Selective harvester

Abstract

The present application relates to selective harvesting of agricultural objects, such as asparagus spears. One described example relates to a harvester that includes at least one set of independently controllable cutter arm assemblies that rotate about a common axis to harvest individual asparagus spears.

1 - 11 . (canceled) 
     
     
         12 . A device, comprising:
 a cutter arm assembly comprising first and second elements configured to lock upon an asparagus spear and further configured to subsequently release the asparagus spear, the cutter arm assembly further comprising a cutter knife configured to sever the asparagus spear.   
     
     
         13 . The device of  claim 12 , wherein the first and second elements are configured to lock upon the asparagus spear in a harvest zone and are configured to subsequently release the asparagus spear in a collection zone. 
     
     
         14 . The device of  claim 13 , wherein the cutter knife is configured to sever the asparagus spear in the harvest zone proximate to a surface of the soil. 
     
     
         15 . The device of  claim 12 , wherein the cutter arm assembly is configured to pivot relative to the asparagus spear. 
     
     
         16 . A device, comprising:
 a cutter assembly configured to be radially rotated about an axis and including first and second elements configured to grasp an asparagus spear therebetween as the cutter assembly rotates through a harvest zone, wherein the first and second elements can swing independently of one another relative to the axis yet are resiliently biased toward one another during the grasping, the cutter assembly further comprising a cutter knife configured to sever the asparagus spear.   
     
     
         17 . The device of  claim 16 , wherein contact with the asparagus spear by either of the first and second elements stops swinging thereof while allowing the other of the first and second elements to continue swinging. 
     
     
         18 . The device of  claim 17 , wherein contact with the asparagus spear by the other of the first and second elements stops swinging thereof and causes the asparagus spear to be grasped between the first and second elements. 
     
     
         19 . The device of  claim 16 , wherein the cutter assembly is further configured to temporarily lock the first and second elements against the asparagus spear so that the first and second elements do not bounce away from the asparagus spear. 
     
     
         20 . The device of  claim 19 , wherein the temporarily locking is based upon a radial position in the rotation. 
     
     
         21 . The device of  claim 19 , wherein the cutter knife is configured to sever the asparagus spear while the first and second elements are temporarily locked against the asparagus spear.