Systems for Robotic Harvesting

Abstract

An example system includes a vacuum generating device, a robotic arm, and a harvesting device coupled to the robotic arm. The harvesting device includes an end-effector having an inlet; a vacuum tube coupled to the inlet of the end-effector and to the vacuum generating device, where the vacuum generating device is configured to generate a vacuum environment in the vacuum tube; an outlet mechanism coupled to the vacuum tube; and a deceleration structure configured to decelerate fruit that has traversed at least a portion of the vacuum environment.

What is claimed is: 
     
         1 . A fruit harvesting robotic system comprising:
 a vacuum generating device;   a harvesting device comprising:
 an end-effector having an inlet, and 
 a vacuum tube coupled to the inlet of the end-effector and to the vacuum generating device, wherein the vacuum generating device is configured to generate a vacuum environment in the vacuum tube, and wherein the inlet of the end-effector has a size that allows fruit of a particular type to pass through the inlet and enter the vacuum environment in the vacuum tube; 
   a robotic arm connected to the harvesting device, the robotic arm configured to move the harvesting device to position the inlet of the end-effector;   a vision sensor mounted to the end-effector or the robot arm; and   a controller configured to perform operations comprising:
 receive images from the vision sensor, 
 identify multiple fruits attached to a tree in the images, 
 build a map having three-dimensional (3D) coordinates of the fruits, 
 based on the 3D coordinates of a first one of the fruits, cause the robotic arm to move the harvesting device to position the inlet of the end-effector within a predetermined distance from the first one of the fruits, and 
 activate the vacuum generating device to generate airflow through the inlet, thereby pulling the first one of the fruits through the inlet into the vacuum tube and separating the first one of the fruits from the tree. 
   
     
     
         2 . The fruit harvesting robotic system of  claim 1 , wherein the controller is configured to perform further operations comprising:
 based on the 3D coordinates of a second one of the fruits, cause the robotic arm to move the harvesting device to position the inlet of the end-effector within the predetermined distance from the second one of the fruits, and   activate the vacuum generating device to generate airflow through the inlet, thereby pulling the second one of the fruits through the inlet into the vacuum tube and separating the second one of the fruits from the tree.   
     
     
         3 . The fruit harvesting robotic system of  claim 1 , wherein the controller is configured to perform further operations comprising determine locations of obstacles to be avoided while moving the end-effector. 
     
     
         4 . The fruit harvesting robotic system of  claim 3 , wherein the obstacles to be avoided include one or more of:
 branches;   trellis wire; and   trellis posts.   
     
     
         5 . The fruit harvesting robotic system of  claim 1 , wherein the controller is configured to perform further operations comprising adjusting a vacuum pressure of the vacuum environment to preclude damage to the first one of the fruits. 
     
     
         6 . The fruit harvesting robotic system of  claim 1 , wherein the controller is configured to perform further operations comprising:
 calculate a proper position of the fruit harvesting robotic system in relation to the tree; and   drive the fruit harvesting robotic system to the proper position while avoiding obstacles.   
     
     
         7 . The fruit harvesting robotic system of  claim 1 , wherein the controller is configured to perform further operations comprising:
 receive information related to a quality of fruits; and   select fruits that are adequately ripe and apparently defect free for picking by the end effector, while leaving others.   
     
     
         8 . The fruit harvesting robotic system of  claim 1 , wherein the harvesting device further includes:
 an outlet mechanism coupled to the vacuum tube, wherein fruit that has entered the vacuum environment is able to exit the vacuum environment through the outlet mechanism; and   a deceleration structure configured to decelerate fruit that has traversed at least a portion of the vacuum environment without damaging fruit.   
     
     
         9 . The fruit harvesting robotic system of  claim 8 , wherein the deceleration structure is disposed outside of the vacuum environment and configured to decelerate fruit that has exited the vacuum environment through the outlet mechanism. 
     
     
         10 . The fruit harvesting robotic system of  claim 8 ,
 wherein the outlet mechanism comprises two spring-loaded doors located within or at an end of the vacuum tube,   wherein the two spring-loaded doors open to allow the fruit to pass through an opening formed between the two spring-loaded doors as the fruit impacts the two spring-loaded doors due to momentum of the fruit caused by the vacuum environment, and   wherein the two spring-loaded doors close after the fruit passes therethrough to contain the vacuum environment within the vacuum tube.   
     
     
         11 . The fruit harvesting robotic system of  claim 1 , further comprising a bin positioned beyond the vacuum tube such that fruit falls onto the bin after exiting the vacuum tube. 
     
     
         12 . The fruit harvesting robotic system of  claim 11 , further comprising:
 a conveyor upon which the bin is disposed,   wherein the controller configured to perform further operations comprising:
 determining that the bin is full; and 
 activating the conveyor to relocate the full bin and position a subsequent bin beyond the vacuum tube for filling by the harvesting device. 
   
     
     
         13 . The fruit harvesting robotic system of  claim 11 , further comprising a deceleration structure between the vacuum tube such that fruit exiting the vacuum tube is decelerated by the deceleration structure before falling into the bin. 
     
     
         14 . The fruit harvesting robotic system of  claim 11 , wherein the bin is within the vacuum environment. 
     
     
         15 . The fruit harvesting robotic system of  claim 1 ,
 wherein the fruit harvesting robotic system further comprises second vacuum tube coupled to the harvesting device,   wherein the vacuum tube is a first vacuum tube, wherein the vacuum generating device is configured to generate the vacuum environment in the first vacuum tube, and   wherein the vacuum generating device is configured to generate a second vacuum environment in the second vacuum tube to transport the fruit from the first vacuum tube through the second vacuum tube to a bin.   
     
     
         16 . The fruit harvesting robotic system of  claim 15 , wherein the second vacuum tube is coupled to the harvesting device such that fruit that exits the vacuum environment thereafter enters the second vacuum tube. 
     
     
         17 . The fruit harvesting robotic system of  claim 15 , wherein the second vacuum environment has a lower suction power compared to the vacuum environment. 
     
     
         18 . The fruit harvesting robotic system of  claim 1 , further comprising:
 a deceleration structure configured to decelerate fruit that has traversed at least a portion of the vacuum environment without damaging fruit; and   a dispensing mechanism comprising a first flap coupled to the harvesting device via a first pivot, and a second flap coupled to the harvesting device via a second pivot,   wherein the dispensing mechanism is disposed below the deceleration structure such that fruit that is decelerated by the deceleration structure falls onto and is held by the first and second flaps,   wherein the controller is configured to perform further operations comprising:
 moving the harvesting device toward a first peg and a second peg such that the first peg is aligned between the first pivot and a tip of the first flap, and the second peg is aligned between the second pivot and a respective tip of the second flap, 
 wherein as the first flap and the second flap respectively contact the first peg and the second peg, the first flap pivots around the first pivot and the second flap pivots around the second pivot, thereby dispensing the fruit from the harvesting device. 
   
     
     
         19 . The fruit harvesting robotic system of  claim 1 , further comprising:
 a conveyor belt configured to receive fruit that has passed through the harvesting device, wherein the conveyor belt comprises a plurality of cleats disposed thereon, wherein each pair of cleats form a pocket therebetween configured to receive at least one fruit that has passed through the harvesting device,   wherein the controller is configured to perform further operations comprising:
 identifying an empty pocket formed between two cleats of the plurality of cleats, and 
 causing the robotic arm to move the end-effector at a speed that substantially matches a respective speed of the conveyor belt, such that an individual fruit passes through the harvesting device and is received onto the identified empty pocket. 
   
     
     
         20 . The fruit harvesting robotic system of  claim 1 , further comprising:
 a conveyance device coupled to the harvesting device and configured to convey fruit that passes through the harvesting device to a bin, wherein the conveyance device comprises:
 a first conveyor belt; and 
 a second conveyor belt parallel to the first conveyor belt, such that the first conveyor belt and the second conveyor belt sandwich the fruit that passes through the harvesting device.