CROSS-REFERENCE TO RELATED APPLICATIONS

{0001| This application claims the benefit of U.S. Provisional Application No. 61/919,1 68, tiled December 20, 20J3, U.S. ^' Provisional Application No, 61/919, 1.68 is incorporated herein by reference in its entirety.

TECHNICAL FIELD

{0002} This disclosure relates generally to crop harvesting, and relates more particularly to automated systems for selectively picking crops fro plants.

BACKGROUND

{0003} Various .crops _* such as strawberries, have been harvested typically using manual labor due to the delicate nature of the crops and the selective nature of the harvesting. For example, laborers perform the- harvesting by selectively picking ripe crops from the plants while leaving, unripe crops on the plants for later harvesting whe they have ripened. The high seasonal detnand for laborers and the limited labor force has resulted in increased labor costs and crops being left ttnpicked. Further,, labor shortages have .resulted in portions of fields bein left implanted in order to avoid the effort, expense, and waste involved with growing unpicked crops..

BRIEF DESCRIPTION OF THE DRAWINGS

[00041 To facilitate further description of the embodiments, the following drawings are provided in w ich:

{0005} FIG. Ϊ illastraies a top, front, left side perspective view of a harvesting robot, according to a embodiment;

[0006} FIG, 2 illustrates a bottom, back, right side perspective view of the harvesting robot of FIG. i ;

[0007} FIG. 3 illustrates a top. front, right side perspective view of a picking apparatus, according to the embodiment of FIG. 1 ;

[0008} FIG. 4 illustrates a fron view of a gripper of the picking apparatus of FIG . 3 in an open position;

[0009} FIG. 5 illustrates a Front view of the gripper of FIG. 4 in a closed position;

{0010} FIG, 6 illustrates a top, front, left side perspective view of a carriage assembly, showing a stationary cam, and co vers of a top base, a guide assembly _* and a gear housing,, according to the -embodiment of FIG. 1 ;

[0011J FIG. 7 illustrates a bottom, front left side perspective vie of variou internal components of the carriage assembly of FIG. 6, and not showing the stationary cam and the covers of the top base, the guide assembly, and the gear housing ..of FIG. 6; (Q012J FIG. 8 illustrates a rear view of the carriage assembly of FIG. 6, showing the stationary cam and the covers of the top base, the guide assembly, and the gear housing of FIG. 6 ^' , and showing various internal coiapone.ats.ia the gear housing;

}00l3j FIG. 9 illustrates a top, rear, left side perspective view of an actuation cam, an actuator, and a stationary cam of the carriage assembly of FIG, 6;

[0014} FIG. 10 illustrates a rear view of the actuation cam, actuator, and stationary cam of FIG, 9, and the picking apparatus of FIG. 3 with a gripper in the picking position being in the open position;

[0015! FIG. 1 1 illustrates a rear, right side perspective view -of the actuation earn, actuator, and stationary cam of FIG. 9. and the picking apparatus of FIG. 3 with the gripper of FIG. 10 in the picking position being in. the closed position;

{0016j FIG. 12 illustrates a bottom, rear, right side perspective view of a carrier assembly, according to the embodiment of FIG. ).;

[0017| FIG. 13 illustrates a top view of the harvesting robot of FIG. ί, showing the carrier assembly of FIG. 1.2 coupled to the carriage assembly of FIG. 6 and the picking apparatus of FIG. 3;

[00.18 ^' J FIG. 14 illustrates a bottom, front, right side perspecti ve view of a foliage displacement mechanism, according to another embodiment;

0019| FIG. 15 illustrates a right side view of the harvesting robot of FIG, 1 and the foliage displacement mechanism of FIG. 14 hovering above a plant and a growing bed, with the foliage disp lacentent mechanism in a retracted position;

[0020] FIG. 56 ^'■ illustrates a top, rear view of the foliage displacement mechanism of FIG. 1,4 hovering above the plant of FIG. 15 in an extended position;

[0021 } FIG; 17 illustrates" a from view of a computer system that is suitable for implementing various embodiments for implementing a processin unit, according to an embodiment of the carrier assembly of FIG. 1.2;

[0022] FIG. 18 illustrates a representative block diagram of an example of the elements included in the circuit boards inside a chassi of the computer system of FIG. 17; and

[0023} FIG. 19 illustrates a flow chart for a method of providing a device for selectively harvesting crops on a plant, according to another embodiment

[0024! For simplicity and clarity of illustration, the drawing figures illustrate the general manner of construction, and descriptions and details of well-known features and techniques ma be omitted, to avoid unnecessarily obscuring the present disclosure. Additionally, elements in the drawing figures are not necessarily drawn to scale. For example, the dimensions of some of the elements in the figures may be exaggerated relative to other elements to help improve understanding, of embodiments of the present, disclosure. The same, reference numerals in different figures denote the same elements.

f 0025} The terras "first," "second," "third," "fourth," and the like in the description and irs the claims, if -any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore., the terms- "include," and "have," and any variations thereof are intended to cover a .non-exclusive inclusion, such that a process, method, system, article, device, or apparatus that comprises a list of elements is not necessarily limited to those elements, but may include other elements not expressly listed or inherent to such process, method,- system, article, device, or apparatus.

|0026] The terms "[eh.," "right," "front," "back." "top," "bottom." "over," "under," and the like in the description and in the claims, if any, are used for descriptive purposes and not necessarily for describing permanent -relative positions. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the apparatus, methods, and/or articles of manufacture described herein are, -for exam le, capable of operation, in other orientations than those illustrated or otherwise described herein.

[0027| The terms "couple," "coupled," "couples," "coupling," and the like should be broadly understood and refer to connecting two or more elements mechanically and/or otherwise. Two or more electrical elements may be electrically coupled together, but not be mechanically or otherwise coupled together. Coupling may be for any length of time. e.g.. permanent or semipermanent or onl for an instant. "Electrical coupling" and. the like should be broadly understood and include electrical coupling of all types. The absence of the word "removably," "removable," and the like near the word "coupled," and the like does not mean that the coupling, etc in question is or is not removable.

|0028} As defined herein, two or more elements are "integral" if they are comprised of the same piece of material As defined herein, two or more elements are "non- integral" if each is comprised of a different piece of material.

100291 As defined herein, "approximately" cart,- in some embodiments, mean within plus or minus ten. percent of the stated va lue, In other embodiments, "approximately" can mean within plus or minus five percent of the stated value. In further embodiments, "approximately" cars mean within plus or minus three percent, -of the stated value. In yet other embodiments, "approximate ly" can mean within plus or minus one percent of the stated value.

DESCRIPTION OF EXAMPLES OF EMBODIMENTS [0030J Various embodiments include a dev ce for selectively harvesting crops on a plant. The device can include a picking apparatus. The picking apparatus can be rotatabfe around a central axis. The picking apparatus can include a plurality of grippers each spaced apart and extending radially from the central axis, and each configured to pick a different individual one of the crops. Each of the plurality of grippers can be adjustable betwee an open position and a closed position. Each of the plurality of grippers can be configured in the open position to open around the individual crop. Each of the plurality of grippers can be configured in the closed position to se ^' cttrely hold the individual crop when the picking apparatus is rotated around the central axis.

[0031] A number of embodiments include a method of providing a device for selectively harvesting crops on a plant. The method, can include providing a picking apparatus. The picking apparatus can be rotatabb around a central, axis. The picking apparatus can include a plurality of grippers each spaced, apart and extending radially from the central axis, and each configured to pick a different individual one of the crops. The method also can include providing a carriage assembly. The carriage assembly can include a first rotational mechanism. The picking apparatus can. be configured to be coupled to the first rotational mechanism. The first rotational mechanism can be configured to rotate the picking apparatus around the central axis in a rotational path with respect to the carriage assembly. Each of the plurality of grippers can be adjustable between an open position and a closed position. Each of the plurality of grippers can be configured in the open position to open around the individual crop. Each of the plurality of grippers can be configured in the. closed position to securely hold the indi vidual crop when the picking apparatus is rotated around the central axis,

[0032] Some embodiments include a foliage displacement mechanism for -facilitating. harvesting crops on a plant. The foliage displacement mechanism ca include a back surface configured to extend normal to a growing bed of the plant. The foliage displacement- mechanism also can include a base configured to extend parallel io the growing bed from the back surface toward the plant. The foliage displacement mechanism further can include a curved surface extending .from the base upward to the back surface. The foliage displacement mechanism also can include a channel bisecting a front portion of the base and extending upward through the curved surface, the channel being configured to surround a center of the plant when the foliage displacement mechanism is moved toward the plant. The foliage displacement mechanism can be configured, when mo ved toward the plant, to mo ve the foliage upward and toward the center of the plant to expose at least a portion of the crops.

[00331 Turning to the drawings. FIG. 1. illustrates a top, front, left side perspective view .of a harvesting robot 100. FIG. 2 illustrates a bottom, back, right side perspective view of harvesting robot 100. Harvesting robot 100 is merely exemplary; and embodiments of the harvesting robot are not limited to embodiments presented herein. The harvesting robot can be employed in many different embodiments or examples not specifically depicted or described herein, In many embodiments, harvesting robot 100 can include a picking apparatus 1 1.0, a carriage assembly 140, and/or a carrier assembly 170. In several embodiments, harvesting robot 100 can be configured to harvest crops from plants, in some embodiments, harvesting robot 100 can be used to harvest crops such as strawberries from strawberry plants- In. the same or other embodiments, harvesting robot 100 can be used to harvest crops such as tomatoes, peppers (e.g. , bell peppers, chili peppers, etc. }, oranges, and/or other suitable crops. In a number of embodiments, harvesting robot 100 can be configured to selectively pick crops (e.g., ripe crops) from plants, and leave other crops (e.g., unripe crops) on the plants.

{0034} Turning ahead in the drawings, FIG. 3 illustrates a top, front, right side perspective view of picking apparatus 1 10. Picking apparatus i 10 is merely exemplary, and embodiments of the picking apparatus are not limited to embodiments presented, herein. The picking apparatus can be employed in many different embodiments or examples not specifically depicted or described herein, in many embodiments, pickin apparatus .1 10 can be roiatable around a central axis 31 1. In a number of embodiments, picking apparatus 1 10 can include one o more grippers, such as grippers 312, 313, .31.4:, and/or 315, In. various emb diments, each of the grippers (e.g., 312- 315) can be used to pick a different individual one of the crops. For example, gripper 312 can be used to pick a first strawberry;, gripper 313 can be used to pick a second strawberry; gripper 314 can be used to pick a third strawberry; and/or gripper 315 can. be used to pick a fourth strawberry. In a number of embodiments, picking apparatus 110 can include four grippers (e.g. , 332-315), such as shown, in FIG. 3. In other embodiments, the number of grippers {e.g., 312- 315) on picking apparatus 110 can be one, two. three, five, six, seven, eight, nine, ten, or another suitable number of grippers. in some embodiments, the number of grippers can be even numbered. In other embodiments, the number of grippers. can be odd numbered. In several embodiments, the number of grippers (e.g., 312-3.15) on picking appara tu 1 10 can be based on the average number of individual crops (e.g., strawberries, etc.) expected to be har vested from a plant, the time it takes to offload the individual crops from the grippers (e.g., 312-315). a compromise (such as an optimal compromise) between the maximum number of individual crops expected to be harvested and. the time it takes to offload the individual crops, and/or other suitable factors. Each gripper can be identical to the other grippers in pickin apparatus 110.

[0.035] In a number of mbodiments, the grippers (e.g., 312- 15) can be spaced apart and/or can extend radially from central axis 311. In many embodiments, the grippers (e.g., 31.2-315) can be facing radially outwards from a rotational circumference of picking apparatus 1 10. En some embodiments, the gripper can be equally spaced apart on picking apparatus 110. In several embodiments, picking apparatus 1 10 can include a frame 316, which can include one or more spokes, such as spokes 317, 318, 319, and/or 320. To various embodiments, each gripper (e.g.,

312-315} can be attached to a. different spoke (e.g., 317-320). For example, as shown. ^' in FIG. 3, gripper 312 can be.- attached to spoke 317; gripper 313 can be attached to spoke 3.18; gripper 3.1.4 can be attached to spoke 319; -and or gripper 315 cast be attached to spoke 320, in other embodiments, frame 3.16 can be a solid wheel with or without spokes, and the grippers (e.g., 312-315) can be attached to the solid wheel of frame 316. in various embodiments, frame 316 can include an attachment mechanism, such as attachment mechanism 321. In many embodiments, attachment mechanism 321 can be used to rotate picking apparatus 110 around central axis 3 ! 1.

{0036} Turning ahead in the drawings, FIG. 4 illustrates a front view of gripper 312 in an open position. FIG. 5 illustrates a front view of gripper 312 in a closed, position. Gripper 31.2 is merely exemplary, and embodiments of the gripper are not limited io embodiments presented herein. The gripper can be employed in many different embodiments or examples not specifically depicted or described herein. In. many embodimenis:, each of the other grippefs (e.g., 3 ί 3-315 (FIG. 3)) on picking apparatus 110 (FIGs, 3) can be identical or similar to gripper 312, In. several embodiments, gripper 31.2 can be adjustable, between the open position, as shown in FIG. 4, and the closed position, as shown in FIG. 5, In a number of embodiments, gripper 312 can be configured hi the open position (as shown in FIG, 4) to open around an individual crop, such as a single strawberry growing on a strawberry plant, or another: suitable crop. In many embodiments, gripper 312 can be configured in the closed position, (as shown in FIG. 5) to securely hold the individual crop, such as _: strawberry 535, when picking apparatus 110 (FIGs. 1-3} is moved and/or rotated around central axis 11 (FIG. 3).

10037} In various embodiments, gripper 3.12 can include a first, claw piece 410 and a second claw piece 420. In other embodiments, gripper 12 can include a single claw or scoop piece and one or more support pieces. In yet other embodiments, gripper 312 can include three or more claw pieces. In many embodiments, first cla piece 410 can include a first claw frame 41 1 and/or second claw piece 420 can include a second, claw frame 421 , In some embodiments, first claw frame 41 1 can provide rigid support for first claw piece 410, and/or second aw frame 421 can provide rigid support for second claw piece 420. In a number of embodiments, first cla frame 41 1 and/or second claw frame 421 can be made of a suitable rigid polymer (e.g., polycarbonate (PC), acrytonatrile butadiene styrene (ABS)), metal (e.g., aluminum), or another suitable material

{0038} In many embodiments, first claw piece 410 can include a first claw surface 412. and/or second : ^: claw piece 420 can include a second claw surface 422. In a number of embodiments. first claw surface 412 can be attached to and/or can at least partially cover first claw frame 41 1 , aftd or second claw surface 422 can be attached to and/or can at least partially cover second claw frame 421. In a number of embodiments, first claw surface 412 and/or second claw surface 422 can be made of a soft and/or elastic material, such as silicone rubber, thermoplastic elastomer (TPE) (e.g., thermoplastic polyurethane (TPU);), rubber, foam, neoprene, or another suitable material that can provide a gentle, soft, and/or compliant surface for contacting, without damaging, the crops, and/or that can be suitable for contact with food. For example, first claw surface 412 and/or second claw surface 422 can be made of 20 A Shore duronieter silicone rubber. First claw surface 412 and/or second claw surface 422 can be within a range of dtirometer, such as below 50 A Shore duro neter.

{0039} In many embodiments, first claw piece 410 can include a first tip 413, and/or second claw piece 420 can include a second tip 423. In many embodiments, first tip 413 and/or second tip 423 can be wedge-shaped and/or configured to be inserted between crops to separate an individual crop from proximate crops (e.g.,. a cluster of crops) in order to pick the individual crop without damaging the proximate crops. For example, if a crop to be picked is located between two other nearby crops, first tip 413 can be configured to be wedged between the crop to be picked and another one of the nearby crops, and second tip 423 can be configured to be wedged between the crop to be picked and the other one of the nearby crops, which can separate and/or isolate the individual crop to be picked from the nearby crops without damaging the nearby crops.

{0040} In some embodiments, first claw piece 410 can include a retention ^' surface 518, and/or second claw piece 420 can .include a retention surface 528. Retention surface. 518 attd or retention .surface 528 can be configured to securely hold the crop (e.g., strawberry 535) in gripper 31 2. In several embodiments, such as shown in FlGs. 5, retention, surface 518 and/or retention, surface 52$ can each include a concave surface, which can at least partially surround the crop (e.g., strawberry 53.5) to facilitate securely holding the crop.

[0041 J In several embodiments; gripper 312 can be spring biased to be in the open position, as shown in FIG, 4. In a number of embodiments, gripper 312 can include a displacement block 430, which, can be coupled to spoke 317, and which can. be configured to slide radially inward and outward along spoke 317, In several embodiments, displacemen block 430 can include a pin 431 , which ca facilitate coupling displacement block 430 to spoke 317. In man embodiments, spoke 317 can include a compression, spring 432, which can compress when displacement block 430 is adjusted outward, along spoke 317 to adjust gripper 312 to the closed position, as shown in FIG. 5. and which can be biased to press displacement block 430 inward along spoke 317 to adjust gripper 312 to the open position, as shown in FIG. 4. In various embodiments, gripper 3.12 can include one or more spring guards, such as spring guard ^' 433 and/or spring guard 434,, which, can cover and/or protect compression spring 432.

|O0 2| I» many embodiments,, a first claw piece 410 can include a first displacement mounting portion 416 and a spoke mounting portion 417, and/or second claw piece 420 can include a second displacement mounting portion 426 and a spoke mounting portion 427, in a number of embodiments, spoke mounting portion 417 and/or spoke mounting portion.427 can be hingedly coupled, to spoke 317, such as at a hinge 419 and/or a hinge 429, respectively. In several embodiments-, first displacement mounting portion 416 and/or second displacement ^' mountmg portion 426 can be liiikedly attached to displacement block 430, such that adjusting the position of displacement block 430 can adjust first claw piece 410 and/or second claw piece 420 between the open position, as shown in FIG. 4, and the closed position, as shown in FIG. 5, such as by rotating first claw piece 410 around hinge 41 and/or rotating second claw piece 420 around hinge 429.

{00431 In many embodiments, gripper 312 can include a first strip 414, a first linkage piece 415, a second strip 424,, and/or a second linkage piece 425. First strip 414 and or second strip 424 can be coupled to displacement block 430. First linkage piece 415 can be liingedly coupled to first displacement, mounting portion 41.6. at a hinge 418, and can be coupled, such- as slidably coupled, to first, strip 414. Second linkage piece 425 can be hingedly coupled to second displacement mounting portion. 426 at a hinge 428, and can be coupled, such as s _. Hdably coupled, to second strip 424. In many embodiments, firs strip 4.1 and/or second strip 424 can be made of a flexible and/or abrasive-resistant semi-rigid material, such as uitra-high-raokcular- weight (UH W) polyethylene ( UH WPE). As shown in FIG s..4-5, as, displacement block 430 is adjusted radially outward on spoke 317, first strip 1.4 can push first elaw piece 410 forward: to rotate around hinge 419 to the closed position, and first linkage piece 415 can slide outwardly along first strip 414 away from displacement block 430 as the position of first displacement mounting portion 416 is adjusted. Similarly, as displacement block 430 is adjusted radially outward on spoke 317, second strip 424 can push second claw piece 420 forward to rotate around hinge 429 to the closed position, and second, linkage piece 425 can slide outwardly along second strip 424 away from displacement block; 430 as the position of second displacement mounting portion 426 is adjusted,

[00441 In several embodiments,, as displacement block 430 is adjusted radially outward on spoke 317, first strip 414 and/or second strip 424 can bend backward (i.e., toward a center of frame 316 (FIG. 3)) to account for first claw piece 410 a«d/0.r second claw piece 420, respectively, not fully pushing forward in their rotation around hinge 419 and/or hinge 429, respectively. For example, if gripper 312 is ut ilized to pick a- large-size crop, the size of the crop can prevent first claw piece 410 and/or second claw piece 420 .from being Billy pushed forward in their rotation around hinge 419 and/of hinge 429, respectively. When .displacement block 430 is adjusted radially outward on spoke 31.7, first strip 414 and/or second strip 424 can provide spring- loaded bias on first claw piece 410 and/or second claw piece 420, .respectively, to securely hold a crop (e.g., strawberry 535) in gripper 312, In a number of embodiments, the spring- loaded bending of first strip 414 and/or second strip 424 can. advantageously allow gripper 312 to pick crops of various different sizes and securely hold those different- sized crops without damaging the crops. For example, -gripper 312 can be configured to pick strawberries ranging from small-sized strawberries to large-steed strawberries.

{0045} Turning ahead., in the draw tags, FIG. 6 illustrates a top, front, left side perspective view of carriage assembly 140, show ing a stationary cam 669, and covers of a top base 641, a guide assembly 651, and a gear housing 652. FIG. 7 illustrates a bottom, front, left side perspective view of various internal components of carriage assembl 140 _» and not showing stationary cam. 669 and the covers of top base 641 , guide assembly 651. and gear housing 652. FIG. 8 illustrates a fear view of carriage assembly 340, showins stationary earn 669 -and the covers of to base 641, guide assembly 651 , and gear housing 652, and. showing various internal components in gear housing 652. Carriage assembly 140 is merely exemplary, and embodiments of the carriage assembly are not limited to embodiments presented herein. The carriage assembly can be employed in many different embodiments or examples not specifically depicted or described herein, in .many embodiments, carriage assembly can include a carriage support assembly 640 and a carriage 650. In many embodinients, carriage 650 can be vertically adjustable with respect to carriage support assembly 640.

(0046! I» a number of embodinients, carriage support assembly 640 can include top base 641 and/or a bottom base 642. In -several embodiments, carriage support assembl 640 can include a left guide pole 643 and/or a right guide pole 644. which can each, extend from, top base 641 to bottom base 642. In some embodiments carriage support assembly can include a. vertical adjustment shaft 645, In many embodiments, vertical adjustment shaft 645 can extend from top base 641 to bottom base 642, and can rotate with respect to top base 6 1 and bottom base 642. In a number of embodiments, vertical, adjustment shaft 645 can be a threaded shaft, such as a lead screw. In a number of embodiments, top base 64! can include a gear enclosure 647, in various embodinients, carriage support assembly 640 can include a motor 646, Motor 646 can be a stepper motor or another suitable motor, in a number of embodiments, motor 646 can control the rotation of vertical adjustment shaft 645. For example, as shown in FIG. 7, which shows the components within gear enclosure 647 (FIG. 6. 8) and which does not. show the cover of gear enclosure 647 itself motor 646 can be coupled to a gear 746 Inside first gear enclosure 647., and vertical adjustment shaft 645 can be coupled to a gear 745 inside gear enclosure 647 (FIG. 6, 8). Gear 745 can be positioned to engage with gear 746 within gear enclosure 647 (FIG. 6, 8). By rotating vertical adjustment shaft 645, motor 646 can control the vertical position of carriage 650,

[6047J In several embodiments, carriage 650 can include guide assembly 651. As shown in FIG- 7, which shows the components within guide assembly 651 and which does not show the cover of guide assembly 651 itself, guide assembly 65 i can include left linear bearings 750 and/or right linear bearings 751. In various embodiments, left linear bearings 750 can be guide the vertical motion of carriage 650 along left guide pole 643, and/or right linear bearings 751 can guide the vertical motion of carriage 650 along fight guide pole 644, In several embodiment^ carriage assembly 140 can include one or more springs, such as spring 648 and spring 849, which can extend from carriage 650 to top base 641 of carriage support assembly 640. Spring 648 and spring 849 can he extension springs, which ca beneficially support carriage 650 to decrease the force required to vertically lift carriage 650 with respeci to carriage support assembly 640.

{0048} In many embodiments, carriage- 650 can include gear housing 652. As shown in FIG, 7, which shows th components inside gear housing 652 and which does not sho the cover of gear housing 652 itself carriage 650 can include a carriage position piece 752, which can be attached to vertical adjustment shaft 645 -and can be configured to vertically adjust the position of the carriage upon rotational movement of vertical, adjustment shaft 645. In several embodiments, -carriage position piece 752 can be a lead screw ^' nut that has a threading corresponding to vertical adjustment shaft 645.

{00 91 » a number of embodiments, carriage 650 can include a rotational shaft 655. Rotational shaft 655 can be configured to couple to picking apparatus M O (FIG, 1 -3). For example, rotational shaft 655 can. attach to attachment mechanism 321 (FIG. 3). In many embodiments, carriage 650 can include a motor 654. Motor 654 can be a. steppe motor or another suitable motor. In several embodiments, motor 654 can control the rotation of a rotational shaft 655 and/or picking apparatus 1 10, For example, motor 654 ca be configured to control the rotational positioning of the grippers (e.g., 312-315 (FIG. 3)) on. picking apparatus 1 10 (FIGs. I- 3). As shown in FIG. 8, which shows various internal components within gear housin 652 (FIG, 6), motor 654 can be coupled to a gear 854 inside gear housing 652 (FIG, 6), and rotational shaft 655 can be coupled to a gear 855 inside gear housing 652 (FIG. 6). Gear 854 can be positioned to engage with gear 855 within, gear housing 652 (FIG. 6), For example, gear 854 can be a worm, and gear 855 can be a corresponding worm gear. By rotating rotational shaft 655, motor 654 can control the rotational position of picking apparatus 110 (FIG. 1 -3), 0050J In several embodiments,, carriage 650 can include stationary cam 669 (FIGs. 6, S, not shown in FIG. 7). In a number of embodiments, rotational, shaft 655 can pass through a central region of stationary cam 669. In many embodiments, stationary earn. 669 can facilitat controlling the adjustment position (e.g., open position, closed position) of the grippers {e.g.,., 312-315 (FIG. 3 ) on picking apparatus 110 (FIGs. 1-3) as the grippers (e.g., 312-315 (FIG. 3)) rotate around central axis 31.1 (FIG, 3), as shown in FIGs. 10- 1 1 and described below in greater detail

(0051} la some embodiments, carriage 650 can include a actuation cam 660. Actuation cam 660 cat? be configured to facilitate controlling the adjustment position (e.g., open position, closed position) of the grippers (e.g., 312-315 (FIG. 3)} 035 picking apparatus 110 (FIGs. 1-3) as each of the grippers (e.g., 312-315 (FIG. 3)) are positioned above and utilized to pick a crop, as shown in FIG. 10-11 and described below in greater detail. In many embodiments, actuation cam 660 can be. a snail drop cam. In various, embodiments, carriage 650 ca include a moto 65.3. Motor 653 can be a stepper motor or another suitable motor. In many embodiments, motor 653 can be coupled to and/or can control, the rotation of actuation cam 660

{0052} In. some embodiments, carriage 650 can include as actuator 66 ! , As shown in FIG. ?, which shows components of carriage 650 (FIGs. 6, 8) with stationary cam. 669 (FIGs. 6, S) removed, actuator can include a drive portion 761 , which can fit- vertically between left actuator bearings 766 and right actuator bearings 767 on carriage 650 (FIGs. 6, 8), and can adjust vertically to transfer the control, position ofacluation cam.660 to the grtpper (e.g., 3.12-3 1.5 (FIG,. 3 )), which can adjust the adjustment position (e.g. , open position, closed position) of the gripper (e.g;, 312-315 (FIG. 3)), as shown in FIGs. 3.0-1 1 and described below in greater detail In various embodiments, drive portion 761 can include a sliding slot 764, which can allow actuator 66 i to surround rotational shaft 655, and which ca allow vertical movement of actuator 66.1 with respect to rotational shaft 655. In a number of embodiments, actuator 663 can include guide portions 762, which can each fit horizontally between, left actuator bearings 766 and right: actuator bearings 767, respectively. For example, guide portions 762 can guide the vertical adjustment of actuator 661 between, and prevent the vertical, movement beyond, the top bearings and bottom bearings of left bearings 766 and/or right bearings 767, In certain embodiments guide portions^ 762 can include attachment pieces 763, which can attach actuator 66! to attachment bases 765 on gear housing 652 (FIGs. 6, 8) of carriage 650 (FIGs. 6, 8) via springs (e.g., extension springs) or other suitabl elastic components, in order to bias actuator 661 in a vertically upward position to engage with actuation cam 660.

[0053} Turning ahead in the drawings, FIG. 9 illustrates a top, rear, left side perspective view of actuation, cam 660, actuator 661, and stationary cam 669. Actuation cam 660. actuator 661, and. stationary cam 669 are merely exem lary, and embodiments of the actuation -earn, actuator, and ^' stationary earn, are not limited to embodiments presented herein. The actuation cam, actuator, and stationary earn can be employed in many different embodiments ox examples ot specifically depicted or described herein. In many embodiments, actuator 66 J can include a cam interface piece 960, which can follow the shape of actuation cam 660 to adjust the position of actuator 661 . in several embodiments, actuation cam 660 can be attached to motor 653 (FIGs. 6-8} at rotation point 961, and actuatio cam 660 can rotate around rotation point 961. In many embodiments-, -actuation, cam 660 can rotate i a counter-clockwise direction, as viewed from the rear perspective shown FIG. 9. As actuation cam 660 rotates, cam interface piece 960 can move along actuation cam 660 from a base point 962 of actuation cam 660 to a peak point 963 of actuation cam 660, which can push actuator 66.1 vertically downward. As actuation cam 660 rotates further, cam interface piece 960 can drop back from peak point 963 to base point 962. |0054} In several embodiments, actuator 661 can -include gripper interface portion 969, which can interface with a gripper (e.g., 312-315 (FIG. 3)) on. picking, apparatus 110 (FIGs. 1-3) to adjust the adjustment position of the- gripper (e.g., 31.2-315 (FIG. 3» between the open position (as shown in FIG. 4) and the closed position (as shown in FIG, 5), The gradual, continuous increase of actuation cam 660 can beneficially allow motor 653 (FIGs. 6-8) to precisely control the verticai position of actuator 661 , which can advantageously allow motor 653 to precisely control the adjustment position of the gripper (e.g., 312-315 (FIG. 3)) on picking apparatus 1 10 (FIGs. 1-3). For example, motor 653, actuation, cam 660, and actuato 661. can be used to precisely adjust the position of first tip 413 (FIGs. 4-5) of first claw piece 410 (FIGs. 4-5) and second tip 423 (FIGs. 4-5) of second claw piece 420 (FIGs, 4-5) in. order to fit around an individual crop to be picked, and to separate and/or isolate the individual crop to be picked from the other nearby crops without damaging the nearby crops.

f(K 5| In number of embodiments, stationary cam. 669 can include a circular slot 968, which can be configured to surround rotational shaft 655 (FIGs. 6-7). In several embodiments, stationary cam 669 can have a fixed position with respect to carriage 650 (FIGs. 6. 8), and the grippers (e.g., 312-315 (FIG. 3)) on picking apparatus 1 10 (FIGs. 1-3) can rotate around stationary cam 669. In many embodiments, the rotational path of stationary earn 66 can include a first portion 964. Stationary cam 669 can be configured to hold the grippers (e.g., 3.12- 3.15 (FIG. 3)) on picking apparatus 1 .10 (FIGs. 1 -3) in a closed position (as shown in FIG. 5) along first portion 964 of the rotational path. In several embodiments, the rotational path, of stationary cam 669 can Include a second portion 965. In a number of embodiments, second portion. 965 of the rotational path, can include a re lease position 967 and a picking position 966. Stationary cam 669 can be configured, to allo the grippers (e.g., 312-315 (FIG, 3.)) on picking apparatus. 1 10 (FIGs. 1-3) to open to the open, position (as shown in FIG. 4) along second portion 965 of the rotational path from release position 967 to picking position 966.

100561 Turning ahead in the drawings, FIG. 10 ^' illustrates, a rear view of actuation earn 660, actuator 661 , stationar earn 669, and picking apparatus 110 wit gripper 312 in picking position 966 being in the open position, FIG. 1 1 illustrates a rear, right side perspective view of actuation cam 660, actuator 66 I . stationary cant 669, and picking apparatus 110 with, gripper 312 in picking position 966 being in the closed position. In a number of embodiments, gripper 312 can include a displacement pin. 1032 and/or a hearing 1012. In a number of embodi ents, displacement pin 1032 can be identical to or attached to pin 431 (FIGs. 4-5). In many embodiments, displacement pin 1032 can be coupled, to displacement block 430 (FIGs, 4-5), such that adjusting displacement pin 103.2 can adjust displacement block 430. In many embodiments-, bearin 1 12 can be centered on displacement pin 1032, and can rotate along the rotational, path of stationary cam 669. Similarly, gripper 31.3 can include a _. displacement, pin 1033 and or a bearing 1013; gripper 314 can include a displacement phi 1034 and/or a bearing 1014; and/or gripper 31.5 can include, a displacement pin 1035 and/or a bearing .1015. Displacement pin 1033> displacement pin 1034, and/or displacement pin 1035 can be similar or identical to ^' displacement pin 1032., Bearing 1.013, bearing 1014, and/or bearing 1.015 can be similar or identical to bearing 1012.

[0057): In many embodiments, motor 654 (FIGs. 6-8) can rotate picking apparatus 110 in a cotioter-e ckwise direction, as. viewed from the rear perspective shown in FlGs. 10-1 1. Gripper 12 ©an be rotated to picking position 966 of second poition 965 of the rotational path of the gr ^' ippers (e.g., 12-31.5 (FIG. 3)) along stationary cam 669. In many embodiments, stationary earn 669 can include a stopping edge 1066, which can stop bearing 1012 in "the rotation of picking apparatus 1 10 to stop gripper 12 at picking position 966. In many embodiments, when gripper 3 12 is in picking position 966, gripper 3.1 can be facing downward to allow gripper 312 to pick a crop ^' from a growing ^' bed. When gripper 312 is rotated, to picking position 966, actuation cam 660 can be rotated such that cam interface piece 960 of actuator 661 can be at base point 962 of actuation cam 660 and actuator 661 is adjusted upwards (e.g., retracted) with respec to stationary cam 669. When actuator 661 is in the retracted position, as shown in FIG. 10, gripper interface portion 969 of actuator 661 can be at or proximate to second portion 965 of stationary cam 669, such that gripper 312 can remain in the open position.

[0058J In several embodiments, as gripper 12 rotates toward picking positio 966, gripper 315 can rotate along the rotational path of stationary cam 669 from first portion 964 to second portion 965 at release position 967. In many embodiments, stationary cam 669 can include a release edge 1067, which can allow gripper 3 5 to gradually open from the closed position (as shown in FIG. 5) to the open position (as shown in FIG. 4} at release position 967. When gripper 3.1 is rotated to release position 967 and opens to the open position, gripper 315 can release a crop that it is holding, such as in a collection device. When gripper 312 is at picking position 966 and gripper 3.1.5 is at release position 967, grippers 313 and 314 can be positioned along first portion 964 of the rotational path of stationary cam 669,, which can hold grippers 313 and 314 in the closed position, as shown in FIG, 10, For example,, grippers 313 and 314 can each be holding a crop,

(0059} la many embodiments, at picking position 966 and hi the open position, as shown in FIG. 10,. gripper 312 can be ready to pick a crop from a plant. In several embodiments, carrier 170 (FIG. 1.) can move carriage support assembly .40 stieh that gripper 31.2 is positioned over the crop to be picked. Motor 653 (FIGs. 6-8} can rotate actuation cam 660 to engage gripper interface portion 969 of actuator 661 with displacement pin 1032 of gripper 312 to -adjust the position of first claw piece 410 {FIGs. 4-5) and second claw piece 420 (FIGs.. 4-5 ) of gripper 312 in order to fit around the individual crop to be picked. For example, if the crop is a larger, such as a large-sized strawberry, gripper 31.2 can be set to a wider openin in the open position, and if the crop is smaller, such as a small-sized strawberry, gripper 31.2 can be set t a narrow opening in the open position, which ca allow gripper 312 to separate -and 0r isolate the individual crop to be picked from the other nearby crops without damaging the nearby crops.

[00601 When gripper 312 is adjusted to the appropriate opening width for the crop to be picked, carriage support assembly 140 can. lower carriage 1.50 such that firsi claw piece 410 (FIGs, 4-5) and second cla piec 420 (FIGs. 4-5) of gripper 312 can surround the crop to be picked. Motor 653 (FIGs. 6-8) can rotate actuation, cam 660 such that cam interface piece 960 can move along actuation earn ^' 660 to peak point 963, which can push extend actuator 661 to an extended position, as shown in FIG. 11. As actuator 661 is extended, gripper interface portion 969 of actuator 661 can push displacement pin 1032 to adjust the position of gripper 31.2 to the closed position (as shown in FIG. 1.1 ). When gripper 312 is in the closed position, bearing 1012 of gripper 12 can be extended beyond stopping edge 1066 of stationary cam 669. suc h that gripper 312 can be rotated along First portion 964 of the rotational path of stationary cam 669, In many embodiments, gripper 312 can securely hold the picked crop as gripper 312 rotates along first portion 964. After gripper 312 picks the crop, motor 654 (FIGs, 6-8) can rotate picking apparatus J .10 such that gripper 315 is rotated to picking position 966. Although picking apparatus 1 10 is shown with 4 grippers (e.g., 312-31.5), picking apparatus 110 can include fewer or additional grippers, and first portion 964 and second portion 965 of the rotational path of stationary cam 669 can be adjusted accordingly. [0061j Turning ahead in. the drawings, FIG. 12 illustrates a bottom, rear, right side perspective view of carrier assembly 170. FIG. 13 illustrates a top view of harvesting robot 1 00, showing carrier assembly 170 coupled to carriage assembly 140 (FIGs, ^" 1-2, 6-8) and picking apparatus M 0, Carrier assembly .170 is merely exemplary, and embodiments of the carrier assembly are not limited to embodiments presented herein. The carrier assembly can be employed in many different embodiments or examples not specifically depicted or described herein, la several embodiments, carrier assembly 170 can include a mounting bearing 1274. in many embodiments-, carrier assembl 170 and/or harvesting robot 100 can be mounted above a plant, to be harvested at mounting bearing 1,274. In a number of embodiments, mounting bearing 1274 can be a geared slewing bearing, which can be used to rotate carrier assembly 170 and/or harvesting robot 100 with respect to the plant. For example, harvesting robot 100 can rotate in. a clockwise and/or counterclockwise direction, as viewed from the top perspective shown FIG. 1 3, around mountina bearing 1274.

{00621 _· ! _· » many embodiments, carrier assembly 170 can include an carriage attachment base 1284, which can be configured to couple to top base 641 (FIGs, 6, 8) in order to couple carriage assembly 1 0 to carrier assembly 170 and to move- carriage assembly 140 with respect .carrier assembly 170, In a number of embodiments, carrier assembly 1 70 can include a motor 1.275. Motor 1275 can be a stepper motor or another suitable motor. In several embodiments, motor 1275 can control the rotation of an adjustment shaft 1278 to adjust the position of carriage attachment base 1284 and/o carriage assembl 140 with respect to mounting bearin 3274. In a number of embodiments, adjustment SI S 1278 can be a threaded -shaft, such as a lead screw. {00631 -to some embodiments, carrier assembly 170 can include a foliage displacement base 1281, which can be coupled to a foliage displacement mechanism 1400, as shown in FIG. 14 and descr ibed below, in a number of embodiments, foliage displacement mechanism 1400 (FIG. 14} can be attached to foliage- displacement base 1.283 at attachment portions I 2S2 and 1383. in many embodiments, carrier assembly 170 can include a motor 3 276. Motor 1276 can be a stepper motor or another suitable motor. In various embodiments, motor 1276 can control the rotation of an adjustment shaft 1277 to adjust the position of foliage displacement base 12S 1 with respect, to mounting bearing 1274. In a number of embodiments, adjustment shaft 1277 can be a threaded shaft, such as a lead screw,

(006 1 -in several embodiments, carrier assembly 3 70 can include rails 1279 and 1280, which can allow carriage attachment base 1 284 and/or foliage displacement base 1281 to adjustably slide radially inward and outward with respect to mounting bearing 1 274. In many embodiments, carrier assembly 1.70 can include one or more imaging sensors 3290 and/or 3 291.. Imaging sensors 1290 and/or 1291 can be cameras configured: to detect optical image information. In a number of embodiments, carrier assembly 1 71 can melo.de an electronics unit 1271. In some embodiments, electronics unit 1271 can include a control unit 1272 and/or a processing unit 1273. In a number of embodiments, processing unit 1273 can include one or more processors configured to receive information from imaging sensors J 290 and/or 1291 to determine the location of the crops to be harvested, For example, processing unit can be configured to determine that certain crops are ripe and ready to be harvested, and other crops are not yet ripe or are damaged, and should not be harvested, in various embodiments, control unit 1272 can b electrically coupled to processing unit 1273 and/or ^' can include one or more controllers to control the motors in harvesting robot 100, such as motor 646 (FIGs. 6-8), motor 653 (FIGs. 6-8), motor 654 (FIG. 6-8), motor 1275 (FIGs, 12-13), and/or motor 1276 (FIGs. 12- 13 ).

|0065| Turning ahead in the drawings, FIG, 14 illustrates a bottom, front, right side perspective view of a Foliage displacement mechanism 1400. Foliage displacement mechanism- .1400 is merely exemplary, and embodiments of the foliage displacement mechanism are not limited to embodiments presented herein. The foliage displacement mechanism can. be employed in many different embodiments or examples not specifically depicted or described herein. In many embodim nts _* .foliage -displacement mechanism 1 00 can. be. configured to move foliage of a plant to expose at least a portion of the crops under the foliage, which can allow image sensors 1290 (FIGs. 12-13) and/or 1291 (FIGs. 12- 13) to detect the crops and/or allow the grippers (e.g., 31.2-3.15 (FIGs. 3, 10-11}) of picking apparatus 110 (FIGs. 1-3} to pick the crops.

{0066} In several embodiments, foliage displacement mechanism 1400 can include a back surface 1. 0. I many embodiments, hack surface 1 10 can have a planar rectangular shape.. In a number of embodiments,, back surface 1410 can be configured to extend normal to a growing bed of the plant, as shown i FIG. 15 and described below. In several embodiments, foliage displacement mechanism 1400 can include a base 1420. Base 1420 ca be configured to extend parallel to the growing bed of the plant from a back edge 141 1. at back surface 1410 toward the center of the plant, as shown in FIG. 15 and described below. In a number of embodiments, base 1 20 can have a semicircular shape.

[0067} In several embodiments, foliage displacement mechanism 1400 can include surface 1440. Surface 1440 can extend from base 1420 upward to back surface 1410. In a number of embodiments, at least one or more portions of surface 1440 can be curved and/or have a concave shape. In some embodiments, at least one or more portions of surface 1440 can be shaped as. at leas a portion of an ellipses. In several embodiments, foliage displacement mechanism 1400 can include a channel 1.450. In many embodiments, channel. 1450 can extend from base 1420 at a bottom channel portion 14 1 upwards through, surface 1440 to a top channel, portion 1.452. In some embodiments, base 1420 can extend outward toward the plant from a let! side of back surface 1410 to a left front portion 1421. and from a right side of back surface 1410 to a right front portion 1422. In many embodiments, base 1420 can recede back toward/back surface 1410 in the center of base 1420 between left front portion 1421 and right .front portion 1422 to bottom channel portion 1451 ,

[0068} In a number of embodiments, foliage displacement mechanism 1400 can include attachment mechanisms 1430 and/or 1431. Attachment mechanisms 1430 and 1431 can. be configured to attach foliage displacement mechanism 1400 to foliage displacement base 1281 (FlGs. 12-13) at attachment portions 1383 (FIG. 1 ) and/or 1282 (FIGs. 1.2-13), respectively. Motor 1276 can be configured to adjust the position of foliage displacement, mechanism 1400 to move foliage displacement mechanism 1400 toward or away from the plant. To many embodiments-, as foliage displacement mechanism 1400 is moved toward the plant, foliage displacement mechanism 1400 ca be positioned such that the channel. 1450 surrounds the center of the plant, in a number of embodiments, foliage displacement mechanism 1400 can be configured, when moved toward the plant, fo move the foliage upward and toward the center of the plant. For example, the curves on surface 3440 can be configured to lift the foliage upwards and towards the center of the plant, which can advantageously prevent damaging and/or tangling the foliage (such as the leaves, vines, and/or blossoms) of the plant.

00691 Turning ahead in the drawings, FIG. 15 illustrates a right side view of harvesting robot 1.00 and foliage displacement mechanism 1400 hovering above a plant 151 and growing bed 1501, with foliage displacement mechanism 1400 in a retracted position. To assist with water run-off, .srow ns bed 1501 can be sliahtiy analed. in othe examples, erowins bed can be flat. Plant 1510 can be a strawberry plant, as shown in FIG. 15. In other examples, plan 15.10 can be a tomato plant, a pepper (e.g., bell peppers, chili peppers, etc.) plant, an orange tree, or another suitable plant. As shown in FIG. I S, plant 151.0 can have a center 1513 (e.g.., a crown of a strawberry plant), and foliage 1512, such as leaves, vines, and/or blossoms, that grow above growing, bed 15 1. Plant 1510 can have crops 151 1 that, when ripe, are located on growin bed 1501. At least some of crops 1511 can be covered by foliage 1512.

[0078} In man embodiments, such as shown in FIG. 15, harvesting robot 100 can be mounted and/or supported such that central axis 31 1 of picking apparatus 1 10 is parallel to growing bed 1501. In several embodiments, foliage displacement mechanism 1400 can be attached to carrier mechanism 170 at attachment portion 1282 and/or attachment portion. 1383 (FIG. 13) on .1281 with one or more attachment poles, such as attachment pole 1520. Carrier mechanism 170 can adjust foliage displacement mechanism 1400 from a retracted position, as shown in FIG. 15, toward plant 1510 to move foliage 1512 upward and toward center 1513 of plant. 1 510 to expos crops 151 1 to be detected by image sensor 1290 and/or image sensor 129.1 (FiGs. 1:2-13) and/or picked by harvesting robot 180. In many embodiments, center 15 1.3 can fit within channel 1450 (FIG. 14) when . foliage displacement mechanism 1400 is moved toward plant 1510.

|0071 } In several embodiments, mounting bearing 1274 can be centered above plant 1510. When mounting bearing 1274 is centered above plant 15 0, mounting bearing 1274 can be configured to rotate harvesting robot 100, carrier assembly 170, carriage assembly 140, picking apparatus 110, and/or foliage displacement mechanism 1400 around plant 1510. When a crop, such as one of crops 151 1 , is located to be picked., (a) mounting bearing 1274 can rotate carrier assembly 170 such that the gripper (e.g., 312-315 (FIG. 3» in picking position 966 (FiGs. 9-1 1) is. radially -in a line extending from center 1513 of plant 15.10 through the crop (e.g., 151 1 ) to be picked, (b) carrier assembly 170 can move carriage assembly 140 radially inward toward plant 1510, .arid (e) carriage assembly 140 can lower carriage- 650 (FiGs. 6, 8) to lower picking apparatus 1 10 to allow a gripper (e.g.. 312-3 15 (FIG 3)) to dose and pick the crop (e.g., 151 1 ). in some embodiments, the motion of harvesting robot 1 0 can beneficially conserve motion, and/or can do a minimum amount of movement, such as to harvesi an average maximum number of crops (e.g., 15 ! 1) from plant 1 10 in. one rotation. For example, in some em odim nts* harvesting robot 1.00 can be configured to harvest three crops from plant 1 1.0. In other embodiments, harvesting robot 100 can be configured to harvest fewer or additional crops from plant 1510, hi a number of embodime ts, the picked crops can be deposited m a collection device as harvesting robot 100 moves to another: plant.

{0072} Turning ahead in the drawings, FIG. 16 illustrates a top, rear view of foliage displacement mechanism. 1400 hovering above plant 1510 in an. extended position. In many embodiments, when .foliage displacement mechanism 1400 is extended toward plant 1510. moving foliage 1:512 (FIG. 1.5), image sensors 1290 and/or 1291 (FiGs. 12-13) can detect crops 1511 on growing bed 1501 , and processing unit 1273 (FiGs. 12- 13) can determine the crops to be harvested, such as based, on ripeness. In many embodiments, harvesting robot 100 (FiGs. 1 - 2, 13, 15) can rotate around plant 1510 with foliage displacement mechanism 1400 in the extended position, as shown in. FIG, 16, in order for processing unit 1273 (FiGs. 12-13) to determine which of the crops (e.g., 1.511 ) are the best crops to be picked.

{0073} Turning ahead in the drawings, FIG, 1-7 illustrates an exemplar embodiment of computer system 1 700, all of which or a portion of which can lie suitable for implementing processing unit 1273 (FiGs. 12- 13). As an example, a different or separate one of chassis .1702 (and all or a portion Of its internal components) can be suitable for implementing processing unit 1273 (FiGs. 12-13). Furthermore, one or more elements of computer system. 1700 (e.g., refreshing monitor 1 706, keyboard 1704, and/or mouse 1710, etc.) can also be appropriate for implementing the techniques described herein. Computer system 1700 comprises, chassis 1702 containing one of more circuit boards (not shown), Universal Serial Bus (USB) port 1712, Compact Disc Read-Only Memory (CD-ROM) and/or Digital Video Disc (DVD) drive 1 16, and hard drive 1714. A representative block diagram of the elements included on the circuit boards inside chassis 1702 is shown in FIG, 18, Central processing unit (CPU) 1810 in FIG. 18 is coupled to system bus 1814 in FIG. .18. In various embodiments, the architecture of CPU 1810 can be compliant with any of a variety of commercially distributed architecture, families. (0074} Continuing with FIG. 18, system, bus 1814 also is coupled to memory storage unit 1808, where memory storage unit 1808 comprises both read only memory (ROM.) and random access memory (RAM). Non-volatile portions of memory storage unit 1808 or the ROM can be encoded with a boot code sequence suitable for restoring computer system 1700 (FIG. 17) to a functional state after a system reset. In addition, memory storage unit 1808 can comprise microcode such as a Basic Input-Output System (BIOS). In some examples, the one or more memory storage units of the various embodiments disciosed herein can comprise memory storage unit 1808, a USB-equlpped electronic device, such as, an external memory storage unit (not shown) coupled to universal serial bus (USB) port 171.2 (FIGs, 1 7-18), hard drive 1714 (FIGs,. 1.7-18), and/or CD-ROM or DVD drive 17.16 (FIGs. 17-18). In the same o different examples, the one or more memory storage units of the various embodiments disclosed herein can comprise. -an operating system, which can be a software, program that manages the hardware and software resources of a computer and/or: a computer: network. The operating system can perform basic tasks such ^' as, for ^' example, controlling, and allocating memory, prioritizing the processing of instructions, controlling input and output devices, facilitating networking, and managing files. Some exam les of common operating systems can comprise Microsoft® Windows® operating system (OS), Mac® OS, UNIX® OS, and Linux® OS.

f(Mi75| As used herein, "processor" and or "processing module" means any type of computational circuit, such as but. not limited to a microprocessor, a microcontroller, a controller, a complex instruction set computing (CISC) microprocessor, a reduced instruction set computing (RISC) microprocessor, a very long instruction word (VLiW) microprocessor, a graphics processor, a digital signal processor, or any other type of processor or processing circuit capable of performing the desired, functions-; In some examples, the one or more processors of the various embodiments disclosed herein can comprise CPU 1810.

[0.O76J In the depicted embodiment of FIG. 18, various I/O devices such as disk; controller 1804, graphics adapter 1824, video controller 1802, keyboard adapter 1826, mouse adapter 1806, network adapter 1.820, and other I/O devices 1822 can be coupled to system bus 3814. Keyboard adapter 1826 and moose adapter 1806 are coupled to keyboard 1704 (FIGs. 17-18) and mouse 171 (FlGs, 17- 18), respectively, of computer system 1700 FiG, 17). While graphics adapter 1824 and video controller 1802 are indicated as distinct units in FIG. 18, video controller 1802 can be integrated into graphics adapter 1824, or vice versa in otter embodiments. Video controller 1802 is suitable for refreshing monitor .1706 (FlGs. 17- 18) to display images on a screen 1708 (FIG. 17) of computer system 1700 (FIG, 17), Disk controller 1804 can control, hard drive 1714 (FlGs. 17-18), USB port 1712 (FlGs. 17-18), and CD-ROM drive 1 16 (FiGs. 17-18). In other embodiments, distinct units can be used to control each of these devices separately.

[0077! J some embodiments, ne work adapter 1820 can comprise and οτ be implemented as a WNIC (wireless network interface controller) card (not shown) plugged or coupled to. an expansion port (not shown) in computer system 1700 (FIG. 17). In other embodiments, the WNIC card can b a wireless network card built into computer system 1700 (FIG. 17). A wireless network adapter can be built into computer system 1 00 by having wireless communicatio capabilities integrated into the motherboard chipset (not shown), or implemented via one or more dedicated wireless communication chips (not shown), connected through a PCI (peripheral component interconneetor) or a PCI express bus of computer system .1700 (FIG. 7) or USB port 1712 (FIG, 17). in. other embodiments, network adapter 1820 ca comprise and/or be implemented as a wired network interface controller card (not shown).

[0078| Although many other components of computer system 1.700 (FIG. 17) are not shown, such components and their interconnection are well known to those of ordinary skill In the art.. Accordingly, further details concerning the construction and composition of computer system .1700 and the circuit boards inside chassis 1702 (FIG. 1 ) are not discussed herein.

[0079} When computer system 1700 in FIG. 17 is running, program instructions stored on ySB~equipped electronic device connected to USB port 1712, on a CD-ROM or DVD in CD- ROM and/or .DVD drive 1.71.6, on hard drive 1714, or in memory storage unit 1808 (F IG. 18) are executed by CPU 1810 (FIG. 18). A portion of the program instructions, stored on these devices, can b suitable for carrying out at least part of the techniques descr ibed above.

[6080} Although computer system 1700 is illustrated as a deskto computer in FIG. 17, there can be examples where computer system 1700 may take a different form factor while still having functional elements similar to those described for computer system 1700, In some embodiments, computer system 1700 may comprise a single computer, a single server, or a cluster or collection of computers or servers, or a cloud of computers or servers. Typically, a cluster or collection of servers can be used whe the demand on. computer system 1700 exceeds the reasonable capability of a single server or computer. In certain embodiments, computer system 1700 may comprise a, portable computer, such as a lapto computer. In certain other embodiments, computer system 1700 may comprise a mobile device, such as a smart phone. In certain additional embodiments, computer system 1700 may comprise an embedded system. {0081| Turning ahead in the drawings, FIG. 1 illustrates a flow chart for a method 1900 of providing a device for selectively harvesting crops on a plant in accordance with the present disclosure. Method 1900 is merely exemplary and is not limited to the embodiments presented herein. Method 1 00 can be employed in many different embodiments or examples not specifically depicted or described herein. In some embodiments, the procedures, the processes, and/o the activities of method 1900 can be performed in the order presented. In other embodiments, the procedures, the proeesses, and/or the activities of method 1900 can be performed in any suitable order. In still other embodiments, one or more of the procedures, the processes, and/or the activities of method 1900 can be combined or skipped. In some embodiments-, the plant can be a strawberry plant and each of the crops can be a strawberry. The plant can be similar or identical to plant 1.51.0 (FIG. 15). Each, of the crops can be simila or identical to strawberry 535 (FIG. 5). In other embodiments, the plant can. be another suitable plant.

{0082} Referring to FIG. 19, method 1900 can include a block 1901 of providing a picking apparatus, in many embodiments., the picking apparatus can be similar or identical to picking apparatus 110 (HQs, Ϊ--3), In a number of embodiments, the picking apparatus can be rotatable around a central axis, ^' The centrai axis can be similar or identical to central axis 31 1 (FIG. 3), in various embodiments, the central ^' axis, can be parallel to growing bed of the plant. The growing bed can be similar or identical to growmg bed 1501 (FIG. 15). In several embodiments, the pickin apparatus can include a plurality of grippers each spaced apart and extending radially from the central axis, and each configured to pick a different individual one of the crops. The individual crop can be similar or identical to crop 535, or another suitable crop. The grippers can be similar or identical to grippers 31.2-315 (FIG. 3). In some embodiments, the plurality of grippers can include four grippers. For example, the picking apparatus can include, four, Six, six. seven, eight, o more grippers. In other embodiments, the plurality of grippers can include fewer thai four grippers.

{0083} In a number of embodiments, each of the plurality of grippers can be adjustable between an open position and a closed position. The open position can be similar or identical to the open position shown in F G.. 4. The close position can be similar or identical to the closed position shown in FIG . 5. In various embodiments, each of the plurality of grippers can be configured in the open position to open around the individual crop. In several embodiments, each of the plurality of grippers can be configured in the closed position to securely hold the individual crop when the picking apparatus is rotated around: the centrai axis. (QQ84J In some embodiments, each of the plurality of gripper can be configured: to securely hold the individual crop in the closed position across different sizes of the individual crop, in many embodiments, each of the plurality of grippers can include a first claw piece and a second claw piece. The first claw piece can be similar or identical to first claw piece 410 (FiGs. 4-5 . The second claw piece can be similar or identical to second claw piece 420 {FiGs, 4-5), In many embodiments, the first claw piece and/or the second claw piece can each include a metal frame at least partially covered with silicone rubber,

(0085} la a number of embodiments, for each of the pluralit of grippers, the first claw piece can include a first wedged-sbaped ti and/or the second cla piece can include a second wedge- shaped tip. The first wedge-shaped tip can be similar or identical to .first tip 413 (FIGs, 4-5), and/or the second wedge-shaped tip can be similar o identical to second tip 423 (FIGs. 4-5). in a number of embodiments, when each of the plurality of grippers is in the open position (such as shown in FIG. 4), the first wedged-shaped tip and the second wedge-shaped tip are adjustable to fit around the individual crop and to separate the individual crop from one or more proximate crops.

{0086} In various embodiments, each of the plurality of grippers can further include a first flexible strip attached to the first claw piece and/or a second flexible strip attached to the second claw piece. The first flexible strip can be similar or identical to first strip 414 (FIGs, 4-5), and/or the second flexible strip can be similar or identical to second strip 424 (FIGs, 4-5). In several embodiments, when the gripper is adjusted to the closed position around the individual crop, the first flexible strip and the second flexible strip can be configured to bend to allow for different sixes of the indi vidual crop.

{0087J Method 1900 next can include a block 1902 of providing a carriage assembly. In a number of embodiments, the carriage assembly can be similar or identical to carriage assembl 140 (FIGs. 1-2, 6-S). in some embodiments, the carriage assembly can include a first rotational mechanism. In. many embodiments, the first rotational mechanism can. be similar or identical, to rotational shaft 655 (FIGs. 6-7), motor 654 (FiGs. 6-8), gear 854 (FIG. 8), and or gear 855 (FIG. S). in several embodiments, the picking apparatus can be configured to be coupled to the first rotational mechanism. In some embodiments, th first rotational mechanism can be configured to rotate the picking apparatus around the central axis ½ a rotational path with respec to the carriage assembly.

[0088J In some embodiments, the carriage assembly can furthe include a first cam surrounding the first rotational mechanism. The first cam. can be similar of identical to stationary cam 669 (FIGs. 6. 8- 1 1). hi a number of embodiments, the carriage assembly can further include an actuator. The actuator can. be similar or identical to actuator 661. (FIGs. 6-1 1 ), motor 653 (FIGs. 6-8), and/or actuation cam 660 (FIGs. 6-7, 9-11). In some embodiments, the first cam can be configured to hold the lurality of grippers in the closed position for a first portion of the rotatioria! path and to allow the plurality of grippers to open to the open position for a second portion of the rotational path from a release position to a picking position. The First portion of the rotational path can be similar or identical to first portion 964 (FIGs, 9-1 and/or the second portion of the rotational path can be similar or identical to second portion 965 (FIGs. 9-1 1 ), The release position can be similar or identical to release position 967 (FIGs. 9- 11), and/or the picking position can. be similar or identical to picking position 966 (FIGs. 9-1 1). In a number of embodiments, the first cam can be configured to stop rotation of the picking apparatus when each -of the plurality of grippers is. rotated to the picking position on the second portion of the rotational path. In various embodiments, the actuator can be configured to adjust an opening width of a picking gripper of the plurality of grippers at the picking position to isolate the individual crop and to close the gripper to securely hold the individual crop. The picking gripper can be similar o identical to grippe 312 at picking position 966 as shown in FIGs. 10- 1 1. The first cam. can be configured such that, as each of the plurality of grippers rotates to the release positio of the rotational path, each of the plurality of grippers ca be configured to _: open to the open position: and. release the. individual crop in a collection device..

{0089J Method 1 00 next can optional ly include a block 1903 of providing a carrier assembly. The carrier assembly can be similar or identical to carrier assembly 170 (FIGs, 1 -2, 12- S 3), In same, embodiments, the carrier assembly can include a second rotational mechanism. he second rotational mechanism can be similar or identical to mounting bearing 1274 (FIGs. 12- 13). In various embodiments, the second .rotational mechanism can. be configured to rotate the Carrier assembly around the second rotatioria! mechanism such that the picking apparatus can be rotated around the plant, when the second rotational mechanism is centered above the plant. f(Ml90| Method 1 00 next can include a block 1904 of providing one or more imaging sensors, in a number of embodiments, the one or more imaging sensors can be similar or identical to imaging sensor 1.290 (FIGs. 12-13) and or imaging sensor 129 ! (FIGs. 1.2-13).

[0091 J Method 1900 next can include a block 1905 of providing a processing unit. The processing unit can be similar or identical to processing unit 1273 (FIGs, 12-13), in a number of embodiments; the processing unit can be configured to receive information from the one or more imaging sensors to determine the location of the crops to be harvested.

[0092J Method 1900 next can optionally include a block 1906 of providing a foliage displacement .mechanism. In many embodiments, the foliage displacement mechanism can be similar or identical to foliage displacement mechanism 1400 (FIGs. 14-16). In several embodiments, the foliage displacement mechanism can be configured to move foliage of the plant, and expose at least a portion of the crops to the one or more image sensors. The fo liage can be similar or identical to foliage 1512 (FIG. 15). In some embodiments, the foliage displacement mechanism can include a back surface. The back surface ca be similar or identical to back surface- 1410 (FIG, 14). in many embodiments, the back surface can be configured to extend normal to a growing bed of the plant. In various embodiments, the foliage displacement mechanism can include a base. The base can be similar or identical to base 1420 (FIG. 14), In several embodiments, the base can be configured to extend parallel to the growing bed from the back surface toward the plant. In -some embodiments, the foliage d splacement mechanism can include a curved surface. The curved surface can be similar or identical to surface 1 40 (FIG. 14). In a number of embodiments, the curved surface can extend from the base upward to the back surface. In many embodiments, the foliage displacement mechanism can include a channel.. The channel can be similar or identical to channel 1450 (FIG. 14). In some embodiments, the channel can bisect a front portion of the base and extend upward through the curved surface. In several embodiments, the channel can be configured to surround center of the plant when the foliage displacement mechanism is moved toward the plant. The center of the plant can be similar or identical to center 1513. In some embodiments, the foliage displacement mechanism can. be configured, when moved toward the plant, to move the foliage Upward and toward the center of the plant,

[0093| Although automated selective harvesting of crops has been described with reference to specific embodiments, it will he understood by those skilled in the art that various changes may be made without departing from the spirit or scope of the disclosure. Accordingly, the disclosure of embodiments is intended to be illustrative of the scope of the disclosure and is not intended to be limiting, it is intended that the scope of the disclosure snail ^' be limited only to the extent required by the appended claims. For example, to one of ordinary skill in the art, it will be readily apparent that any element of FIGs. 1-19 may be modified, and that the foregoing discussion of certain of these embodiments does no necessarily represent a complete description of all possible embodiments. For example, one or more of the procedures, processes, or activities of PIG. 19 may include different procedures, processes, and/or activities and be performed by many different modules, in many different orders.

|00 ] Ail elements claimed in any particular, claim are essential to the embodiment claimed in that particular claim. -Consequently, replacement of one or more claimed elements constitutes reconstruction, and not repair. Additionally, benefits, other advantages, and solutions to problems have been described with regard to specific embodiments. The benefits, advantages, solutions to problems, and any element or elements thai may cause any benefit, advantage, or solution to occur or become more pronounced, 'however, are not to be construed as critical. required, or essential features or elements of any or ail of the claims, unless such benefits, advantages, solutions, or elements are stated in such claim.

j 0095} Moreover, embodiments and limitations disclosed herein are not dedicated to the public liiider the doctrine of dedication if the embodiments and/or limitations: (1) are not expressly claimed in the claims; and (2) are or are potentially equivalents f express elements and/or limitations in the claims under the doctrine of equivalents.