Patent ID: 9468152
Filing Date: 2016-10-18
CPC Classification: A01D,A01G,G06K

Claim Text:
1. A method of pruning plants, the method comprising: generating a first series of images of a plant disposed along a planting bed using a camera mounted to a machine moving along the planting bed; identifying a first object displayed in the first series of images as a fruit on or within the plant from first feature boundary data defined by first color regions associated with the images; collecting data associated with a state of the fruit such that the collected data can be used to determine a schedule for harvesting fruits from the planting bed; identifying a second object displayed in the first series of images as a suspect plant component of the plant from second feature boundary data defined by second color regions associated with the images; comparing a parameter of the suspect plant component to a reference parameter associated with plant components to be pruned from the plant; in response to determining that the parameter of the suspect plant component sufficiently matches the reference parameter, identifying the suspect plant component as a plant component to be pruned from the plant; upon identifying the suspect plant component as a plant component to be pruned from the plant, advancing an automated pruner mounted to the machine toward the plant component based on a determined position of the plant component, and operating the automated pruner to sever the plant component from the plant as the machine continues to move along the planting bed; and while the automated pruner is operated to sever the plant component, generating a second series of images of one or more additional plants disposed along the planting bed using the camera as the machine continues to move along the planting bed.