Harvester with robotic gripping capabilities

Abstract

Systems and methods here may include a vehicle with automated subcomponents for harvesting delicate targets such as agriculture. In some examples, the vehicle includes a targeting subcomponent and a harvesting subcomponent. In some examples, the harvesting subcomponent includes vacuum features which gently attach to target agriculture to secure it. In some examples, the harvesting subcomponent includes padded spoons to grasp and remove the target agriculture from the foliage.

What is claimed is: 
     
         1 . A system for harvesting agriculture, comprising:
 a traversing machine with a frame, an articulating robotic arm attached to the frame, and a computer system attached to the frame with a processor and memory, the computer system in communication with the articulating robotic arm;   wherein the articulating robotic arm including at least two joints and at least one picker subassembly, the picker subassembly including at least one actuator in communication with the computer system;   wherein the picker subassembly includes a vacuum subassembly, the vacuum subassembly in communication with the computer system, the vacuum subassembly coupled to a nozzle with a terminal end, wherein the terminal nozzle end includes a flexible baffle section;   wherein the picker subassembly further includes two grappler spoons, the grappler spoons configured to pinch together toward the vacuum nozzle to secure a target by the actuator, in response to commands from the computer system.   
     
     
         2 . The system of  claim 1  wherein the picker subassembly vacuum nozzle is mounted on an extender actuator, in communication with the computer system, the extender actuator configured to extend away from the picker subassembly and back toward the picker subassembly, the grappler spoons configured to pinch toward the nozzle terminal end when the vacuum nozzle is retracted. 
     
     
         3 . The system of  claim 1  wherein the flexible baffle section is removable and friction fit to the picker subassembly and made of silicone. 
     
     
         4 . The system of  claim 1  wherein the grappler spoons are each attached to the picker subassembly by a flange and include at least one rim;
 wherein the grappler spoons each include a resilient membrane stretched over the at least one rim. 
 
     
     
         5 . The system of  claim 4  wherein the grappler spoon membrane is removable and friction fit to the rim and made of silicone. 
     
     
         6 . The system of  claim 1  wherein the vacuum subassembly nozzle terminal end is generally round in cross section and includes a resilient end membrane with apertures to allow air to flow. 
     
     
         7 . The system of  claim 6  wherein the vacuum assembly nozzle terminal end apertures include at least four radially extending slots configured in a middle of the round resilient membrane. 
     
     
         8 . The system of  claim 1  wherein the picker subassembly is configured to twist in relation to the robotic arm, such that the twist might break a target stem when grappled by the terminal nozzle end and spoons. 
     
     
         9 . The system of  claim 1  wherein the picker subassembly includes a stem cutting saw configured around the picker subassembly, the stem cutting saw configured to slide around the picker subassembly and spin, relative to the picker subassembly. 
     
     
         10 . The system of  claim 1  further comprising at least two stereo cameras mounted to the frame, in communication with the computer system, configured to send image data regarding potential agricultural targets to the computer system for analysis. 
     
     
         11 . A system for harvesting agriculture, comprising:
 a traversing machine with a frame;   at least two wheels or tracks mounted to the frame;   a computer system with a processor and memory mounted to the frame;   a sensor mounted to the frame in communication with the computer system;   an articulating robotic arm in communication with the computer system, the articulating robotic arm mounted to the frame at a first end;   a pair of pincher spoons mounted to a second end of the articulating robotic arm, the pair of pincher spoons in communication with a pinching actuator, the pinching actuator in communication with the computer system and configured to pinch the pair of pincher spoons toward one another;   a vacuum system including a pump and a hose, the pump in communication with the computer system; the hose including a terminal end mounted at the second end of the articulating robotic arm, between the pair of pincher spoons.   
     
     
         12 . The system of  claim 1  wherein the terminal end of the vacuum hose includes a pliable baffle configured to flex in use. 
     
     
         13 . The system of  claim 12  wherein the pliable baffle is removably attached at a first end to the terminal end of the vacuum hose. 
     
     
         14 . The system of  claim 12  wherein the terminal end of the vacuum hose includes an actuator and extendible section configured to extend and retract between the pair of pincher spoons, the actuator in communication with the computer system. 
     
     
         15 . The system of  claim 13  wherein the pliable baffle includes a second end with slots configured to allow air to pass. 
     
     
         16 . The system of  claim 15  wherein the slots in the pliable baffle second end are radially configured or concentrically configured. 
     
     
         17 . The system of  claim 11  wherein the pincher spoons each include an inner and outer rim of pliable material. 
     
     
         18 . The system of  claim 1  wherein the pair of pincher spoons include a removable pliable membrane. 
     
     
         19 . The system of  claim 14  wherein the limit of retraction of the terminal end of the vacuum hose is past and above the pair of pincher spoons. 
     
     
         20 . A method of harvesting agriculture, comprising:
 traversing a harvester machine down a planter bed row of agriculture;   receiving, at a computer system on the harvester machine, image data of the agriculture;   determining, at the computer system, likely targets for harvesting from the image data;   sending coordinates of the likely targets to a robotic arm attached at a first end to the harvester machine;   sending harvest commands to a picker assembly mounted at a second end of the robotic arm, the harvest commands including activating a vacuum pump to draw air through a vacuum tube with a vacuum terminal end on the picker assembly, and actuating pinching of two pincher spoons mounted around the vacuum terminal end.   
     
     
         21 . The method of  claim 20  wherein the vacuum terminal end includes a flexible baffle section with apertures to allow air to pass through the vacuum tube.