Abstract: The fruit perception system for a robotic harvester acquires and processes fruit detection and localization information to enable a robotic manipulator arm to connect with a targeted fruit. The system includes multiple embodiments, but comprises at least one RGB-D camera and one horizontally slidable line scan laser. The system uses the RGB-D camera data and a planning algorithm to identify a specific target fruit to pick first. The line scan laser paints the surface of the target fruit with a laser line and the RGB-D camera extracts line scan laser image data and communicates the line scan laser image data to a controller/processor. The controller/processor processes the extracted laser line image data and determines the xyz position of the centroid of the target fruit, so that the controller/processor directs a manipulator arm to pick the fruit.

Abstract: A three-dimensional stereo vision camera communicates the location of a targeted fruit (preferably an apple) to a controller. The controller directs a vacuum selection tube to the location of the targeted apple. The selection tube has a gripping orifice that has a smaller diameter than the apple so that the vacuum suction from the selection tube grips the apple. The selected fruit is then rotated and pulled away from the tree canopy by the selection tube until the apple detaches from the canopy. The detached apple is then gently placed in a collection bin for later sorting and processing.

Abstract: A three-dimensional stereo vision camera communicates the location of a targeted fruit (preferably an apple) to a controller. The controller directs a vacuum selection tube to the location of the targeted apple. The selection tube has a gripping orifice that has a smaller diameter than the apple so that the vacuum suction from the selection tube grips the apple. The selected fruit is then rotated and pulled away from the tree canopy by the selection tube until the apple detaches from the canopy. The detached apple is then gently placed in a collection bin for later sorting and processing.

Abstract: As fruit (preferably apples) are harvested, the fruit is placed on a conveyor that conveys the fruit to a fruit singulating section. In the singulating section, the fruit is directed into slots in a lane formed by two cooperating helical drives. The helical drives rotate the fruit and convey the fruit into an imaging chamber where a camera acquires an image of the fruit. The fruit image is evaluated by a processor in communication with the camera. The fruit is then directed into a rotary sorter which sorts the fruit based on the image evaluation by the processor.

Abstract: As fruit (preferably apples) are harvested, the fruit is placed on a conveyor that conveys the fruit to a fruit singulating section. In the singulating section, the fruit is directed into slots in a lane formed by two cooperating helical drives. The helical drives rotate the fruit and convey the fruit into an imaging chamber where a camera acquires an image of the fruit. The fruit image is evaluated by a processor in communication with the camera. The fruit is then directed into a rotary sorter which sorts the fruit based on the image evaluation by the processor.