Harvester with automated capabilities

Abstract

Systems and methods here may include a vehicle with automated robotic subcomponents for harvesting delicate agricultural items such as berries. In some examples, the vehicle includes a targeting subcomponent and a harvesting subcomponent. Which may utilize multiple cameras to create three dimensional maps of foliage and targets. In some examples, the targeting subcomponent includes automated or semi-automated harvesting targets to be mapped and passed to the harvesting subcomponent. In some examples, the harvesting subcomponent includes vacuum features and padded spoons to detach the target agriculture from the stem.

What is claimed is: 
     
         1 . A harvesting vehicle system comprising:
 a vehicle with a targeting subcomponent and a harvesting subcomponent, the vehicle including at least one motor in communication with wheels mounted to traverse planter bed rows;   wherein the vehicle includes a computing device with a processor and a memory, the computing device in communication with multiple sensors configured to generate and send sensor data regarding agricultural targets to the computing device, wherein the computing device configured to map the agricultural targets using the sensor data;   the harvesting subcomponent in communication with the computing device, the harvesting subcomponent including a robotic arm with picker head assembly, the picker head assembly including a vacuum hose in communication with a compressor, the hose terminating in a bellows end and spoons configured to pinch together to remove targets using data received from the computer regarding mapped targets.   
     
     
         2 . The system of  claim 1  further comprising,
 a conveyor belt system, mounted to the harvesting subcomponent, the conveyor belt system configured to receive and move targets from the harvesting subcomponent to a packing area of the system. 
 
     
     
         3 . The system of  claim 1  further comprising,
 a turbine and vacuum assembly mounted to a robotic arm of the harvester subcomponent, the turbine and vacuum assembly in communication with the computer, configured to chop and suction material using data from the computer and map. 
 
     
     
         4 . The system of  claim 1  wherein the harvesting subcomponent includes a picker head assembly with multiple picker heads mounted to one robotic arm, the picker heads configured to rotate to harvest and deposit agricultural targets. 
     
     
         5 . The system of  claim 1  further comprising, a foliage management subcomponent mounted to the harvester subcomponent, the foliage management subcomponent including belt drives in communication with the computing device, the belt drives including a belt configured to rotate on the belt drives, the belt configured to interact with foliage of the agricultural targets, and bend the foliage to reveal agricultural targets for the sensors. 
     
     
         6 . The system of  claim 5  wherein the belt drives are synchronized with the at least one motor by the computing device to move the harvester wheels, such that a relative speed over ground of the harvester and a portion of the belt that is configured to contact the foliage, is close to zero when the harvester is in motion. 
     
     
         7 . The system of  claim 5  wherein the foliage management subcomponent includes a suction blower mounted above the foliage management subcomponent, the suction blower configured to suck ambient air from around the target foliage, up and away from foliage. 
     
     
         8 . The system of  claim 5  wherein the foliage management subcomponent includes a second set of belt drives and a second belt mounted around the second set of belt drives, configured to rotate on the belt drives, wherein the two belts configured to squeeze foliage to reveal agricultural targets. 
     
     
         9 . The system of  claim 8  wherein the second set of belt drives are synchronized with the at least one motor by the computing device to move the harvester wheels, such that a relative speed over ground of the harvester and a portion of the second belt that is configured to contact the foliage, is close to zero when the harvester is in motion. 
     
     
         10 . The system of  claim 5  further comprising, at least one air blower mounted on the foliage management subcomponent, the air blower configured to blow air toward the foliage to clear debris. 
     
     
         11 . The system of  claim 1  wherein the robotic arm includes a second vacuum assembly including a hose, configured to receive the agricultural targets from the picker head assembly and remove the targets from the harvester subcomponent to a packing area of the system. 
     
     
         12 . The system of  claim 1  further comprising a back end computing system in communication with the harvester computer, the back end computing system configured to allow human users to review sensor data and designate agricultural targets for the harvester subcomponent to harvest. 
     
     
         13 . The system of  claim 1  wherein the computer uses neuro network logic to make preliminary determinations of targets using the sensor data. 
     
     
         14 . The system of  claim 12  wherein the computer may allow the human user to determine an angle of attack for the picker head to harvest an agricultural target, using the sensor data. 
     
     
         15 . A system for harvesting agriculture, comprising:
 a traversing machine with at least two robotic articulating arms attached to a frame of the traversing machine, at least two wheels or tracks attached to the frame of the traversing machine, and a computing system with at least a processor and memory attached to the frame of the traversing machine;   the robotic arms including at least one picker subassembly in communication with the computer system;   at least one sensor attached to the frame of the traversing machine, configured to capture and send sensor information regarding potential agricultural targets to the computing system for analysis;   the picker subassembly including a vacuum assembly coupled to a nozzle with a terminating end, wherein the terminating nozzle end includes a segmented ported section; the picker subassembly further including two grappling spoons, the grappling spoons configured to pinch together toward the vacuum nozzle.   
     
     
         16 . The system of  claim 15  wherein the picker subassembly vacuum nozzle is mounted on an extender actuator. 
     
     
         17 . The system of  claim 15  wherein the baffle section is made of resilient, pliable material. 
     
     
         18 . The system of  claim 15  wherein the at least one sensor is at least one of a camera, laser, and lidar. 
     
     
         19 . The system of  claim 15  further comprising a foliage management system, the foliage management system including two sets of belt drives, and motors for the belt drives in communication with the computing system, two belts, one each around the respective belt drive set the belts each including an inside and an outside, the belt roller sets and belts configured on the traversing machine to receive foliage between the two belts, on the respective insides of each, wherein the belt roller sets are synchronized with the at least two wheels or tracks such that a relative motion of an inside of the belts and ground on which the traversing machine is moving, is approximately zero. 
     
     
         20 . The system of  claim 19  wherein the foliage management system includes an ambient air vacuum pump in communication with the computing system, the vacuum pump configured above the two sets of belt rollers configured to suck air away from plant beds over which the traversing machine is configured to pass.