Apparatuses, Systems and Methods for Automated Crop Picking
First Claim
1. An apparatus comprising:
- a support structure configured to be placed in proximity to a crop-bearing plant canopy, the support structure comprising;
a frame;
a central vertical shaft or axis attached to the frame, configured to be substantially aligned with a center of the plant canopy; and
at least one module support member comprising a horizontally-extending portion and at least one vertical member attached to the horizontally-extending portion, wherein each module support member or the frame is capable of rotating around the plant canopy;
a plurality of moveable arms attached to each of the at least one vertical member of the support structure, each moveable arm facing generally inward toward the plant canopy and being independently capable of extending into the plant canopy and retracting from the plant canopy;
at least one detector attached to each moveable arm; and
at least one electronic controller configured to operate the support structure, the at least one module support member, the moveable arms, and the detectors.
1 Assignment
0 Petitions
Accused Products
Abstract
Automated apparatuses and related methods for scanning, spraying, pruning, and harvesting crops from plant canopies. The apparatuses include a support structure comprising a frame, a central vertical shaft, and at least one module support member capable of rotating around a plant canopy. The support member supports a plurality of movable arms, each arm having at least one detector for probing the plant canopy. Embodiments further comprise applicators and/or manipulators for spraying, pruning, and harvesting crops from within the plant canopy. The methods of the present invention include causing the moveable arms attached to the support structure to be extended into the plant canopy, searching for crops, and transmitting and/or storing the search data. Embodiments further comprise detaching crops from the plant canopy and transporting them to a receptacle, applying a controlled amount of material within the plant canopy, or pruning inside of the plant canopy.
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Citations
22 Claims
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1. An apparatus comprising:
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a support structure configured to be placed in proximity to a crop-bearing plant canopy, the support structure comprising; a frame; a central vertical shaft or axis attached to the frame, configured to be substantially aligned with a center of the plant canopy; and at least one module support member comprising a horizontally-extending portion and at least one vertical member attached to the horizontally-extending portion, wherein each module support member or the frame is capable of rotating around the plant canopy; a plurality of moveable arms attached to each of the at least one vertical member of the support structure, each moveable arm facing generally inward toward the plant canopy and being independently capable of extending into the plant canopy and retracting from the plant canopy; at least one detector attached to each moveable arm; and at least one electronic controller configured to operate the support structure, the at least one module support member, the moveable arms, and the detectors. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A method of penetrating a plant canopy, the method comprising:
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causing a plurality of moveable arms attached to vertical members of a support structure to be extended into a defined three-dimensional space corresponding to the plant canopy where crops or other items of interest may be found; searching for the crops or other items of interest in the three-dimensional space; transmitting and/or storing data from said searching; retracting the moveable arms from the plant canopy; repositioning the module support member or the frame; and repeating the steps of causing the plurality of moveable arms to extend into the plant canopy, searching for crops or other items of interest, transmitting and/or storing data from the searching, retracting the moveable arms from the plant canopy, and repositioning the module support member or frame. - View Dependent Claims (16, 17, 18)
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19. A method of manufacturing an apparatus for penetrating a plant canopy, the method comprising:
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assembling a support structure by; attaching a plurality of support members to each other to form a frame; attaching a central vertical shaft or axis to a central position of the frame; assembling a module support member by attaching at least one vertical member to a generally horizontal member; attaching the module support member to the central axis so as to allow the module support member or the frame to rotate around the plant canopy; attaching a plurality of moveable arms to each of the at least one vertical member, each moveable arm configured to face inward toward the plant canopy, and each arm capable of extending into the plant canopy and retracting from the plant canopy; attaching at least one detector to each moveable arm; and communicatively connecting at least one electronic controller to the support structure, the module support member, the moveable arms, and the detectors. - View Dependent Claims (20, 21, 22)
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Specification