COMMUNEDI CALT UTRUDNION US009877428B2

(12) United States Patent ( 10) Patent No.: US 9,877,428 B2

Moore (45) Date of Patent: Jan . 30 , 2018
(54 ) AGRICULTURE VEHICLES (56 ) References Cited
(71 ) Applicant: Francis Wilson Moore, Pasco , WA U .S . PATENT DOCUMENTS
(US ) 2 , 288 ,682 A 7 /1942 Chittenden
2 , 443 ,027 A 6 / 1948 Dishmaker
(72 ) Inventor: Francis Wilson Moore , Pasco , WA (Continued )
(US )
(73 ) Assignee: HarvestMoore, L .L .C ., Pasco , WA FOREIGN PATENT DOCUMENTS
(US ) WO PCT/US2010 /046678 4 /2011
WO PCT/US2010 /046878 4 / 2011
( * ) Notice : Subject to any disclaimer, the term of this
patent is extended or adjusted under 35 OTHER PUBLICATIONS
U .S .C . 154 (b ) by 0 days.
Gorte, et al., "Structuring Laser- Scanned Trees Using 3D Math
(21) Appl. No.: 15 /138,041 ematical Morphology ” , ResearchGate Conference Paper, Jan . 2004 ,
6 pgs.
( 22 ) Filed : Apr. 25 , 2016
Primary Examiner — Alicia Torres
(65) Prior Publication Data (74) Attorney , Agent, or Firm — Wells St. John P.S .
US 2016 /0235006 A1 Aug. 18 , 2016 (57) ABSTRACT
Related U .S. Application Data A dual function tree pruner and fruit harvester that uses the
same equipment for pruning and for harvesting . The Fruit
(60 ) Division of application No. 14 /966,704 , filed on Dec . Tree Pruner and Harvesting Machine features : a Self -Pro
11 , 2015 , which is a division of application No . pelled - Vehicle (SPV ), computer controlled robotic arms, a
Digital Imaging System (DIS ), a Radar Ranger System
( Continued ) (RRS ), Global Positioning Satellite (GPS ) Guidance Sys
(51) Int. Ci. tem , Geographic Information System (GIS ), a Power Pruner
A01D 46 / 30 (2006 .01) or Power Stem Cutter as appropriate , a fruit vacuum system ,
A01D 46 / 24 ( 2006 .01 ) a fruit catcher, a fruit handling system , and a fruit bin loader.
The operation is automated and the operator monitors and
(Continued ) sets parameters . The Fruit Tree Pruner and Harvesting
(52) CPC
U .S . CI........... A01D 46 /30 ( 2013.01 ); A01B 69 / 008 Machine can prune a tree to a predetermined profile . The tree
can be shaped per the orchard ' s requirements . The Fruit Tree
(2013 .01 ); A01B 79 /02 (2013.01); A01D Pruner and Harvesting Machine utilizes data obtained during
34 /008 ( 2013 .01) ; the pruning process to find the fruit , and to remove the fruit
(Continued ) while maintaining the fruit quality suitable for the fresh
(58 ) Field of Classification Search market.
CPC combination set (s) only .
See application file for complete search history . 22 Claims, 13 Drawing Sheets
1 19
whe
, 12 19
19 19 12

02 testa 14 16
15
35

???????????????
mayonin 22
21

hey at 3
 US 9 ,877 ,428 B2
Page 2

Related U . S . Application Data 3, 969,878 A * 7 / 1976 Morganeier ... ..... A01D 46 /005
56 /328. 1
13 /382,464 , filed as application No. PCT/US2010 / 4 ,015 , 366 A 4 / 1977 Hall
046678 on Aug. 25 , 2010 , now Pat. No. 9,226 ,446 , 4 ,215 ,451 A 8 / 1980 Wikoff
which is a continuation of application No. 12/547 , 4 ,482, 960 A 11/1984 Pryor
4 , 501, 113 A 2 / 1985 Gerber
202 , filed on Aug . 25 , 2009. 4 ,519 , 193 A 5 /1985 Yoshida
4 ,520 ,619 A 6 / 1985 Doi
(51) Int. Ci. 4 ,532,757 A 8 / 1985 Tutle
A01D 46 /00 ( 2006 .01) 4 ,606 , 179 A 8 /1986 Peterson
AOIB 69 /04 ( 2006 .01 ) 4 ,663, 925 A 5 /1987 Terada
4 ,718 ,223 A 1/ 1988 Suzuki
A01G 3 / 08 (2006 .01) 4 ,769,700 A 9 /1988 Pryor
AOIB 79/02 ( 2006 .01) 4 , 860 ,529 A 8 / 1989 Peterson
A01G 3 /00 (2006 .01) 4 ,975 ,016 A 12 / 1990 Pellenc
4 , 976 ,094 A 12 /1990 Williamson
G06T 7700 ( 2017 .01) 5 ,005, 347 A 4 / 1991 Kedem
A01D 34 / 00 (2006 .01) 5 ,280,697 A 1 / 1994 Miller
A01D 69/ 02 ( 2006 .01) 5 ,426 ,927 A 6 / 1995 Wang
A01D 69 / 03 5 ,471,827 A 12/ 1995 Janssen
( 2006 .01) 5 ,816 ,037 A 10 / 1998 Chiel
A01D 101/00 ( 2006 .01) 5 ,946 ,896 A 9 / 1999 Daniels
(52) U . S . CI. 6 , 250, 056 B1 6 /2001 Spagnolo
6 , 442 ,920 B1 9 / 2002 Peterson

dIlmina t
CPC ........... A01D 46 /005 (2013 .01 ); A01D 46 / 24 6 ,553,299 B1 4 /2003 Keller
( 2013 .01 ); A01D 69/02 (2013 .01); A01D 6 ,591, 591 B2 7 /2003 Coers
69/03 ( 2013 .01) ; A01G 3 / 00 (2013 .01) ; A01G 6, 671 , 582 B1 12 /2003 Hanley
3 /08 (2013.01); G06T 7 /0004 (2013.01); A01D 7 , 204, 072 B2 4 /2007 Joy
7,418 ,985 B2 9 /2008 Torgersen

(56 )
2101/00 ( 2013 .01); G06T 2207/ 30128

References Cited
( 2013 .01 )
N
7 ,487, 809
7 ,500 , 343
7 ,540, 137
7, 640, 091
B2
B2
B2
B2
7 , 765 , 780 B2
2 / 2009
3 / 2009
6 /2009
12 /2009
Uebergang
Hsia
Gray
Berg
8 / 2010 Koselka
U . S . PATENT DOCUMENTS 7 , 810, 305 B2 10 /2010 Macidull
8 , 381, 501 B2 2 /2013 Koselka et al.
2, 553,463 A 5 / 1951 McCulloch 8 , 442,304 B2 5 /2013 Marrion et al.
3 , 165,633 A 1/ 1965 Logan 2005 /0039431 AL 2 /2005 Schloesser
3 , 165 ,880 A 1/ 1965 Bule 2005/0126144 A1 * 6 / 2005 Koselka . . . . . . . A01D 46 / 30
3 , 182, 827 A 5 / 1965 Frost 56 / 10 .2 R
3 ,277,572 A 10 / 1966 Elckenberg 2006 /0026940 A1 2 /2006 Cartner
3 , 365,870 A 1/ 1968 Cardinale 2006 /0150602 A1 7 /2006 Stimmann
3 , 460 ,330 A 8/ 1969 Black 2006 /0213167 AL 9 /2006 Koselka
3 ,507, 107 A 4 / 1970 Harms 2008 /0010961 A1 * 1/2008 Gray . .. A01D 46 / 30
3 , 564 ,826 A 2 / 1971 Middleton , Jr. 56 / 10 .2 A
3 , 591,949 A 7 / 1971 Connery 2008/0264030 Al 10 /2008 Bryan
3 ,621 ,643 A 11/ 1971 Garrans 2008 /0279460 A1* 11/2008 Kasahara ........... G06K 9 /00664
3 ,756 ,001 A 9 / 1973 Macidull 382 /224
3 ,793 ,814 A 2/ 1974 Rohrbach 2010 /0212279 AL 8 /2010 Macidull
3 ,898,785 A 8 / 1975 Chew 2011 /0022231 A1 1/ 2011 Walker
3 , 901,005 A 8 / 1975 Rohrbach 2014 /0283495 A1 9 / 2014 Christensen
3 ,913 , 307 A * 10 / 1975 Cardinal, Jr . ........ A01D 46 /005
15 /340 . 1 * cited by examiner
atent Jan . 30 , 2018 Sheet 1 of 13 US 9 ,877,428 B2

11 19
WAT. ny 12 19
2
.
*

TIS
.

triton

Stre t
imesi

Anton
obo n Z.
***0470

W
minuman 13
21 *
**** ****

***********

7 3

Tetrtatut*

FIG . 1
U . S . Patent Jan . 30, 2018 Sheet 2 of 13 US 9 ,877,428 B2

26
11
26 11 26 12 26
2 13 Tour
Actres
*
*
potom
14 16
* **
ran Titibus **
***

Doo * **

Hurtinim *

*** *

*
*****

****
wibowowania ***

13 18f " 4 ' 180 thin *

*******

FIG . 2
U , S , Patent Jan . 30, 2018 Sheet 3 of13 US 9, 877,428 B2

??????

?HN? ??? ?????? ? ?

? . ???
??????

???? ??????
-
*

?????
?????
fl:,
?????*
?????
$
}
I
ff

????????????? ??? ?
?????????
??
?
;wwwm? ? ? ? ??? ?????
????????????
??????6t
???????
?????????
??
-y
?????????
? ?????????????????? 8%
%
%%
?
#
#
'
#
###
=f ?????? ??????????
675

7 ,3
U . S . Patent Jan . 30, 2018 Sheet 4 of 13 US 9,877,428 B2

17. 10 11 12 24 75
25
18a 180 180 174 16wy 18 45

.
www
yy
Maner *
*

t
-$41-979-37

W010
ang
180 m2 981 22 23

FIG . 4
U . S . Patent Jan . 30, 2018 Sheet 5 of 13 US 9 ,877,428 B2

1
.

LLLLLLLL LL
MYYYYYLLLLLLLLL
1111111
L L
. llllll
'

1
??
-

TYY
.
.
.
*
*

VIRRIYYYY
#

in
1806 25 32

VYA WALANKLAL wwwwwwwwwww

WWW * **

eineWinnie IVY VYYYY

.
yo

*
*
**
* $ 18a 1 180 1180 TU 180 .
conta o 15
"
.

.
.
.

im on
.

,areswe

and
you
. u

Safe
. ..

11 12

FIG . 5
US, Patent Jan . 30, 2018 Sheet 6 f13 US 9, 877,428 B2

18g, h;j

14 ???
?
·
?????????????

?
??

r'? ?

?????????????????

LOO _ o _
{S

18g,h.I
? ? ? ? ?

??????? ?

????
?????? ???????? , *
? ?
*??????????????????? ?
???????????????????????
- - - - - - - - - - - ? ? ? ? ??? ?????????? ?? ? ? ? ??
??????????????????? ??????????

???????eas
26 ?

68. 6
U . S . Patent Jan . 30, 2018 Sheet 7 of 13 US 9,877,428 B2
-- 189,1 ,1

e foodNAM
19 masoverseas FIG . 11

po*** . . .

19 mar
WMWMN
povremeno

FIG . 10

1 189189,,n.,
SANASTIR

=
***
t. wwwwwwwww
W W

21

resimis
.
FIG . 9
U . S . Patent Jan . 30, 2018 Sheet 8 of 13 US 9 ,877,428 B2

*
**

FIG . 12

SUCTION INLET
w

VACUUM
www
cre r

OUTLET . . . 1 4 UF
WATER OUTLET
Fr

4rLecy
mominis motinamas WATER INLET *4 4

FIG . 13
U . S . Patent Jan . 30 , 2018 Sheet 9 of 13 US 9 ,877 ,428 B2

KAN

**
**"
!

?????????????????

FIG . 14
U . S . Patent Jan . 30 , 2018 Sheet 10 of 13 US 9 ,877,428 B2

1194011-12
W18

*
**

Yes,
W

EVAL
*****

UW here
** *** ***
***

peur *****

ri
**
*
*
**
*
*
***
*

comentar
*
***

ote

W
Y - aa LLLLLS .
MMMMMMW

her

wow
we
rovnomerne
ur

FIG . 15
U . S . Patent Jan. 30, 2018 Sheet 11 of 13 US 9,877, 428 B2

• *??

;?????

?4
:44+

????
A??????

????
*

?????????????????????
? +

*
*?

???
FIG. 16
U . S . Patent Jan . 30, 2018 Sheet 12 of 13 US 9 ,877 ,428 B2

W in

.
.
4

*
* **

eitin
r

15
.
1

*
*

mi

FIG . 17
U . S . Patent Jan . 30 , 2018 Sheet 13 of 13 US 9 ,877,428 B2

unssecos w

comoyolescosesmesneuen
EXCLUSION
PRUNING verwantto ZONE **
*******

PROFILE ****
a
LAN
-J

two re
what *
*
*

XwWMivLth
y

hshme*

ww
.
r?
-
.
*

ismin ster *

are createa ***

*****
****
*
** wortepi
To***** ***
*
*
* thishoort
*
*
**

Maontoewalneise
h-
en phar timewipo *******
*
*

**
*
*

********
LY
** *
*
mark thithat *
.
*

berkefnum
*
**
* *
*
**
*
** ****
*
******* ywih
*
*
*
**
* *
***
*
*
Autot *

EXCLUSION ZONE wwwEXCLUSION

. ZONE
in
**
**** *
**
*
***
*
***
**
*
**
**
*
**
* +++
hiss
*
*
evirint***

a.Menvw VA

* ******** ******
******
****
***

*
*****
*
*
*

Antheyt ***
************
***
-
-

withrom
Hy

med EXCLUSION * ** ** *
***

se ZONE >

we+ -
- *
*
*

w Unwtiy
n 16****eum
***

w
w
at'
*** EXCLUSION
ZONE

de
bet PRUNING PROFILE IVIL
*

-- men
PRUNING
PRUNING
PROFILE
V ene mer
4 . W

** * w - commm *
*

EXCLUSION ** ******
*
**
**
**
*
*

ZONE
* ** *

GROUND PLANE
WWYWAY *
* * * * ** *
*

* ** *

1
 US 9 ,877,428 B2
AGRICULTURE VEHICLES Fresh Fruit Picker is shown in George Gray , U . S . Pat. No.
7 ,540, 137 B2 which uses curved rigid tubes that are rotated
CROSS REFERENCE TO RELATED to access the fruit and then convey the fruit down the tube .
APPLICATION Louis L . Bernheim , George M Harris, U .S . Pat. No . 2 , 968,
5 907 uses a pneumatic fruit gripper and straight tube to guide
This application is a divisional of U .S . patent application the fruit out of the tree , but it is a manual application and
Ser. No . 14 / 966 ,704 , which was filed on Dec . 11 , 2015 , uses gravity to transfer the fruit . There has been limited
which is a divisional of U . S . patent application Ser. No . success in some applications with some of the harvesters ,
13 /382 ,464, which was filed on Jan . 5 , 2012 , and issued as but currently there is no commercial harvester being utilized
U .S . Pat. No. 9, 226 ,446 on Jan . 5 , 2016 , which is a 35 10 for the fresh market fruits , There is no dual purpose pruner
U . S . C . $ 371 application of and claims priority to Interna and harvester developed for the tree fruit production .
tional Application No. PCT /US2010 /046678 , which was
filed on Aug. 25 , 2010 and published as Publication No. WO BRIEF DESCRIPTION OF THE DRAWINGS
2011 /031490 A2, which claims priority to U .S . patent appli
cation Ser. No . 12 /547 ,202, which was filed on Aug. 25, 15 FIG . 1 is a perspective view of the pruner and harvester
2009, the entirety of all applications are incorporated herein configured for harvesting.
by reference . FIG . 2 is a perspective view of the pruner and harvester
configured for pruning .
TECHNICAL FIELD FIG . 3 is a front view of the pruner and harvester .
20 FIG . 4 is a side view of the pruner and harvester.
This invention relates to methods and apparatus for prun FIG . 5 is a top view of the pruner and harvester.
ing of fruit bearing trees such as apples , pears, peaches , FIG . 6 is a detailed side view of the tree pruner end
plums, apricots , cherries, avocadoes and citrus. And also , effecter.
this invention relates to methods and apparatus for harvest- FIG . 7 is a detailed bottom view of the tree pruner end
ing of fruit from fruit bearing trees such as apples, pears , 25 effecter.
peaches, plums, apricots, cherries, avocadoes and citrus . FIG . 8 is a detailed top view of the tree pruner end
effecter .
BACKGROUND OF THE INVENTION FIG . 9 is a detailed side view of the stem cutter and fruit
catcher end effecter .
A number of approaches have been taken to develop a 30 FIG . 10 is a detailed bottom view of the stem cutter.
mechanical tree pruner and tree topper. These systems FIG . 11 is a detailed top view of the stem cutter.
mechanically chop or cut branches from the trees. Most of FIG . 12 is a top view of the fruit collector.
the systems also require hand pruning to prune the tree to it FIG . 13 is a side view of the fruit collector.
final configuration . The pruning and harvesting systems are FIG . 14 is a detail view of the Stem Cutter Shear Blade .
not combined , but trellis systems have been utilized to make 35 FIG . 15 is a detail view of the Stem Cutter Knife blade .
the manual pruning and manual harvesting more efficient. FIG . 16 is a detail view of the Pruning Shear Blade .
There are a number of mechanical pruning apparatus that FIG . 17 is a detail view of the Pruner Knife Blade.
use rotating cutter blades. An example is Rotary Blade FIG . 18 is a depiction of the 3 -D stick image of 1/2 of the
Pruning Machine U . S . Pat. No. 6 , 250 ,056 B1 and references fruit tree .
sited that prune or top the tree along a straight profile . The 40
is no current pruningmachine that can cut selected limbs and DETAILED DESCRIPTION OF THE
branches individually and collect an store the data of the PREFERRED EMBODIMENTS
pruned profile of the tree to be utilized to locate the fruit
during harvesting . The methods of the invention allow for individual
Different approaches have been taken in recent years to 45 removal of fruit that will meet the standards for the com
develop harvesting machines that will quickly and efficiently mercial fresh -market fruit requirements and will not require
remove fruit from trees in a condition that the fruit is suitable the fruit to be handled or removed by human hands . The
for market. Some success has been accomplished for very harvesting process is automated and only requires the over
durable fruits and nuts , but unfortunately no approach has sight and interactive control adjustments to the harvesting
been successful for premium fruits grown for our commer - 50 system .
cial markets and our fresh markets . Examples of these are This invention also relates to methods and apparatus for
apples , pears , peaches , plums, apricots , cherries and citrus. pruning of grape vines, and the harvesting of grapes that will
Shakers have been used with various catching apparatus meet the standards for the commercial fresh market fruit
to shake the tree trunk and catch the fruit that is dislodged . requirements .
This has not been successful for premium commercial fruits, 55 The pruning and harvesting of tree fruits for the premium
due to fruit bruising and damage from striking branches and fruit market has been a labor intensive process utilizing hand
limbs on the way down to the catch mechanism . There are picking and careful handling of fruits . The proper pruning of
a number of approaches to this effort including (Peterson , the tree determines the access and location of the fruit that
D ., U . S . Pat.No. 4 ,606 , 179; Chiel and Zehavi, U .S . Pat.No. is harvested and are closely related . This pruner and har
5 ,816 ,037 ; Peterson and Kornecki, U . S . Pat. No . 4 , 860,529 ; 60 vester takes into consideration of the relationship between
Daniels, U .S . Pat. No . 5 ,946 ,896 ). pruning and the position of fruit on a limb. Also many fruit
Another approach utilizes a branch or limb impactor to trees are pruned during the winter season when the trees are
shake the individual limbs and catch the fruit on a soft free ofleaves and allow the trunks and major branches ofthe
conveyor. An example of this approach is shown in Peterson , tree to be determined as to their location in three - dimen
D . L . and Wolford S . D ., U . S . Pat. No . 6 ,442 ,920 B1. 65 sional space . The fruit is located along these major branches
Robotic Fruit Harvester, U . S . Pat. No. 4 , 532 ,757 use a and depending on the fruit, the location can be determined
commercial robot arm . Another Self Propelled Robotic within inches . A graphical image of the tree is stored in a
 US 9,877 ,428 B2
geographic information system identified by its global loca - hydrostatic drives 5 , low profile wheels , operator platform
tion . The harvester is mounted on a low motorized Self 7 , motor and hydrostatic transmission 8 , and electrical
Propelled Vehicle (SPV ) that moves between the tree rows. generator 9 . These items are generally commercially avail
The SPA will have the appropriated number of robotic arms able. The SPV can be provided with self- leveling options
on each side . The harvester will harvest the fruit by cutting 5 that will keep the frame level for orchards on hill sides . The
the fruit stem and the fruit will be removed by a vacuum robotic arms are shown in FIG . 1 through FIG . 5 and are
hose that will handle the fruit without bruising or bumping indicated as forward arm 10 , middle arm 11 , and rear arm 12.
the fruit against each other or against the branches of the There are six robotic arms two each of 10 , 11 , and 12 shown
trees . The fruit will be removed from the half of the tree in these figures, but the number of arms may be varied
nearest the fruit harvester. The fruit will be sorted and 10 depending on the type of fruit and picking rate desired . The
packaged to prevent further damage . The harvester will be arms are powered by hydraulic cylinders 13 and Computer
driven between the rows of fruit trees during harvesting . Based Control System (CBCS) indicated as 14 . The hydrau
The present invention relates to both tree pruning and fruit lics can also be switched to manual and operated by the
harvesting in that the functions are closely related in deter - operator utilizing the joystick 15 .
mining the location of the fruit on the tree . 15 The Global Positioning System Guidance System (GPS )
For the pruning operation the pruner and harvester utilizes is indicated as 16 (FIG . 4 ) with the GPS antenna 17 (FIG . 4 )
the Self Propelled Vehicle (SPV ), the robotic arms, Global mounted on top of the SPV frame to get a clear view of the
Positioning System (GPS ) and Digital Imaging Systems sky. The GPS Guidance System locates the SPV at all times
(DIS ). It also uses a heavier duty branch power cutter and drives the SPV on a centerline between the two tree
mounted on the end effecter of the robotic arm . Each tree 20 rows , and provides a reference for referencing all the data
will be located by its GPS location , imaged from the received from the Digital Imaging Systems (DIS ) 18 ( FIG .
machine and the machine will then prune the tree based on 4 ); Radar Ranging System (RRS) 18d ,f (FIG . 4 ); and the
software pruning algorithms. The pruning algorithms will CBCS 14 (FIG . 4 ).
allow the trunk , a selected number of major branches, and a A DIS cameras, indicated as 18a , b , c, d , (FIG . 5 ) provide
selected number of fruit bearing limbs to remain as part of 25 dual images of the tree and references the images to their
the tree . The remainder will be pruned from the tree . There GPS location .
are on the order of ten to fifteen major branches in most The RRS is indicated as 18e, f, (FIG . 4 ) measures the
commercial fruit bearing trees today . The limbs will be distance to the tree trunks, and major branches, and then the
pruned to allow the desired fruit spacing based on the fruit distance is referenced to the GPS location of the SPV.
buds at the time of pruning . The tree will be pruned from the 30 All of these sensing systems are utilized in the tree
bottom up . The pruner will cutup the limbs until they fall to pruning process and the fruit harvesting process . There are
the ground. Once the tree is pruned the digital image of the two duplicate systems one on the right side and one on the
tree is obtained and stored in a Geographic Information left side of the SPV that are mirror- imaged and each system
System (GIS ) including the GPS global location as the operates independent of the other system . The speed of the
identifier of the tree , and the GPS location of the machine. 35 machine is controlled by the operator.
This will be key information that will be utilized by the The tree pruning process is described in detail with the
harvester during the harvesting phase . machine setup in the pruning configuration as shown in FIG .
For the fruit harvesting operation the pruner and harvester 2 . The SPV 3 is fitted with the larger Power Pruning
utilizes the SPV , the robotic arms, GPS , GIS , and DIS that Assembly 26 on the robotic arms 10 , 11 , and 12 . The fruit
are utilized during the pruning operation . During fruit har- 40 catcher 20 and fruit vacuum hoses 21 are removed .
vesting the pruner and harvester also uses a power stem The operator uses the GPS 16 to align the machine to the
cutter, a fruit catcher , a vacuum hose mounted on the end center of two tree rows, or in the case of an edge row one
effectors of the robotic arm , a fruit collector system , and a sets the distance of the machine from the tree row . The
Radar Ranging System (RRS ) to help locate the trunk and operator initializes each of the robotic arms 10 , 11 , 12 to the
major branches . The location of the fruit and the order of 45 start pruning position . The operator will then locate the first
picking will be predetermined based on the barren tree tree trunk on each side of the SPV 3 by guiding the most
image at pruning that is stored in the GIS data base . Between forward right robotic arm 10 until the end effecter just
pruning and harvesting, the picking algorithms for each tree touches the trunk of the first tree. The operator will do this
will be generated utilizing a computer program that will task by operating the joystick 15 . Then the operator will
build a 3 - D stick image of each fruit tree . A 3 - D profile for 50 locate the second tree on the left side of the SPV 3 by
the tree half facing the harvester is generated , and picking guiding the most forward robotic arm 10 until the end
algorithms are generated that will move the end effecter effecter just touches the trunk of the second tree . Note : the
along the limbs and branches and utilize the imaging system left side robotic arms are staggered ahead of the right side
on the end effecter to home in on the fruit to cut the stems. robotic arms on the machine . Once the machine is aligned
The fruit catcher will be held just under the fruit and when 55 and initialized the operator the checks that all interlocks are
the fruit stem is cut the fruit will drop a very short distance good and selects the auto - pruning operation .
and directed into the vacuum hose that will suck the fruit The CBCS 14 FIG . 2 will start pruning algorithms with
into the fruit collector. The fruit collector will catch the fruit the selection of an auto - pruning operation . The front robotic
and convey each piece of fruit to the fruit handling system , arms 10 will first make several passes using the Power
which will pack the fruit in fruit bins or fruit trays that will 60 Pruner Assembly 26 FIG . 2 to clear all limbs below the
be placed on pallets . lower profile set for the trees. The DIS cameras 18a ,b ,c, d
The present invention relates to fruit harvesting generally (FIG . 5 ) will process a number of dual digital images of the
as configured in the FIG . 1 indicated as 1 and relates to treetree, and the superimposition of these images starting at the
pruning generally and configured in FIG . 2 indicated as 2 . trunk will provide the data to develop a vector -based - stick
The fruit pruner and harvester machine is propelled through 65 image of the tree trunk , limbs , and branches . The vector
the orchard on a Self-Propelled Vehicle (SPV ) is generally based -image is represented by the image provided in FIG .
indicated as 3 . The SPV consists of a structural frame 4 , 18 . The CBCS 14 ( FIG . 5 ) will be assigned a profile
 US 9 ,877 ,428 B2
algorithm that will consist of about one - third of the tree to to the Pick Path Algorithm . When the stem of the fruit is cut,
each robotic arm . The front robotic arm 10 will be assigned the fruit falls a short distance to the fruit catcher 20 ( FIG . 9 ),
a profile for the lower one -third of the tree, the middle the air flowing in the vacuum hose 21 (FIG . 9 ), and moves
robotic arm 11 will be assigned a profile for the middle the fruit individually to the fruit collector 22 (FIG . 4 ). The
one - third of the tree, and the rear robotic arm 12 will be 5 set of algorithms continue until the assigned pick path is
assigned a profile for the top one- third of the tree , and the top completed for the robotic arm assigned to a tree . The arm
profile . The DIS 18 will be imaging the tree as it is pruned then initializes on the trunk of the next tree to be harvested
with the DIS cameras 18a, b , c , d (FIG . 5 ) . The tubular paths and the process repeats itself .
around the stick images of the tree branches represent the The fruit collector 22 (FIG . 4 ) absorbs the energy of the
exclusion areas for the pruning profiles for the half of the 10 fruit moving through the vacuum hoses 21 (FIG . 1 ) by
tree being pruned depicted in FIG . 18 . When the rear robotic dropping the fruit into flowing water. The fruit handling
arm 12 completes its pruning profile , the rear DIS camera system 23 (FIG . 4 ) uses water to wash the fruit and move the
18e will store and identify the final pruning image . This fruit to the elevator 24 (FIG . 4 ). As the fruit moves up the
image data is stored in the GIS database so the data can be elevator 24 ( FIG . 4 ) air is blown over the fruit to dry the
retrieved based on the location of the tree . The process is 15 surface water on the fruit . The elevator raises the fruit up to
continued to the next tree in the row when the front robotic the bin loader 25 (FIG . 5 ) that gently places the fruit into the
arm 10 completes running the profile assigned to it , and fruit bin 32 (FIG . 5 ) or trays.
continuesby pruning all limbs below the lower profile set for The Stem Cutter 19 and Fruit Catcher 20 are detailed in
the trees . The process repeats itself for the next tree in each FIG . 9 , FIG . 10 , and FIG . 11 , and utilize synchronized
row as described above . 20 counter - rotating Stem Cutter Shear Blade 29 ( FIG . 14 ) and
The fruit harvesting process is described in detail with the Stem Cutter Knife Blade 30 ( FIG . 15 ). The blades are
machine setup in the fruit harvesting configuration as shown powered by a hydraulic motor 31 (FIG . 9 ) . The fruit stem is
in FIG . 1 . The SPV 3 is fitted with the smaller Stem Cutting captured between the counter-rotating cutter knife and the
Assembly 19 on the robotic arms 10 , 11 , and 12 . The fruit shear blade to provide for a clean cut and does not transfer
catcher 20 ( FIG . 7 ) and fruit vacuum hoses 21 (FIG . 7 ) will 25 energy to the fruit that could result in bruising. The stem
also be installed . The fruit vacuum hose will be attached to cutter is shaped so that the fruit cannot be inserted into the
the fruit collector 22 (FIG . 4 ). The air flow for the vacuum cutting blades of the stem cutter.
is provided by the blower 32 (FIG . 4 ) which creates a The Power Pruner Assembly 26 is detailed in FIG . 6 , FIG .
vacuum over the water in the fruit collectors 22 ( FIG . 4 ) . 7 , and FIG . 8 , and also utilizes synchronized counter
The timebetween the pruning and harvesting is utilized to 30 rotating Pruning Shear Blade 27 (FIG . 16 ) and Pruning
process the pruned tree images; generate a vector stick Knife Blade 28 ( FIG . 17) . The blades are powered by a
image of the tree trunk , major branches, and limbs ; and hydraulic motor 31 ( FIG . 6 ). The pruner operates in the same
generate an algorithm for locating the fruit in the tree based manner as the stem cutter, except the size is scaled up to
on the knowledge that the fruit sets on buds from the cleanly cut the larger limbs .
previous year. The computation time for generating the Pick 35 1. A pruning apparatus for pruning fruit trees that are
Path Algorithm for the robotic arms 10 , 11 , 12 will not grown in rows, and may be free standing or grown on
impact the harvesting speed since it can be completed trellises. The mechanical pruner travels between the rows of
between pruning time and harvest time. The algorithm will trees and can prune each tree half facing the SPV to a 3 - D
consist of a specific pick path for each robot arm 10 , 11 , 12 , profile that is desired for the best growth of fruit desired by
respectively , with the stem cutter assembly 19 (FIG . 1 ) 40 the growers . The pruner can prune trees on the right and left
attached . The Pick Path Algorithm will be generated and side of the machine as well as only on the right or left side .
stored in the GIS data base and will be downloaded to the The pruner can remove cross branches, and branches on the
harvester for each tree in the orchard at the time it is order of one - half inches in diameter to two inches in
harvested . Each tree will be identified by the GPS location diameter. The pruner works best when the trees are dormant
of the tree trunk . 45 and without leaves , but may also be used for trees such as
The operator will use the GPS 16 (FIG . 1) to align the avocadoes and citrus with the addition of radar tagging of
machine to the center line of two tree rows, in the case of an the major limbs and branches. Thebrush removed is allowed
edge row set the distance of the machine from the tree row to drop to the ground to be removed with current brush
based on the stored coordinates that were collected during cleanup equipment. The SPV is outfitted with the Power
the pruning process above . The operator will then initialize 50 Pruner Assemblies sized for the type of growth .
each of the robotic arms 10 , 11 , 12 to the start harvesting 2 . A pruning machine apparatus for pruning grapes , fruit
position . The operator will do this task by operating the joy bearing bushes and other crops that are grown in rows and
stick 15 (FIG . 1) . Once the machine is aligned and initial- the pruning configuration can be defined in a 3 - D profile . A
ized , the operator checks that all interlocks are good and different SPV will be required to adjust for the difference in
selects the auto -harvesting operation . 55 row heights and widths for these types of crops then is
The CBCS 14 (FIG . 1) will start harvesting algorithms depicted as 3 (FIG . 2 ). The pruner can remove cross
with the selection of auto -harvesting operation . The front branches , and branches on the order of one -quarter inches in
robotic arm 10 will in general harvest the lower limbs of the diameter to two inches in diameter . The pruner works best
tree , the middle arm 11 will harvest the middle limbs of the when the grapes are dormant and with - out leaves . The brush
tree, and the back robotic arm 12 will harvest the top limbs 60 removed is allowed to drop to the ground to be removed with
of the tree . current brush cleanup equipment.
Once the stem cutter 19 (FIG . 1 , FIG . 9 ) is positioned to 3 . A fruit harvesting apparatus for harvesting fruit from
the Pick Path Algorithm location , then a second algorithm is trees grown in rows, and may be free standing or grown on
run that finds the closest fruit and cuts the stems using the trellises. The mechanical harvester travels between the rows
DIS camera 18g, h ,j ( FIG . 9 ) mounted on the stem cutter 65 of trees and can harvest the fruit from each tree half facing
assembly 19 (FIG . 9 ). When the DIS 18 (FIG . 4 ) detects the the SPV on the right side and left side of the harvesting SPV,
fruit the stem is cut the second algorithm turns control back as will as just on the right side or the left side as desired by
 US 9 ,877 ,428 B2
the operator. The fruit is harvested by a stem cutter that cuts 3 . Self Powered Vehicle (SPV )
the stem of the fruit and allows the fruit to drop a very short 4 . Structural Frame
distance into a fruit catcher that directs the fruit to the 5 . Hydrostatic Drive
vacuum hose that conveys the fruit individually to the fruit 6 . Low Profile Wheels
collector. The fruit collector catches the fruit in flowing 5 7 . Operator Platform
water and quickly moves the fruit out of the way of the next 8 . Motor & Hydrostatic Transmission
fruit that comes through the fruit vacuum system . The fruit 9 . Electric Generator
is not bruised or damaged by contacting other fruit. The 10 . Forward Robotic Ann
vacuum hose protects the fruit from hitting limbs and 11 . Middle Robotic Ann
branches that also can damage the fruit. The result is a high 10 12 . Rear Robotic Arm
quality premium fruit that is desirable for the fresh - fruit 13 . Hydraulic Cylinder
market. 14. Compliter Based Control System (CBCS)
4 . A grape harvesting apparatus for harvesting grapes that 1 5 . Manual Joystick
are on trellises or other berry or fruit bearing bushes that are 16 . Global Positioning Satellite Guidance System (GPS )
planted in rows held up right by trellises . A different SPV 15 17 . GPS Antenna
will be required to adjust for the difference in row heights 18 . Digital Imaging System (DIS )
and widths for these types of crops then is depicted as 3 a . DIS Camera
( FIG . 1 ). The grape clusters are harvested by a stem cutter b . DIS Camera
that cuts the stem of the grape cluster and allows the grapes c . DIS Camera
to drop a very short distance into a fruit catcher that directs 20 d . DIS Camera
the fruit to the vacuum hose that conveys the fruit individu - e . DIS Range Camera
ally to the fruit collector. The fruit collector catches the fruit f. DIS Range Camera
in flowing water and quickly moves the fruit out of the way g . DIS Close -up Camera
of the next fruit that comes through the fruit vacuum system . h . DIS Close -up Camera
The grapes are not bruised or damaged by contacting other 25 i. Blank
fruit clusters . The vacuum hose protects the grapes from j. DIS Close -up Camera
hitting limbs and branches that also can damage the grapes. 19 . Stem Cutter Assembly
The result is a premium quality grape that is desirable for the 20 . Fruit Catcher
fresh - fruit market . 21. Fruit Vacuum Hose
5 . The pruner and harvester as set forth in claims 1 , 2 , 3 , 30 22 . Fruit Collector
and 4 , requires a single operator, to operate the machine . The 23 . Fruit handling System
machine is self guided using a GPS Guidance Systems. This 24 . Elevator
frees the operator to better monitor the mechanical pruning 25 . Bin Loader
or harvesting processes that operate in an automatic mode . 26 . Power Pruner Assembly
The operation is automatic but the operator can interactively 35 27 . Pruner Shear Blade
interface with the CBCS 14 (FIG . 1 ) for the right and left 28 . Pruner Knife Blade
side robotic arms to adjust and set the processing param - 29 . Stem Cutter Shear Blade
eters. 30 . Stem Cutter Knife Blade
6 . The pruner and harvester as set forth in claims 3 and 4 31. Hydraulic Motor
provides a fruit catcher 20 (FIG . 8 ) that collects the fruit 40 32 . Fruit Bin
after a fall of a few inches and is directed into the vacuum 33 . Blower
hose by the air flow .
7. The pruner and harvester as set forth in claims 3 and 4 The invention claimed is:
provides for a vacuum blower 28 (FIG . 4 ) which creates a 1. An agricultural vehicle comprising:
vacuum above the water surface in the fruit collector to 45 a frame on wheels ;
provide the air flow that moves the fruit through the vacuum a vacuum tube supported upon the frame;
hose 22 (FIG . 4 ) from the tree to the fruit collector 21 ( FIG . a robotic arm supported upon the frame, the vacuum tube
4 ). secured to the robotic arm , the robotic arm configured
8 . The pruner and harvester as set forth in claims 3 and 4 for movement;
provides for a fruit collector 22 (FIG . 8 ), that slows the fruit 50 a fruit collector in operative cooperation with the vacuum
passing through the vacuum hose and delivers the fruit to the tube; and
fruit handler wherein the fruit collector comprises :
9 . The pruner and harvester as set forth in claims 3 and 4 a suction inlet in fluid communication with a vacuum
provides for a fruit stem cutter 19 (FIG . 7 ), that utilizes two outlet; and
synchronized counter- rotating cutter shear blade 29 and 55 a water inlet in fluid communication with a water
stem cutter knife 30 to cut the stems of the fruit, without outlet.
inputting kinetic energy into the fruit, so the fruit drops 2 . The agricultural vehicle of claim 1 further comprising
straight down into the fruit catcher 20 . an electric generator supported upon the frame and in
10 . The pruner and harvester as set forth in claim 1 , and operative cooperation with the robotic arm .
2 provides for a Power Pruner Assembly 26 ( FIG . 6 , FIG . 7 , 603 . The agricultural vehicle of claim 1 further comprising
FIG . 8 ), utilizes synchronized counter rotating Pruning a Computer Based Control System (CBCS ) supported upon
Shear Blade 27 and Pruning Knife Blade 28 to make a clean the frame and in operative cooperation with the robotic arm .
cut to remove limbs and branches without impacting or 4 . The agricultural vehicle of claim 1 wherein the robotic
damaging or splitting the part of the branch or limb left on arm is powered by hydraulic cylinders .
the tree Harvester glossary 65 5 . The agricultural vehicle of claim 1 further comprising
1 . Harvester Machine a camera supported upon the frame and in operative coop
2 . Pruner Machine eration with the robotic arm .
 US 9 ,877,428 B2
6 . The agricultural vehicle of claim 1 further comprising wherein the robotic arm is a first robotic arm operational
a blower supported upon the frame and in operative coop from a first side of the frame, and further comprising,
eration with the vacuum tube . a second robotic arm operational from a second side of
7 . The agricultural vehicle of claim 1 wherein the vehicle the frame opposite from the first side, and wherein from
is operated by a single person . a top plan view , the first robotic arm is staggered from
8. The agricultural vehicle of claim 1 further comprising the second robotic arm .
a digital image system (DIS ) supported upon the frame and 19. An agricultural vehicle comprising :
in operative cooperation with the robotic arm . a frame on wheels ;
9 . The agricultural vehicle of claim 8 wherein the digital a vacuum tube supported upon the frame;
image system comprises at least one of the following 10
devices : a DIS camera , a DIS close - up camera , and a DIS a robotic arm supported upon the frame, the vacuum tube
mera .
range camera secured to the robotic arm , the robotic arm configured
10 . The agricultural vehicle of claim 1 wherein the robotic for movement; and
arm is a first robotic arm operational from a first side of the wherein the robotic arm is a first robotic arm operational
frame, and further comprising, a second robotic arm opera - 15 from a first side of the frame, and further comprising ,
tional from a second side of the frame opposite from the first a second robotic arm operational from a second side of
side, and wherein from a top plan view , the first robotic arm the frame opposite from the first side , and wherein from
is staggered from the second robotic arm . a top plan view , the first robotic arm is misaligned from
11 . The agricultural vehicle of claim 1 wherein the robotic the second robotic arm .
arm is a first robotic arm operational from a first side of the 20 2 0 . An agricultural vehicle comprising:
frame, and further comprising , a second robotic arm opera a frame on wheels ;
tional from a second side of the frame opposite from the first a vacuum tube supported upon the frame;
side , and wherein from a top plan view , the first robotic arm a robotic arm supported upon the frame, the vacuum tube
is misaligned from the second robotic arm . secured to the robotic arm , the robotic arm configured
12 . The agricultural vehicle of claim 1 wherein the robotic 25 for movement; and
arm is a plurality of first robotic arms operational from a first wherein the robotic arm is a plurality of first robotic arms
side of the frame, and further comprising , a plurality of operational from a first side of the frame, and further
second robotic arms operational from a second side of the comprising, a plurality of second robotic arms opera
frame opposite from the first side , and wherein from a top tional from a second side of the frame opposite from the
plan view , at least one of the plurality of the first robotic 30 first side, and wherein from a top plan view , at least one
arms is staggered from at least one of the plurality of the of the plurality of the first robotic arms is staggered
second robotic arms.
13. The agriculturalvehicle of claim 1 wherein the robotic from at least one of the plurality of the second robotic
arm is a plurality of first robotic arms operational from a first arms .
side of the frame, and further comprising , a plurality of 35 21 . An agricultural vehicle comprising :
second robotic arms operational from a second side of the a frame on wheels ;
frame opposite from the first side, and wherein from a top a vacuum tube supported upon the frame;
plan view , all of the plurality of the first robotic arms are a robotic arm supported upon the frame, the vacuum tube
staggered from at least one of the plurality of the second secured to the robotic arm , the robotic arm configured
robotic arms. 40 for movement; and
14 . The agricultural vehicle of claim 1 wherein the robotic wherein the robotic arm is a plurality of first robotic arms
arm is a plurality of first robotic arms operational from a first operational from a first side of the frame, and further
side of the frame, and further comprising, a plurality of comprising , a plurality of second robotic arms opera
second robotic arms operational from a second side of the tional from a second side of the frame opposite from the
frame opposite from the first side, and wherein from a top 45 first side, and wherein from a top plan view , all of the
plan view , all of the plurality of the first robotic arms are plurality of the first robotic arms are staggered from at
staggered from all of the plurality of the second robotic least one of the plurality of the second robotic arms.
arms.
22 . An agricultural vehicle comprising:
15 . The agricultural vehicle of claim 1 further comprising a frame on wheels ;
a fruit catcher extending from an end of the vacuum tube. 50 a vacuum tube supported upon the frame;
a robotic arm supported upon the frame, the vacuum tube
16 . The agricultural vehicle of claim 15 wherein the fruit secured to the robotic arm , the robotic arm configured
catcher comprises an elongated cup configuration .
17 . The agricultural vehicle of claim 15 further compris for movement; and
ing a blade operational at an end of the robotic arm , and wherein the robotic arm is a plurality of first robotic arms
wherein the fruit catcher is directly below the blade . 55 operational from a first side of the frame, and further
18 . An agricultural vehicle comprising : comprising , a plurality of second robotic arms opera
a frame on wheels ; tional from a second side of the frame opposite from the
a vacuum tube supported upon the frame; first side , and wherein from a top plan view , all of the
a robotic arm supported upon the frame, the vacuum tube plurality of the first robotic arms are staggered from all
secured to the robotic arm , the robotic arm configured 60 of the plurality of the second robotic arms.
for movement; and * * * * *