Patent ID: 9462749
Filing Date: 2016-10-11
CPC Classification: A01D,G06K,G06T

Claim Text:
1. A method of selectively harvesting fruits, the method comprising: generating a first series of images of a plant while the plant is moved to expose hidden fruits on or within the plant; identifying an object displayed in the first series of images as a suspect fruit on or within the plant from feature boundary data defined by color regions associated with the images; comparing a color parameter of the suspect fruit to a criterion associated with a ripeness of fruits to be harvested; in response to determining that the color parameter of the suspect fruit meets the criterion, advancing an automated picker toward the suspect fruit based on a determined position of the suspect fruit and while monitoring a proximity sensor of the automated picker; in response to a signal from the proximity sensor indicating that the automated picker is within a predetermined distance of an impediment, detecting a color of the impediment and confirming based on the color of the impediment that the impediment is a fruit; upon confirming that the impediment is the fruit, operating the automated picker to pick the fruit from the plant; and while the automated picker is operated to pick the fruit, generating a second series of images of one or more additional plants while the one or more additional plants are moved to expose additional fruits on or within the one or more additional plants.