Harvesting machine for formally trained orchards

摘要

The embodiments are directed to a fruit harvesting system that includes at least one end-effector coupled to a distal end of the manipulating arm and configured using at least one of a jaw and a clamp to couple to one or more branches of a fruit tree or a trellis wire that is coupled to the fruit tree residing in a trained orchard. The embodiments also include a pair of dual motor actuators eccentrically coupled to the at least one end-effector and directed to manipulate the at least one end-effector with a same or different frequency, and amplitude, and with same or counter-propagating motions, wherein the directed same or different frequency and amplitude, and same or counter-propagating motions provide one or more eccentric shaking patterns to the coupled branches or the trellis wire so as to enable fruit to be removed and collected by catch frames.

主权项

1. A trained orchard fruit harvesting system, comprising:
a mobile platform; a manipulating arm operably coupled to a proximate end of the mobile platform; at least one end-effector coupled to a distal end of the manipulating arm and configured to be coupled using at least one of a jaw and a clamp to one or more branches of a fruit tree or a trellis wire that is coupled to the fruit tree residing in a trained orchard; a pair of dual motor actuators, wherein the dual motor actuators are eccentrically coupled to the at least one end-effector and directed to manipulate the at least one end-effector with at least one of a same of and different frequency, and amplitude, and with same or counter-propagating motions, wherein the directed same or different frequency and amplitude, and same or counter-propagating motions provide one or more eccentric shaking patterns to the coupled branches or the trellis wire; and one or more catch frames rotatably coupled to the mobile platform for movement within sections therebetween trees in a trained orchard having fruit to be harvested via the one or more eccentric shaking patterns.