| 摘要 |
A method and system for harvesting fruit, such as citrus fruit. A modularized housing is provided with a mechanism for disposing the housing opposite a picking zone of a tree, with an open side thereof defining a picking aperture. The picking zone is illuminated, and an electronic camera at the geometric center of the housing having a 256x256 sensor array records the picking zone. Electronic processing circuits identify the X-Y coordinates with respect to the aperture of each identified fruit with color discrimination means utilized for such identification. The X-Y coordinates are stored in memory. An extensible picking arm is then placed with a pivot at the geometric center and sequentially extended through each stored X-Y coordinate. An optical seeker, having a light source and a quadrature optical detector, disposed at the distal end of the arm detects a fruit in the path of the extending arm and controls the movement of the arm to cause a severance head on the arm to contact the fruit. A set of grippers are then closed onto the fruit and stem to separate the fruit. An articulated collection arm follows the picking arm and collects the picked fruit in a cup and subsequently drops the fruit into a collection system.
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