the wheels

4501-4504 respectively, with respect to body 4520.

In multiple embodiments, suspension components 4511-4514 on each wheel 4501-4504 can operate independently of other suspension components (e.g.,

4511-4514).

In multiple embodiments, one or more suspension components 4511-4514 may allow one or more wheels 4501-4504 to be adjusted vertically relative to the body while the other wheels are not adjusted (eg.

g., 45014504) .

In some embodiments, suspension components 4511-4514 may adjust wheels 4501-4504 with different amounts of vertical adjustment.

For example, as shown in figure 45, vehicle 4500 may be positioned lower than vehicle 4500 in figure 46.

In multiple transport one harvested

3461-3464 harvested 3200 realizations, plus robots, (figures (figures 32-34).

the such

34-35) vehicle as in the el

4500 can robot vehicle

In multiple embodiments, each of the robots can determine a robot height

3290 (figures 32-34)), such as using image sensors (eg, the 1290-1291 image sensors (figures 12-13) and/or from the plant bed (eg, the plants £3281160

IMPI on the 2190-2191 image sensors (Figure 21)) on the robots.

For example, image sensors may determine that a robot (not shown) in vehicle 4500 of FIG. 45 is at a height 4550 from the plant bed.

Similarly, image sensors can determine that a robot (not shown) in vehicle 4500 of Figure 45 is at a height 4650 from the plant bed, such that height 4650 is greater than height 4550. (figure 45). In some embodiments, the robot may determine height information based on image sensors that determine the distance from the image sensors to the produce to collect.

In other embodiments, the robot may determine height information as a function of the distance from the image sensors to the plant bed.

In multiple embodiments, more than one vehicle-connected robot 4500 may provide the height information to the suspension control system (FIG. 58, described below).

For example, in some embodiments, each robot may provide height information to the suspension control system (FIG. 58, described below).

In multiple embodiments, the system can receive the height information from the robots and determine how to control the suspension control position adjustment (Figure 58, described below)

161 £

Vertical IMPI of one or more of the wheels 4501-4504.

In different embodiments, adjustment of one or more wheels (eg.

45014504) can be a function of the height information of one or more robots close to the wheel(s) (eg.

In other embodiments, setting a

4501-4504) can be a function of e.g. 4501-4504).

or more wheels an average of height information from all robots.

other embodiments, the adjustment of each wheel (p.

(P the

In

45014504) can be the same for each wheel (eg 4501-4504) based on height information received from one or more robots.

In some embodiments, height information may be received from the robots periodically, such as in a cycle, and the suspension control system (FIG. 58, described below) may provide adjustment of the wheel(s) (eg.

usually of a cycle and/or a control of

4501-4504) based on updated information received each over a period of cycles.

For example, height information may be sent from the robots to the suspension control system (continued) on a 1 Hz cycle, 4 Hz cycle, or other suitable cycle.

can operate in an open atmospheric field.

(figure 58, described at a cycle of 2 Hz, subjected to a time

Fields can be level and set

In different embodiments, the vehicle 4500 (FIG. 45)

162 £

initially with relatively restrictive specifications

IMPI

MEXICAN INSTITUTE OF INDUSTRIAL PROPERTY after the start, although due to this exposure to weather, various areas of the field may be subject to settlement or dragging of material due to erosion by water and/or wind.

To address this issue and keep the robots within inspection distances preferred by harvest speed considerations, the 4500 vehicle can be equipped in various embodiments with the Ride Control System (FIG. 58, continued) to maintain a precise orientation. in the rows and/or a described vehicle level 4500, adequate height of the robots above the plant beds.

In multiple embodiments, adjusting the vertical position of one or more wheels (eg.

4501-4504), when controlled by the suspension control system (figure 58, described below), can beneficially impede, for example, vehicle beds 4500.

let the robots plant them as they collide with transport in the

For example, if a wheel (eg.

of the vehicle 4500 begins to sink in ex., 4501-4504) an area with a sink, suspension control system (fig.

58, described below) can detect the lowering in the robots and can adjust at least the wheel (p.

4501-4504) to offset and level the body

4520 and/or hold height information from one or

more of the

163 £

IMPI in the lower part robots at a distance from the plant beds.

In some embodiments, for example, each harvesting system, excluding the gripper in the harvesting position which is lowered to harvest the produce, may be kept at a distance above the plant bed. For example, the distance can be between

2.0 inches (5.08 cm) and 5.0 inches (12.7 cm) .

In other embodiments, the distance may be another suitable distance.

In different embodiments, the suspension control system (Fig.

58, described below) can keep the lower part of the robot away from the plant bed when the robot moves relative to the plant bed and/or when the robot is held stationary relative to the plant bed by RPC (eg, 3240,

3250, 3260, 3270 (FIG. 32)).

Strawberry plants can benefit from pruning off older or dead shoots that are pushed out of the center of the plant as new shoots appear.

This pruning can prevent diseases caused by the decomposition of older organic remains.

Usually, the necessary resources are not available to do this pruning by hand on farms because the process is laborious.

if diseases are present on one plant, the disease can spread to adjacent plants by using

One of the problems with pruning plants is that,

164 £

common pruning tools.

a robot, just like robots

IMPI

MEXICAN INSTITUTE OF INDUSTRIAL PROPERTY

In some embodiments, harvesting 100 (FIG. 1) and/or 2000 (FIG. 20), and/or foliage displacement system 2800 (FIGS. 28-31), may include a cauterizing hot cutting wire or mechanical sickle. that it can slice off the rougher outer shoots while the robot moves in circles around the plant or the foliage displacement system catches and holds the foliage (eg.

figure 20).

The action of

1512, as shown by cutting and heating the wire moving through the older outer shoots can sever the stems, which can prune the plant and leave the younger inner shoots behind.

Older shoots can move away from the plant after being mechanically propelled by the robot and/or environmental factors, such as wind or rain.

Hot wire can beneficially sterilize the wire so that if pruned shoots develop diseases, they will not be passed on to plants that are pruned after the diseased plant.

Continuing from the drawing below, the figure illustrates a flow chart of a 4700 method.

The method

4700 it can be a method of selective harvesting of exemplary products and is not limited to the embodiments offered herein. The 4700 method can be used on multiple farms.

The method

4700 It is simply given as

165 £

IMPI in different embodiments or examples not specifically depicted or described herein.

In some embodiments, the procedures, processes, and/or activities of the 4700 method may be performed in the order listed.

In other embodiments, the procedures, processes and/or activities of the method

4700 they can be carried out in any suitable order. In other different embodiments, one more of the procedures, processes and/or activities of the method

4700 can be combined or omitted.

In some embodiments, the 47 00 method may be performed by a harvesting robot (eg, 100 (FIG. 1), 2000 (FIG. 20-21)) and/or a harvesting apparatus (eg.

(figure 20)).

110 (figure

2010

Referring to Figure 47, the method 4700 may include a block 4701 of harvesting, in a first interval, a first individual produce of the plant produce using a harvesting apparatus.

The harvesting apparatus may be similar or identical to harvesting apparatus 110 (FIG. 1) and/or harvesting apparatus 2010 (FIGS. 20-21). The first individual agricultural product similar some may be identical realizations, similar identical the plant

1510 plants can one of (figure 15).

be plants

In agricultural products 1511 (figure 15). Plants can be

166 £

IMPI on strawberries and each of the agricultural products can be a strawberry.

In other embodiments, each of the plants may be another suitable type of plant, such as a tomato plant, a pepper plant, each of the produce may be another suitable type of produce, such as a tomato, a pepper, etc.

In multiple embodiments, the harvesting apparatus may include a plurality of grippers, each spaced from a central axis of the apparatus radially therefrom.

collection spreading

The central axis may be similar or identical to the central axis 311 (FIG. 3).

The pliers may be similar or identical to the 312315 pliers (figure 3), the 2011-2015 pliers (figure 20), and/or the

2116 (figure 21).

In various embodiments, each gripper can be configured to collect an individual produce different from the produce of the plants.

In different embodiments, the method

4700 it may also include a block 4702 for harvesting a second individual produce of the produce to begin a second time period, where the second time period begins after the first interval.

additionally a block

4703 discharge of the first individual agricultural product during the second period of

In various embodiments, method 4700 may include

167 £

weather.

In different may include an embodiments, the method

4700

IMPI

MEXICAN INSTITUTE OF INDUSTRIAL PROPERTY also block 4704 collection of a third individual agricultural product of the agricultural products to finalize the accomplishments, second second first, second period of time.

In multiple the third harvesting apparatus can retain the individual agricultural product at the end of the time period.

second and third

In different embodiments, the individual produce may be harvested from a first plant of the plants.

In various embodiments, optionally product after second apparatus method 4700 may include a fourth period of individual time interval.

harvesting can fourth agricultural product period of time.

In include of

In different ways information on one of the agricultural products before several of the beginning performances, the retaining the individual performances, optional a unit of the second, third and final method of the second

4700 may block 47 06 receiving processing from a system from one or more image sensors.

and/or the harvesting robot 2000 processing may be similar

The system can (figure 2000).

The unit of identical the unit of being similar or identical to the harvesting robot 100 (figure 1)

168 £

IMPI in process

1273 (figures

12-13), the processing unit 2173 (figure 21), the control unit 1272, the control unit 2072 (figures 20-21) and/or the combine processing system 5800 (figure 58, described below ).

The image sensors may be similar or identical to image sensors 1290-1291 (FIGS. 12-13) and/or image sensors 2190-2191 (FIG. 21).

In multiple embodiments, the system may include the collection apparatus, a carriage assembly, a carrier assembly, the image sensors, and the processing unit.

The carriage assembly may be similar to carriage assembly 140 (FIG. 1) and/or carriage assembly 2040 (FIG. 20).

The carrier assembly may be similar or identical to carrier assembly 170 (FIG. 1) and/or carrier assembly 1070 (FIG. 20). In some embodiments, the carriage assembly may include a first rotation mechanism.

In multiple embodiments, the first rotation mechanism may be similar or identical to rotation shaft 655 (FIGS. 6-7), motor 654 (FIGS. 6-8), gear wheel

854 (FIG. 8), gear wheel 855 (FIG. 8) and/or axis of rotation 2146 (FIG. 21).

In some embodiments, the carrier assembly may include a second mechanism identical to mounting bearing 1274 (FIGS. 12-13) and/or mounting bearing 2074 (FIG. 20).

In different rotation.

The second rotation mechanism may be similar

169 £

embodiments, the carriage assembly may be coupled to the carrier assembly.

In various embodiments, the harvesting apparatus may be coupled to the first mechanism

IMPI

MEXICAN INSTITUTE OF INDUSTRIAL PROPERTY to of rotation.

In different embodiments, the system further comprises a stem separation rod. The stalk splitting rod may be similar identical to the stalk splitting rod

2043 (figures 20-27).

In multiple embodiments, the stalk separating rod can be configured to tension a stalk from the different individual produce, when each of the plurality of grippers harvests the different individual produce.

The stem may be similar or identical to stem 2019 (figure 20).

In various embodiments, the method 4700 may further include a block 4707 for determining a location of the produce to be harvested in the processing unit.

In different embodiments, the method

4700 may further include a carrier assembly and carriage assembly rotation block 4708 about the second rotation mechanism, so that the harvesting apparatus when the second rotation mechanism is centered on rotates about an individual plant of the plants, the single plant.

170 £

IMPI

In various embodiments, the method 4700 may further include a harvesting apparatus rotation block 4709 about the central axis of the harvesting apparatus using the first carriage assembly rotation mechanism.

In some embodiments, rotating the harvesting apparatus about the central axis may include moving the plurality of grippers in a rotational path centered with respect to the central axis of the harvesting apparatus.

In different embodiments, the method

4700 can optionally include a block 4710 for opening each of the plurality of grippers to an open position, to individually collect the different ones when the gripper agricultural products is located in a first position of the gripper of the rotation path.

In various embodiments, the first position of the gripper may be located at a lower part of the rotational path.

The open position may be similar to the position of the clamp 312 in Figure 4, the clamp 2012 in Figures 20,

22-23 and/or clip 2015 in figures 26-27.

The first clip position may be similar or identical to the clip position 2012 in FIGS. 20-27. In others a different position, as described above.

In various embodiments, the 4700 method may include of embodiments, the first clamp position may be in

171 £

IMPI additionally · a block 4711 for opening each of the plurality of grippers to an open position, to unload the different individual agricultural products when the gripper is located in a second position of the gripper of the rotation path.

The second clip position may be similar or identical to the clip position 2015 in Figures 20, 22-27.

In other embodiments, the second position of the clip may be in a different position, as described above.

In multiple embodiments, each of the plurality of clips is spring-closable.

In some embodiments, the system may further include one or more actuators configured to open each of the plurality of grippers, when the gripper is located in the first and second gripper positions of the rotational path.

The actuators may be similar or identical to the 2210 and/or 2220 actuators (figures 22-27).

In various embodiments, a first one of the actuator(s) may be configured to open each of the plurality of grippers, when the gripper is located in the first gripper position of the rotational path.

The first actuator can be similar or identical to the actuator actuator can also be configured to vary one located in the first

2210 (figures 22-27).

In multiple embodiments, the first opening width of the clamp

172 £

gripper position, depending on a product size

IMPI

MEXICAN INSTITUTE OF INDUSTRIAL PROPERTY agricultural individual that the clamp must collect.

Continuing from the drawing below, Figure 48 illustrates a flowchart of a 4800 method.

The method

4800 it can be a method of providing a selective harvesting system for agricultural products. The ss method

4800 given merely by way of example and is not limited to the embodiments that may be offered herein.

employ different than in not multiple se

The method 4800 embodiments are specifically exemplified or described herein.

procedures,

In some embodiments, the processes and/or activities of the method

4800 can be carried out in the order listed.

other accomplishments, activities of the

In the procedures, processes and/or methods

4800 they can be carried out in any suitable order.

In other different embodiments, one or more of the procedures, processes, and/or activities of method 4800 may be combined or omitted.

Referring to Figure 48, method 4800 may include a block 4801 to provide a harvesting apparatus.

The harvesting apparatus may be similar or identical to harvesting apparatus 110 (FIG. 1) and/or harvesting apparatus 2010 (FIGS. 20-21).

include a block 4802 to provide a plurality of

In different embodiments, the block

4801 can

173 £

IMPI in tweezers.

The clips may be similar or identical to clips 312-315 (FIG. 3), clips 2011-2015 (FIG. 20), and/or clip 2116 (FIG. 21).

In some embodiments, each of the plurality of grippers may be configured to collect an individual produce different from the produce of the plants.

Each of the farm products may be similar or identical to one of the farm products 1511 (FIG. 15). Plants can be similar identical the plant

1510 (FIG. 15).

In some embodiments, the plants may be strawberry plants and each of the produce may be a strawberry.

In other embodiments, each of the plants may be another suitable type of plant, such as a tomato plant, pepper plant, etc., each of the produce may be another suitable type of produce, such as embodiments, tomato, pepper, etc.

In some the harvesting apparatus may be configured to use a first of the plurality of grippers to harvest a first individual produce of the produce in a first interval.

In various embodiments, block 4801 may further include a block 4803 for connecting the plurality of collets to be spaced from a central axis and extend radially therefrom.

the forceps shaft to the harvesting apparatus, so that each of

174 £

Central geometric IMPI can be similar or

identical to the central geometric axis 311 (FIG. 3).

In multiple embodiments.

during a second period of time beginning with a second of the plurality of grippers harvesting a second individual produce of the produce, ending with a third of the plurality of grippers harvesting a third individual produce of the produce, wherein the apparatus The harvesting mechanism can be configured to discharge the first individual produce from the first of the plurality of grippers.

In multiple embodiments, the second time period may start after the first interval.

In different embodiments, the second and third of the plurality of grippers may be configured to hold the second and third individual produce, respectively, at the end of the second time period.

In various embodiments, the harvesting apparatus is configured to harvest the first, second, and third individual produce from a first plant of plants.

In multiple embodiments, a fourth of the plurality of grippers may be configured to collect a fourth individual produce of the produce, second time period.

In various embodiments, the after the first interval and

before the start of the second, third and

fourth of the plurality of

I tweezers

175 £

IMPI can be configured to hold the second, third, and fourth individual produce, respectively, at the end of the second time period.

In multiple embodiments, the harvesting apparatus may be configured to move the plurality of grippers in a rotational path centered with respect to the central axis of the harvesting apparatus.

In various embodiments, each of the plurality of grippers may be configured to open to an open position, to collect the different individual produce when the gripper is located in a first gripper position of the rotational path.

In some embodiments, the first position of the clamp may be located rotation.

at a lower part of the trajectory of

The first clip position may be similar or identical to the clip position 2012 in FIGS. 20-27.

In other embodiments, the first position of the clip may be at a previous one.

different position, position such as open can be described similar identical to the position of the clip 312 in Figures 4, the clip 2012 in Figures 20, 22-23 and/or the clip 2015 in Figures 26-27.

tongs can be set to open to the open position to unload the different products

In multiple embodiments, each of the plurality of

176 £

σι

CD (Or individual farms, when the clamp is located

IMPI

MEXICAN INSTITUTE OF INDUSTRIAL PROPERTY a second position of the clamp of the rotation path.

The second clamp position may be similar or identical to the clamp position 2015 in Figures 20,

22-27. In other embodiments, the second position of the clip may be in a different position, as described above.