SELECTIVELY HARVESTING FRUITS
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United States of America Patent
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Oct 11, 2016
Grant Date -
Oct 27, 2016
app pub date -
Apr 24, 2015
filing date -
Apr 24, 2015
priority date (Note) -
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Abstract
A method of selectively harvesting fruits includes generating a first series of images of a plant while the plant is moved to expose hidden fruits, identifying an object displayed in the first series of images as a suspect fruit from feature boundary data defined by color regions, comparing a color parameter of the suspect fruit to a criterion associated with a ripeness, advancing an automated picker toward the suspect fruit based on a determined position of the suspect fruit and while monitoring a proximity sensor of the automated picker, detecting a color of the impediment and confirming that the impediment is a fruit, operating the automated picker to pick the fruit from the plant, and while the automated picker is operated to pick the fruit, generating a second series of images of one or more additional plants while the one or more additional plants are moved to expose additional fruits.
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