Self-driving vehicle for facilitating fruit harvesting

Abstract

Self-driving agricultural vehicle (100) for facilitating harvesting of fruit growing on a row of bushes (902). The vehicle (100) includes a frame (102) defining spaced side portions (104, 106) joined by an elevated bridging portion (105). The frame (102) is shaped to receive the row of bushes (902) between the side portions (104, 106). Each side portion (104, 106) defines at least one user position (112) configured to carry a user (602) to harvest the fruit, where the user positions 112 are arranged to carry users (602) facing opposed sides of the row of bushes (902). The vehicle (100) includes a drive mechanism (108) mounted to the frame (102) and operable to move the vehicle (100) along the row of bushes (902), and one or more containers (604) for receiving harvested fruit, where the, or each, container is configured to be carried by the frame (102) adjacent one of the user positions (112).

Description

Self-driving vehicle for facilitating fruit harvestingCross-Reference to Related Applications

[0001] This application claims priority to Australian provisional patent application no. 2024903518, filed on 29 October 2024, the disclosure of which is incorporated herein in its entirety.Technical Field

[0002] The present disclosure relates generally to agricultural vehicles for harvesting fruit. In particular, embodiments of this disclosure relate to self-driving agricultural vehicles for harvesting fruit growing on bushes.Background

[0003] Fruit harvesting is typically a manual exercise, involving workers moving along a row of trees or bushes to pick the fruit by hand. Picking may require the workers standing on ladders to be able to access the fruit. For some applications, workers may be carried by a mechanised picking platform operable to drive along the row and carry the workers at an elevated position. Typically, picker platforms are driven by an internal combustion engine and have a large form factor, making them unsuitable for small-scale farms / orchards, and / or to pick fruit which is grown within an enclosure, such as a poly tunnel or greenhouse.

[0004] Attempts have been made to further automate fruit harvesting through fully- mechanised systems, such as configured to pick the fruit from bushes or trees using rotating brushes, air jets, and the like. However, such approaches are typically complex and expensive, and may result in economic loss due to damage to fruit or inefficiency in operation. Additionally, existing fruit harvesting vehicles may have inefficient pathing due to their design and / or picking mechanism.

[0005] It is desired to address or ameliorate one or more shortcomings or disadvantages of prior agricultural vehicles, such as unsuitability for particular harvesting applications, or inefficiency in harvesting pathing, or to at least provide a useful alternative thereto.

[0006] Throughout this specification the word "comprise", or variations such as "comprises" or "comprising", will be understood to imply the inclusion of a stated element, integer or step, or group of elements, integers or steps, but not the exclusion of any other element, integer or step, or group of elements, integers or steps.

[0007] Any discussion of documents, acts, materials, devices, articles or the like which has been included in the present specification is not to be taken as an admission that any or all of these matters were common general knowledge in the field relevant to the present disclosure as it existed before the priority date of each of the appended claims.Summary

[0008] Some embodiments relate to a self-driving agricultural vehicle for facilitating harvesting of fruit growing on a row of bushes. The agricultural vehicle may comprise: a frame defining spaced side portions joined by an elevated bridging portion, the frame shaped to receive the row of bushes between the side portions, each side portion defining at least one user position configured to carry a user to allow the user to harvest the fruit, the user positions arranged to carry users facing opposed sides of the row of bushes; a drive mechanism mounted to the frame and operable to move the vehicle along the row; and one or more containers for receiving harvested fruit, the, or each, container configured to be carried by the frame adjacent one of the user positions.

[0009] Each user position may include a seat mounted to the frame. At least one of the seats may be associated with a height adjustment mechanism operable to adjust the position of the seat relative to the frame. At least one of the seats may be associatedwith a rotation adjustment mechanism operable to rotate the seat about an operatively vertical axis.

[0010] The frame may be dimensioned to fit within a 6m wide poly tunnel housing at least one row of bushes. The frame may define a maximum height of 2.4 m and a maximum width of 2.5 m. The bridging portion may be at least partially arched to allow fitting within the poly tunnel.

[0011] The one or more containers may be positionable on one or more of: the first side portion, the second side portion, and the bridging portion. The one or more containers may be positionable overhead the user positions.

[0012] The agricultural vehicle may further comprise electric power unit configured to power the vehicle. The drive mechanism may include a plurality of pivotable wheels operable to steer the vehicle. The drive mechanism may be operable to adjust the height of the frame relative to a ground surface. Each of the plurality of pivotable wheels may be mounted to the frame to allow displacement towards or away from the frame.

[0013] The agricultural vehicle may have a weight of between about 2500kg and about 3000kg. Each side portion may define a plurality of user positions and the drive mechanism may be operable by a user carried by any one of the user positions.

[0014] The agricultural vehicle may further comprise a navigation system in communication with the drive mechanism and operable to autonomously guide the vehicle along the row of bushes. The navigation system may include a global positioning system configured to determine positioning of the agricultural vehicle. The navigation system may include one or more of: a depth sensing camera, an array of ultrasonic sensors, and an inertial measurement unit (IMU), to assist autonomous guiding of the agricultural vehicle.

[0015] It will be appreciated embodiments may comprise steps, features and / or integers disclosed herein or indicated in the specification of this application individually or collectively, and any and all combinations of two or more of said steps or features.Brief Description of Drawings

[0016] Embodiments of the present disclosure will now be described in further detail, by way of non-limiting example, with reference to the accompanying drawings, in which:

[0017] Figure 1 illustrates an isometric view of a first embodiment of a self-driving agricultural vehicle for facilitating harvesting of fruit growing on a row of bushes;

[0018] Figure 2 illustrates a side view of the vehicle of Figure 1 including a plurality of users positioned thereon;

[0019] Figure 3 illustrates a front view of the vehicle of Figure 1 including a plurality of users positioned thereon;

[0020] Figure 4 illustrates a back view of the vehicle of Figure 1 including a plurality of users positioned thereon;

[0021] Figure 5 illustrates a top view of the vehicle of Figure 1 including a plurality of users positioned thereon;

[0022] Figure 6 shows an illustration of a plurality of users positioned on the vehicle of Figure 1;

[0023] Figure 7 shows an isometric view of a second embodiment of a self-driving agricultural vehicle for facilitating harvesting of fruit growing on a row of bushes;

[0024] Figure 8 shows a side view of the vehicle of Figure 7; and

[0025] Figure 9 shows a cross-sectional front view of the vehicle of Figure 7 including a plurality of users harvesting fruit using the vehicle of Figure 7.Description of Embodiments

[0026] In the drawings, reference numeral 100 generally designates a self-driving agricultural vehicle 100 for facilitating harvesting of fruit growing on a row of bushes 902 (Fig. 9). The vehicle 100 includes a frame 102 defining spaced side portions 104, 106 joined by an elevated bridging portion 105. The frame 102 is shaped to receive the row of bushes 902 between the side portions 104, 106. Each side portion 104, 106 defines at least one user position 112 configured to carry a user 602 (Fig. 6) to allow the user 602 to harvest the fruit, where the user positions 112 are arranged to carry users 602 facing opposed sides of the row of bushes 902. The vehicle 100 also includes a drive mechanism 108 mounted to the frame 102 and operable to move the vehicle 100 along the row of bushes 902, and one or more containers 604 (Fig. 6) for receiving harvested fruit, where the, or each, container is configured to be carried by the frame 102 adjacent one of the user positions 112.

[0027] Figures 1 to 6 illustrate a first embodiment of the self-driving agricultural vehicle 100, referred to hereinafter as ‘vehicle 100’. Vehicle 100 assists in facilitating harvesting of fruit growing on a row of bushes in an agricultural setting, such as industrial and non-industrial agricultural farms. Vehicle 100 may have a mass of between about 2500kg and about 3000kg.

[0028] In the embodiment illustrated in Figs. 1 to 6, the frame 102 is shaped to receive the row of bushes between the first and second side portions 104, 106 and below the bridging portion 105. The frame 102 is typically formed of metal tubular portions joined together, such as by welding and / or with connectors and fasteners. The tubular portions may be manufactured from steel, stainless steel, or aluminium, for example. It will be appreciated that the frame may alternatively be formed from other materials, such as a composite material, and be formed as a unitary structure, or from a number of sub-structures which are connectable.

[0029] The frame 102 may be dimensioned and shaped to fit within an industrial scale agricultural enclosure housing at least one row of bushes. The industrial scale agricultural enclosure may be an arched poly tunnel, for example. The poly tunnel may be between about 6 m wide and about 9 m wide, and may house a plurality of rows of bushes, such as fruit bushes carrying blueberries and / or raspberries. As shown in Figs. 3 and 4, the bridging portion 105 of the frame 102 may be at least partially arched to allow the frame to fit within the poly tunnel. The frame 102 may have a width of about 2 m to about 3 m, and typically about 2.5 m, for example. The frame 102 may have a height of about 1.8 m to about 2.4m, and typically about 2.2 m, for example. The frame 102 may have a length of about 3m to about 4.2 m, and typically about 3.6 m, for example.

[0030] Harvesting of fruit from the row of bushes positioned between the first side portion 104 and the second side portion 106 of vehicle 100 may enable the vehicle 100 to operate in agricultural enclosures in which space is limited. For example, where a row of bushes is positioned in close proximity to an enclosure wall. Further, the vehicle 100 may require “n” number of trips along a row of bushes, where n is equal to the number of rows of bushes to be harvested, to perform harvesting. Existing harvesting solutions may require n+1 number of trips, where harvesting is performed adjacent the existing solution, resulting in inefficient harvesting pathing.

[0031] Each of the first and second side portions 104, 106 of the frame 102 define at least one user position 112. In some embodiments, each of the first and second side portions 104, 106 define a plurality of user positions 112. Each user position 112 is arranged to carry a user to allow the user to harvest fruit growing on the row of bushes received between the first and second side portions 104, 106. For example, referring to Figures 2 to 6, there is shown a plurality of users 602 carried by the user positions 112 of the vehicle 100. Each of the plurality of users 602 are shown facing between the first and second side portions 104, 106, where the row of bushes is received by the frame 102. That is, each user 602 carried by the frame 102 is positioned to face the row of bushes, allowing the user 602 to manually harvest fruit, for example.

[0032] In some embodiments, each user position 112 may include a seat mounted to the frame 102, where the seat is arranged to allow the user carried thereon to harvest fruit from the row of bushes. For example, referring to Figure 7, there is shown an alternative embodiment 700 of the self-driving agricultural vehicle 100, where each of the plurality of user positions 112 of the vehicle 700 include a seat 702. That is, the seat 702 may define the user position 112 for carrying the user 602, for example. In some embodiments, at least one of the seats 702 is associated with a rotation adjustment mechanism (not shown) operable to rotate the seat 702 about an operatively vertical axis 706, as shown in Figure 7. That is, a user may operate the rotation adjustment mechanism to rotate the seat 702 about the axis 706 to face the seat 702 in a plurality of directions, typically pivoting between facing the row of bushes received by the vehicle 700 and the operative front of the vehicle 700, for example. In some embodiments, all of the seats 702 are associated with a rotation adjustment mechanism allowing adjustable rotation of all seats 702 of the vehicle 700.

[0033] In some embodiments, at least one of the seats 702 is associated with a height adjustment mechanism operable (not shown) to adjust the position of the seat 702 relative to the frame 102, as shown in Figures 7 and 8. That is, a user may operate the height adjustment mechanism to adjust the height of the seat 702 relative to the frame 102 on which the seat 702 is mounted, for example. The height adjustment mechanism may be a pneumatic height adjustment mechanism or a levered arm height adjustment mechanism, for example.

[0034] Referring back to Figure 1, vehicle 100 includes the drive mechanism 108 mounted to the frame 102. The drive mechanism 108 is operable to move the vehicle 100 along the row of bushes, facilitating harvesting of fruit growing on the row of bushes by users carried by the user positions 112 of vehicle 100. The drive mechanism 108 may include a plurality of motors 118 and a plurality of wheels 120 coupled to each motor 118. In some embodiments, each motor 118 is coupled to a single wheel 120 to form a drive unit 109. The wheels 120 may include off-road pneumatic tyres to enhance grip, for example. In other embodiments (not illustrated), the drive mechanism 108 may include a track coupled to wheels 120 arranged at one of the firstand second side portions 104, 106 to form a continuous (“caterpillar”) type track mechanism. The motors 118 are generally configured as electric motors to avoid expelling exhaust fumes near to the row of bushes, and / or minimise noise generated by the vehicle 100.

[0035] The drive mechanism 108 may include four drive units 109, each comprising a motor 118 and wheel 120 coupled thereto. As shown in Figure 1, each of the first and second side portions 104, 106 may have two drive units 109 coupled thereto. The two drive units 109 may be coupled to substantially opposite ends of the respective first and second side portions 104, 106. To enable steering of the vehicle 100, the drive mechanism 108 further includes a pivot mechanism 122 coupled to at least two of the wheels 120. In some embodiments, the pivot mechanism 122 is coupled to each drive unit 109 of the drive mechanism 108. The pivot mechanism 122 allows the at least two wheels 120 to be rotated to direct movement of the vehicle 100. In some embodiments, the pivot mechanism 122 is an electrical motor, such as a servo motor or stepper motor, for example.

[0036] Depending on the configuration of the pivot mechanism 122, the vehicle 100 may be operated in a two wheel steering (2WS) mode or a four wheel steering (4WS) mode. In 2WS mode, either end of the vehicle 100 may be configurable to enable steering. For example, either the drive unit 109 at one end of the first side portion 104 and the corresponding drive unit 109 of the second side portion 106 are configured to enable pivoting, or the two drive units 109 on the opposing end of the vehicle 100 are configured to enable pivoting.

[0037] The drive mechanism 108 may further be operable to adjust the height of the frame 102 relative to a ground surface. Each drive unit 109 may be mounted to the frame 102 to allow displacement towards or away from the frame 102, for example. Each drive unit 109 may be associated with a shock absorber to allow linear displacement, and / or be associated with a hydraulic or pneumatic system to be able to be actively displaced, for example. In some embodiments, the drive mechanism 108 includes a hydraulic system 128 coupled to each drive unit 109 to enable adjustment ofthe height of the frame relative to the ground surface at each drive unit 109. The hydraulic system 128 of each drive unit 109 is coupled to a hydraulic power unit 132 and a hydraulic reservoir 130. The hydraulic system 128 may further include hydraulic pressure sensors to determine pressure within the hydraulic system 128.

[0038] The drive mechanism 108 is operable by a user carried by a user position 112 of the vehicle 100. Vehicle 100 further comprises a plurality of manual controls 124 to enable a user to operate the drive mechanism 108 from a user position 112. That is, the manual controls 124 may enable a user to operate the motors 118, the pivot mechanism 122, and / or the hydraulic system 128, for example. Manual controls 124 may include one or more of: a joystick 125, a keypad, a touchscreen, hydraulic controls 140, and / or a tactile input device. In some embodiments, the drive mechanism 108 is remotely operable by a user carried by any one of the user positions 112. For example, a user may remotely operate the drive mechanism 108 using a mobile device, such as a mobile phone, a laptop, or a tablet computer, for example. In some embodiments, the manual controls 124 are relocatable about the vehicle 100, such that they can be positioned to be used by a user carried by any one of the user positions 112.

[0039] Best shown in Fig. 6, the vehicle 100 includes one or more containers 604 for receiving harvested fruit. The, or each, container 604 may be releasably securable to the frame 102 adjacent one of the user positions 112. That is, a user carried by a user position 112 can harvest fruit from the row of bushes and deposit the harvested fruit within a container 604 from the user position 112, for example. In some embodiments, the one or more containers 604 are securable to one or more of: the first side portion 104, the second side portion 106, and the bridging portion 105. Vehicle 100 may further comprise one or more container storages 110 for securing one or more containers 604 thereto. The one or more containers 604 may be securable overhead the user positions 112, for example, as shown in Figure 6.

[0040] Referring to Figure 9, there is shown a cross-sectional front view of the vehicle 700 including a plurality of users 602 carried by seats 702 of the vehicle 700 and harvesting fruit from a bush 902 of a row of bushes using the alternate self-drivingagricultural vehicle 700. As shown, seat 702 is positioned to allow the user to ergonomically harvest fruit from the bush 902 while being carried by vehicle 700. The seat 702 may be positioned to optimise the position of the user 702 relative to the bush 902 using the rotation adjustment mechanism and / or the heigh adjustment mechanism, for example. As exemplified in Fig. 9, the vehicle 700 may be operated such that the row of bushes is positioned central to the vehicle 700 between the first side portion 104 and the second side portion 106, indicated by the respective wheels 120 shown in this figure.

[0041] In some embodiments, the vehicle 100 further comprises a navigation system 114 operable to autonomously, or semi-autonomously, guide the vehicle 100 along the at least one row of bushes. The navigation system 114 is in communication with the drive mechanism 108 and may be configured to guide the vehicle 100 along the at least one row of bushes using a predetermined guiding path and / or a vision system. That is, the navigation system 114 may be pre-configured to guide the vehicle 100 along the at least one row of bushes, and / or may operate the vision system to effect automated, dynamic control of the vehicle 100 along the at least one row of bushes.

[0042] The navigation system 114 may be further configured to adjust the height of the vehicle 100 relative to the ground surface while driving across the ground. The navigation system 114 may be pre-configured to maintain a target height, a minimum height, or a maximum height relative to the ground, or relative to the row of bushes. In some embodiments, navigation system 114 may further adjust the height of vehicle 100 automatically based on a determined distance between the frame 102 and the agricultural enclosure. For example, if navigation system 114 determines that the frame 102 is within a threshold distance away from the agricultural enclosure, such as the roof, the height of vehicle 100 may be adjusted to avoid contact with the enclosure.

[0043] The navigation system 114 may also include an inertial measurement unit (IMU). The IMU may allow the navigation system 114 to determine the slope, elevation, and / or depression of the vehicle 100 with respect to the direction of gravity.Navigation system 114 may utilise measurements obtained from the IMU to adjust the height of the vehicle 100.

[0044] The navigation system 114 may include a global positioning system (GPS) configured to determine positioning of the vehicle 100. The determined positioning of the vehicle 100 may be used in combination with existing positioning data of the agricultural setting in which the vehicle 100 is operated. For example, the at least one row of bushes may be mapped with GPS coordinates, the navigation system 114 may then position the vehicle 100 based on these GPS coordinates using the determined positioning from the GPS to autonomously guide the vehicle 100.

[0045] The navigation system 114 may further include one or more of: a depth sensing camera 134, an array of ultrasonic sensors 138, and / or an array of contact sensors, to assist autonomous guiding of the vehicle 100 relative to its environment. The navigation system 114 may be in electrical communication with one or more of the components / sy stems of vehicle 100, such as the hydraulic system 128 or the manual controls 124, for example. In some embodiments, each wheel 120 of the drive mechanism 108 includes an angle sensor in communication with the navigation system 114, wherein the navigation system 114 may determine the angle of the wheel relative to the vehicle 100 using the angle sensor. The angle sensor may be a steering angle sensor, for example.

[0046] In some embodiments, navigation system 114 utilises artificial intelligence (Al) to autonomously guide the vehicle 100. For example, the navigation system 114 may include an Al trained on data received by the one or more of: the depth sensing camera 134, the array of ultrasonic sensors 138, and / or the array of contact sensors, to determine how best to autonomously guide the vehicle 100 along the row of bushes and within an agricultural farm.

[0047] The one or more depth sensing cameras 134 may be depth sensing stereo cameras, for example. In some embodiments, the one or more depth sensing cameras 134 are coupled to the frame 102 and positioned at one or more ends of the vehicle 100.In some embodiments, the depth sensing camera 134 are positioned to view pots in which the bushes of the row of bushes are planted. That is, the row of bushes may also be considered a row of pots in which the bushes are planted, for example. During operation of vehicle 100, the one or more depth sensing camera 134 may provide image data to the navigation system 114 relating the image captured by the depth sensing camera 134 and / or to the distance of the depth sensing camera 134, or the vehicle 100 itself, from the pots, for example. Navigation system 114 may process the image data to determine inputs to provide the drive mechanism 108 to autonomously guide the vehicle 100 along the row of bushes.

[0048] The one or more ultrasonic sensors 138 may be drip-proof type ultrasonic sensors, high-frequency type ultrasonic sensors, and / or open structure type ultrasonic sensors, for example. In some embodiments, the one or more ultrasonic sensors 138 are coupled to the frame 102 and positioned at one or more ends of the vehicle 100. During operation of vehicle 100, the one or more ultrasonic sensors 138 may provide electrical data to the navigation system 114 relating to the distance of an object or obstacle detected by the one or more ultrasonic sensors 138 from the vehicle 100, for example. Navigation system 114 may process the electrical data to determine inputs to provide the drive mechanism 108 to autonomously guide the vehicle 100 along the row of bushes.

[0049] Vehicle 100 includes an electric power unit 116 configured to power the vehicle 100 and its respective components. The electric power unit 116 may provide power to components, such as, but not limited to, the drive mechanism 108, the navigation system 114, the motors 118, and / or the hydraulic power unit 132, for example. The electric power unit 116 may include a plurality of batteries, such as rechargeable batteries or lithium iron phosphate batteries. The electric power unit 116 may operate at 48 volts and may further include step-down circuitry to reduce the voltage to the required levels of the various components and systems of vehicle 100.

[0050] Electrical components and circuitry of vehicle 100 may be located in one or more electrical enclosures 126. Electrical cabling between components of vehicle 100may be routed via cable trays 136. The cable trays 136 may assist in limiting interaction with electrical cabling, thereby increasing safety of the electrical system, for example. Vehicle 100 may further include a plurality of safety mechanisms in communication with the electric power unit 116 and / or the drive mechanism 108. For example, vehicle 100 may include a plurality of E-stop switches configured to implement a safety relay and cut-off the power of vehicle 100.

[0051] In some embodiments, the vehicle 100 is operable in a range of operational modes selectable by manual controls 124. The operational modes may include: a travel mode, a picking mode, or a control mode, for example. Each operational mode may define operational limitations of vehicle 100 during use, such as, but not limited to, operating speed, steering configuration, vehicle 100 height, and / or navigation configurations, for example.

[0052] Travel mode may be selected during travel of vehicle 100 to, from, or between agricultural enclosures. That is, travel mode may be used when not harvesting fruit or precise control of vehicle 100 is not required, for example. Travel mode may limit vehicle 100 to a maximum operating speed of 5km / h, for example. Travel mode may further configure vehicle 100 to operate in the 2WS mode, wherein steering of the vehicle 100 is optionally performed at either end of the vehicle 100 using the pivot mechanism 122 of drive mechanism 108 coupled to each wheel 120 or drive unit 109. Travel mode may further enable manual adjustment of the height of vehicle 100 via, for example, hydraulic system 128.

[0053] Control mode may be selected where precise control of vehicle 100 is required, for example, during loading / unloading of vehicle 100 from a trailer or positioning vehicle 100 at a row of bushes. Control mode may limit vehicle 100 to a maximum operating speed of Ikm / h, for example. Control mode may further configure vehicle 100 to operate in the 4WS mode, wherein steering of the vehicle 100 is performed at both ends of the vehicle 100 using the pivot mechanism 122 of drive mechanism 108 coupled to each wheel 120 or drive unit 109. Control mode mayfurther enable manual adjustment of the height of vehicle 100 via, for example, hydraulic system 128.

[0054] Picking mode may be selected during harvesting of fruit using vehicle 100. That is, picking mode may be used when the users 602 are harvesting fruit via vehicle 100, for example. Picking mode may configure vehicle 100 with an operating speed of 0.5km / h, for example. The operating speed of vehicle 100 in the picking mode may be adjustable in 0. Ikm / hr increments. Picking mode may further configure vehicle 100 to operate in the 4WS mode, wherein steering of the vehicle 100 is performed at both ends of the vehicle 100 using the pivot mechanism 122 of drive mechanism 108 coupled to each wheel 120 or drive unit 109. Picking mode may further disable manual adjustment of the height of the vehicle 100, instead automatic adjustment of the height of the vehicle 100 relative to the ground surface to a preset height in mm is performed by navigation system 114.

[0055] When in the picking mode, autonomous guidance of vehicle 100 by navigation system 114 may be implemented via user input using manual controls 128.Autonomous guidance of vehicle 100 by navigation system 114 may be primarily based on sensing of the plurality of pots of the row of bushes. That is, navigation system 114 may autonomously centre the row of bushes between the first side portion 104 and the second side portion 106 of vehicle 100 by centring the sensed pots of the respective bushes between the first side portion 104 and the second side portion 106 of vehicle 100, for example.

[0056] In some embodiments, a user may provide input to the navigation system 114 via the manual controls 128 indicating whether the row of bushes to be harvested is an end row of bushes, which does not have another row adjacent to one side of the row, or a middle row of bushes, adjacent to other rows on either side.. In some embodiments, an end row of bushes is positioned adjacent to the agricultural enclosure wall. In this scenario, the navigation system 114 may implement an offset to the pots of the end row of bushes to provide clearance between the vehicle 100 and the agricultural enclosure. For example, navigation system 114 may offset the pots of the end row of bushes byabout 100mm to provide an additional 100mm of clearance between vehicle 100 and the agricultural enclosure.

[0057] The agricultural vehicle 100 is self-driving, therefore avoiding requiring another vehicle to tow it, and can facilitate the harvesting of fruit growing on a row of bushes. The vehicle 100 therefore may allow enhanced efficiency of pathing by minimising the number of passes required to allow fruit to be harvested.

[0058] The vehicle 100 is designed to fit within an industrial scale agricultural enclosure, such as a poly tunnel, and can operate in agricultural enclosures where space is limited, such as between a row of fruit bushes and the wall of the enclosure.

[0059] The vehicle 100 is configurable to carry a plurality of users to facilitate fruit harvesting, and may be operable to optimise the position of the user relative to the row of bushes, such as by adjusting the height and orientation of the user relative to the bush.

[0060] The vehicle 100 may include a navigation system operable to guide the vehicle 100 along the row of bushes. This means that the vehicle 100 may be operated in autonomous, or semi -autonomous mode, so that all users aboard the vehicle 100 can focus on fruit picking rather than driving the vehicle 100.

[0061] It will be appreciated by persons skilled in the art that numerous variations and / or modifications may be made to the above-described embodiments, without departing from the broad general scope of the present disclosure. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive.

Claims

CLAIMS:

1. A self-driving agricultural vehicle for facilitating harvesting of fruit growing on a row of bushes, the vehicle comprising: a frame defining spaced side portions joined by an elevated bridging portion, the frame shaped to receive the row of bushes between the side portions, each side portion defining at least one user position configured to carry a user to allow the user to harvest the fruit, the user positions arranged to carry users facing opposed sides of the row of bushes; a drive mechanism mounted to the frame and operable to move the vehicle along the row; and one or more containers for receiving harvested fruit, the, or each, container configured to be carried by the frame adjacent one of the user positions.

2. The agricultural vehicle of claim 1, wherein each user position includes a seat mounted to the frame.

3. The agricultural vehicle of claim 2, wherein at least one of the seats is associated with a height adjustment mechanism operable to adjust the position of the seat relative to the frame.

4. The agricultural vehicle of claim 2 or claim 3, wherein at least one of the seats is associated with a rotation adjustment mechanism operable to rotate the seat about an operatively vertical axis.

5. The agricultural vehicle of any one of claims 1 to 4, wherein the frame is dimensioned to fit within a 6m wide poly tunnel housing at least one row of bushes.

6. The agricultural vehicle of claim 5, wherein the frame defines a maximum height of 2.4 m and a maximum width of 2.5m.

7. The agricultural vehicle of claim 5 or claim 6, wherein the bridging portion is at least partially arched to allow fitting within the poly tunnel.

8. The agricultural vehicle of any one of claims 1 to 7, wherein the one or more containers are positionable on one or more of: the first side portion, the second side portion, and the bridging portion.

9. The agricultural vehicle of claim 8, wherein the one or more containers are positionable overhead the user positions.

10. The agricultural vehicle of any one of claims 1 to 9, further comprising an electric power unit configured to power the vehicle.

11. The agricultural vehicle of any one of claims 1 to 10, wherein the drive mechanism includes a plurality of pivotable wheels operable to steer the vehicle.

12. The agricultural vehicle of any one of claims 1 to 11, wherein the drive mechanism is operable to adjust the height of the frame relative to a ground surface.

13. The agricultural vehicle claim 11, wherein each of the plurality of pivotable wheels is mounted to the frame to allow displacement towards or away from the frame.

14. The agricultural vehicle of any one of claims 1 to 13, wherein the agricultural vehicle has a weight of between about 2500kg and about 3000kg.

15. The agricultural vehicle of any one of claims 1 to 14, wherein each side portion defines a plurality of user positions and the drive mechanism is operable by a user carried by any one of the user positions.

16. The agricultural vehicle of any one of claims 1 to 15, further comprising a navigation system in electrical communication with the drive mechanism and operable to autonomously guide the vehicle along the row of bushes.

17. The agricultural vehicle of claim 16, wherein the navigation system includes a global positioning system configured to determine positioning of the agricultural vehicle.

18. The agricultural vehicle of claim 16 or claim 17, wherein the navigation system includes one or more of: a depth sensing camera, an array of ultrasonic sensors, and an inertial measurement unit, to assist autonomous guiding of the agricultural vehicle.

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