Tagging of fruit-producing flowers for robotic selective harvesting

Patent metadata

Field	Value
Publication number	US-9913429-B1
Application number	US-201615353500-A
Country	US
Kind code	B1
Filing date	Nov 16, 2016
Priority date	Apr 27, 2015
Publication date	Mar 13, 2018
Grant date	Mar 13, 2018

Abstract

The locations of flowers on a plant, rather than the locations of agricultural products produced from such flowers, are used to facilitate the performance of harvesting and other agricultural operations in robotic agricultural applications. In some implementations, the identified location of a fruit-producing flower may be used by a robotic device to apply an indicator tag to a flowering plant proximate the flower for later identification when performing various types of directed and automated agricultural operations. In other implementations, the identified location of a fruit-producing flower may be used by a robotic device to anchor a stem of a flowering plant to a predetermined location such that the location of the flower, and of any fruit(s) later produced by such flower, are controlled and/or known when performing subsequent agricultural operations.

First claim

What is claimed is:

1. A method, comprising:
receiving digital image data of at least a portion of a flowering plant;
processing the received digital image data using a machine perception system to identify a location of an indicator tag, the indicator tag having been physically applied to a stem of the flowering plant proximate a fruit on the flowering plant and having been physically applied prior to production of the fruit by a fruit-producing flower on the flowering plant; and
performing, by a robotic device, a directed and automated agricultural operation on the flowering plant, wherein the directed and automated agricultural operation is directed proximate to the location based on the location being of the indicator tag.

2. The method of claim 1 , wherein performing the directed and automated agricultural operation includes harvesting the fruit.

3. The method of claim 2 , wherein harvesting the fruit includes manipulating the indicator tag to sever the stem and thereby separate the fruit from the flowering plant.

4. The method of claim 3 , wherein the indicator tag includes a collapsible loop that circumscribes the stem, and wherein manipulating the indicator tag includes collapsing the collapsible loop to sever the stem.

5. The method of claim 4 , wherein the indicator tag includes a cable tie portion including a cable that projects through a catch to define the collapsible loop, wherein the indicator tag is applied to the stem with the cable drawn through the catch to a first position, and wherein manipulating the indicator tag to sever the stem includes drawing the cable further through the catch beyond the first position.

6. The method of claim 5 , wherein the cable tie portion includes at least one cutting element configured to cut the stem when the cable is further drawn through the catch.

7. The method of claim 1 , wherein at least a portion of the indicator tag is reflective, and identifying the location of the indicator tag includes detecting a reflection of electromagnetic radiation with the machine perception system.

8. The method of claim 7 , wherein identifying the location of the indicator tag further includes emitting the electromagnetic radiation with the machine perception system.

9. The method of claim 8 , wherein the indicator tag includes a reflector element that is reflective in multiple directions.

10. The method of claim 9 , wherein the indicator tag is configured to hang the reflector element below the stem and below an occluding structure of the flowering plant.

11. The method of claim 1 , wherein the directed and automated agricultural operation includes pollinating the fruit-producing flower, capping the fruit-producing flower to inhibit pollination, transfecting the fruit-producing flower, performing a targeted application of an agricultural fertilizer, pesticide or herbicide to the flowering plant, moving and affixing the stem of the flowering plant to a predetermined location, monitoring growth of the fruit, or determining ripeness of the fruit.

12. The method of claim 1 , wherein receiving the digital image data and processing the received digital image data are performed by the robotic device.

13. The method of claim 1 , wherein the fruit comprises a vegetable agricultural product, a fruit agricultural product, or a nut agricultural product.

14. The method of claim 1 , wherein the indicator tag comprises a Volatile Organic Compound (VOC) sensor.

15. An apparatus, comprising:
a robotic device including an image capture device and an end-effector, the image capture device configured to collect digital image data of at least a portion of a flowering plant, wherein the flowering plant includes an indicator tag, the indicator tag having been physically applied to a stem of the flowering plant proximate a fruit on the flowering plant and having been physically applied prior to production of the fruit by a fruit-producing flower on the flowering plant, the end-effector configured to perform a directed and automated agricultural operation on the flowering plant proximate the indicator tag; and
a control system coupled to the image capture device and the end-effector of the robotic device and configured to process the collected digital image data to identify a location of the indicator tag and control the end-effector to perform the directed and automated agricultural operation on the flowering plant, wherein the control system directs the directed and automated agricultural proximate to the location based on the location being of the indicator tag.

16. The apparatus of claim 15 , wherein the directed and automated agricultural operation includes a fruit harvesting operation.

17. The apparatus of claim 16 , wherein in controlling the end-effector to perform the fruit harvesting operation the control system is to control the end-effector to manipulate the indicator tag to sever the stem and thereby separate the fruit from the flowering plant.

18. The apparatus of claim 17 , wherein the indicator tag includes a collapsible loop that circumscribes the stem, and wherein in controlling the end-effector to manipulate the indicator tag to sever the stem the control system is to control the end-effector to collapse the collapsible loop to sever the stem.

19. The apparatus of claim 15 , wherein the directed and automated agricultural operation includes pollinating the fruit-producing flower, capping the fruit-producing flower to inhibit pollination, transfecting the fruit-producing flower, performing a targeted application of an agricultural fertilizer, pesticide or herbicide to the flowering plant, moving and affixing the stem of the flowering plant to a predetermined location, monitoring growth of the fruit, or determining ripeness of the fruit.

20. A method, comprising:
after production of fruit by fruit-producing flowers of flowering plants having stems anchored to fixed predetermined locations:
performing, by a robotic device, an agricultural operation on the flowering plant with the stems of the flowering plants anchored in the fixed predetermined locations,
wherein the agricultural operation includes a cutting operation of the stems anchored to the fixed predetermined locations, wherein the cutting operation is along a fixed predetermined path between the plurality of fixed predetermined locations to harvest fruit from the plurality of flowering plants.

Assignees

• X Dev Llc

Inventors

• Stubbs Mark Adrian
• McCloskey Kevin James Fleming

Classifications

• A01G22/05

  Fruit crops, e.g. strawberries, tomatoes or cucumbers · CPC title

• Y10S901/31

  Gripping jaw · CPC title

• Y10S901/47

  Optical · CPC title

• Y10S901/01

  Mobile robot · CPC title

• B25J5/007

  mounted on wheels · CPC title