AUTOMATED SELECTIVE HARVESTING OF CROPS WITH CONTINUOUS OFFLOAD

摘要

A system including a picking apparatus including a plurality of grippers each spaced apart and extending radially from a central axis of the picking apparatus, and each configured to pick a different individual crop of crops of plants. The picking apparatus can be configured to use a first one of the plurality of grippers to pick a first individual crop of the crops at a first time. During a second time period that starts with a second one of the plurality of grippers picking a second individual crop of the crops and ends with a third one of the plurality of grippers picking a third individual crop of the crops, the picking apparatus can be configured to offload the first individual crop from the first one of the plurality of grippers. The second time period can start after the first time. The second and third ones of the plurality of grippers can be configured to hold the second and third individual crops, respectively, at the end of the second time period. Other embodiments are provided.

主权项

1. A system comprising:
a picking apparatus comprising:
a plurality of grippers each spaced apart and extending radially from a central axis of the picking apparatus, and each configured to pick a different individual crop of crops of plants; wherein:
the picking apparatus is configured to use a first one of the plurality of grippers to pick a first individual crop of the crops at a first time;during a second time period that starts with a second one of the plurality of grippers picking a second individual crop of the crops and ends with a third one of the plurality of grippers picking a third individual crop of the crops, the picking apparatus is configured to offload the first individual crop from the first one of the plurality of grippers;the second time period starts after the first time; andthe second and third ones of the plurality of grippers are configured to hold the second and third individual crops, respectively, at the end of the second time period.