End effector for robotic harvesting

Abstract

A fruit harvesting system includes a vacuum generating subsystem and an end effector connected to the vacuum generating subsystem. The end effector has a first tube having a first diameter, and a second tube having a second diameter smaller than the first diameter so the second tube fits inside the first tube. A fruit harvesting system includes a vacuum generating subsystem, a tube connected to the vacuum generating subsystem and at least one structure coupled to an inside of the tube. A fruit harvesting system includes a vacuum generating subsystem, a first tube connected to the vacuum generating subsystem, and a second tube coupled to the first tube, the second tube having a tubular portion coupled to the first tube in an orientation other than parallel, the second tube having openings on opposite sides of the first tube.

What is claimed is: 
     
         1 . A fruit harvesting system, comprising:
 at least one sensor;   a vacuum system;   a robotic arm;   an end effector movable by the robotic arm, wherein the end effector comprises:
 a rigid tube comprising a distal end, a proximal end, and a connection to the vacuum system to create an air flow through at least a portion of the rigid tube, wherein the connection to the vacuum system is located between the distal end and the proximal end; and 
 a nozzle at the distal end of the rigid tube, the nozzle comprising an orifice through which the air flow can separate a fruit from a tree and pull the fruit into the nozzle and the rigid tube; and 
   a control system configured to receive sensor signals from the at least one sensor and provide control signals to automatically position the end effector with a spacing between a front surface of the nozzle and the fruit on the tree such that the air flow created by the vacuum system separates the fruit from the tree and pulls the fruit into the nozzle and the rigid tube.   
     
     
         2 . The system of  claim 1 , wherein the end effector further comprises:
 a deceleration structure within the rigid tube to slow fruit accelerated by the vacuum system.   
     
     
         3 . The system of  claim 2 , wherein the deceleration structure comprises a material having properties that reduces a speed of the fruit upon impact. 
     
     
         4 . The system of  claim 3 , wherein the material is a memory foam. 
     
     
         5 . The system of  claim 2 , wherein the deceleration structure comprises a mechanism attached to a dissipative element. 
     
     
         6 . The system of  claim 5 , wherein the dissipative element comprises at least one of padding, a damper, or a spring. 
     
     
         7 . The system of  claim 1 , wherein the end effector further comprises:
 a closable opening at the proximal end of the rigid tube to allow removal of the fruit from the end effector.   
     
     
         8 . The system of  claim 7 , wherein the closable opening comprises an opening having one or more doors. 
     
     
         9 . The system of  claim 8 , further comprising an actuator configured to open the one or more doors 
     
     
         10 . The system of  claim 8 , wherein the one or more doors are configured to open in response to momentum of the fruit. 
     
     
         11 . The system of  claim 7 , further comprising a conveyor coupled to the closable opening to transport the fruit away from the end effector. 
     
     
         12 . The system of  claim 11 , wherein the conveyor includes padding. 
     
     
         13 . The system of  claim 1 , wherein the at least one sensor is coupled to an exterior of the end effector. 
     
     
         14 . The system of  claim 1 , wherein the at least one sensor is coupled to an interior of the end effector. 
     
     
         15 . The system of  claim 1 , wherein the at least one sensor comprises a camera. 
     
     
         16 . The system of  claim 1 , wherein the at least one sensor comprises a proximity sensor. 
     
     
         17 . The system of  claim 1 , wherein the at least one sensor comprises a contact sensor. 
     
     
         18 . The system of  claim 1 , wherein the at least one sensor comprises a pressure sensor.