Embodiments of the invention comprise a
system and method that enable robotic harvesting of
agricultural crops. One approach for automating the harvesting of fresh
fruits and vegetables is to use a
robot comprising a
machine-vision
system containing rugged
solid-state digital cameras to identify and locate the fruit on each tree, coupled with a picking
system to perform the picking. In one embodiment of the invention a
robot moves through a field first to “map” the field to determine
plant locations, the number and size of fruit on the plants and the approximate positions of the fruit on each
plant. A
robot employed in this embodiment may comprise a GPS sensor to simplify the mapping process. At least one camera on at least one arm of a robot may be mounted in appropriately shaped protective
enclosure so that a camera can be physically moved into the
canopy of the
plant if necessary to map fruit locations from inside the
canopy. Once the map of the fruit is complete for a field, the robot can plan and implement an efficient picking plan for itself or another robot. In one embodiment of the invention, a scout robot or harvest robot determines a picking plan in advance of picking a tree. This may be done if the map is finished hours, days or weeks before a robot is scheduled to harvest, or if the picking plan
algorithm selected requires significant computational time and cannot be implemented in “real time” by the harvesting robot as it is picking the field. If the picking
algorithm selected is less computationally intense, the harvester may calculate the plan as it is harvesting. The system harvests according to the selected picking plan. The picking plan may be generated in the scout robot, harvest robot or on a
server. Each of the elements in the system may be configured to communicate with each other using
wireless communications technologies.