US 12,029,166 B2
Harvester with automated targeting capabilities
Frank Faulring, Salinas, CA (US); Carlos Ramirez, Salinas, CA (US); Jason Faulring, Salinas, CA (US); Mark Keyser, Salinas, CA (US); and Jacob Goellner, Salinas, CA (US)
Assigned to Ceres Innovation, LLC, Salinas, CA (US)
Appl. No. 17/425,615
Filed by Ceres Innovation, LLC, Salinas, CA (US)
PCT Filed Jan. 24, 2020, PCT No. PCT/US2020/015030
§ 371(c)(1), (2) Date Jul. 23, 2021,
PCT Pub. No. WO2020/154646, PCT Pub. Date Jul. 30, 2020.
Claims priority of provisional application 62/796,319, filed on Jan. 24, 2019.
Prior Publication US 2022/0078972 A1, Mar. 17, 2022
Int. Cl. A01D 46/30 (2006.01); A01D 45/00 (2018.01); A01D 46/253 (2006.01); A01D 46/28 (2006.01); B25J 9/02 (2006.01); B25J 15/06 (2006.01)
CPC A01D 46/30 (2013.01) [A01D 45/00 (2013.01); A01D 46/253 (2013.01); A01D 46/28 (2013.01); B25J 9/02 (2013.01); B25J 15/06 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A harvesting vehicle system comprising:
a harvesting vehicle frame with computing device includes at least one processor and a memory including picking control systems, navigation control systems, and communication control systems, a picking subcomponent including a robotic arm in communication with the computing device;
wherein the robotic arm including a picker head assembly to harvest targets including a vacuum assembly with a compressor, hose, and padded spoons configured to remove targets from target stems;
wherein the vehicle includes multiple two-tiered stereoscopic cameras in a wide field of view and narrow field of view configuration, in communication with the computing device, wherein the wide field of view cameras are configured to capture and send image data of a target to the computing device;
the computing device further configured to create three-dimensional maps of the target using the multiple wide field of view camera image data;
wherein the computing device further configured to use the image data of the target and three-dimensional maps of the target to a capture narrow field of view image data of the target;
the computing device further configured to direct the robotic arm and picker head to a selected target to harvest using the narrow field of view image data and three-dimensional maps of targets, the picker head assembly configured to attach the vacuum assembly and padded spoons to the selected target, and retract the selected target for harvesting.