Patent Publication Number: US-9897429-B2

Title: Harvester suspension

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation-in-part of U.S. patent application Ser. No. 14/576,598, filed Dec. 19, 2014, which claims the benefit of U.S. Provisional Application No. 61/919,168, filed Dec. 20, 2013. This application also claims the benefit of U.S. Provisional Application No. 62/116,890, filed Feb. 16, 2015. U.S. patent application Ser. No. 14/576,598, and U.S. Provisional Application Nos. 61/919,168 and 62/116,890 are incorporated herein by reference in their entirety. 
    
    
     TECHNICAL FIELD 
     This disclosure relates generally to crop harvesting, and relates more particularly to automated systems for selectively picking crops from plants. 
     BACKGROUND 
     Various crops, such as strawberries, have been harvested typically using manual labor due to the delicate nature of the crops and the selective nature of the harvesting. For example, laborers perform the harvesting by selectively picking ripe crops from the plants while leaving unripe crops on the plants for later harvesting when they have ripened. The high seasonal demand for laborers and the limited labor force has resulted in increased labor costs and crops being left unpicked. Further, labor shortages have resulted in portions of fields being left unplanted in order to avoid the effort, expense, and waste involved with growing unpicked crops. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       To facilitate further description of the embodiments, the following drawings are provided in which: 
         FIG. 1  illustrates a top, front, left side perspective view of a harvesting robot, according to an embodiment; 
         FIG. 2  illustrates a bottom, back, right side perspective view of the harvesting robot of  FIG. 1 ; 
         FIG. 3  illustrates a top, front, right side perspective view of a picking apparatus, according to the embodiment of  FIG. 1 ; 
         FIG. 4  illustrates a front view of a gripper of the picking apparatus of  FIG. 3  in an open position; 
         FIG. 5  illustrates a front view of the gripper of  FIG. 4  in a closed position; 
         FIG. 6  illustrates a top, front, left side perspective view of a carriage assembly, showing a stationary cam, and covers of a top base, a guide assembly, and a gear housing, according to the embodiment of  FIG. 1 ; 
         FIG. 7  illustrates a bottom, front, left side perspective view of various internal components of the carriage assembly of  FIG. 6 , and not showing the stationary cam and the covers of the top base, the guide assembly, and the gear housing of  FIG. 6 ; 
         FIG. 8  illustrates a rear view of the carriage assembly of  FIG. 6 , showing the stationary cam and the covers of the top base, the guide assembly, and the gear housing of  FIG. 6 , and showing various internal components in the gear housing; 
         FIG. 9  illustrates a top, rear, left side perspective view of an actuation cam, an actuator, and a stationary cam of the carriage assembly of  FIG. 6 ; 
         FIG. 10  illustrates a rear view of the actuation cam, actuator, and stationary cam of  FIG. 9 , and the picking apparatus of  FIG. 3  with a gripper in the picking position being in the open position; 
         FIG. 11  illustrates a rear, right side perspective view of the actuation cam, actuator, and stationary cam of  FIG. 9 , and the picking apparatus of  FIG. 3  with the gripper of  FIG. 10  in the picking position being in the closed position; 
         FIG. 12  illustrates a bottom, rear, right side perspective view of a carrier assembly, according to the embodiment of  FIG. 1 ; 
         FIG. 13  illustrates a top view of the harvesting robot of  FIG. 1 , showing the carrier assembly of  FIG. 12  coupled to the carriage assembly of  FIG. 6  and the picking apparatus of  FIG. 3 ; 
         FIG. 14  illustrates a bottom, front, right side perspective view of a foliage displacement mechanism, according to another embodiment; 
         FIG. 15  illustrates a right side view of the harvesting robot of  FIG. 1  and the foliage displacement mechanism of  FIG. 14  hovering above a plant and a growing bed, with the foliage displacement mechanism in a retracted position; 
         FIG. 16  illustrates a top, rear view of the foliage displacement mechanism of  FIG. 14  hovering above the plant of  FIG. 15  in an extended position; 
         FIG. 17  illustrates a front view of a computer system that is suitable for implementing various embodiments for implementing a processing unit, according to an embodiment of the carrier assembly of  FIG. 12 ; 
         FIG. 18  illustrates a representative block diagram of an example of the elements included in the circuit boards inside a chassis of the computer system of  FIG. 17 ; 
         FIG. 19  illustrates a flow chart for a method of providing a device for selectively harvesting crops on a plant, according to another embodiment; 
         FIG. 20  illustrates a top, back, left side perspective view of a harvesting robot, according to an embodiment, hovering above the plant and growing bed of  FIG. 15 ; 
         FIG. 21  illustrates a bottom, front, right side perspective view of the harvesting robot of  FIG. 20 ; 
         FIG. 22  illustrates a right side view of a carriage assembly, a picking apparatus, a collection apparatus, and a crop ejector of  FIG. 20 , in which the picking apparatus is in a lowered picking position and in which a gripper of the picking apparatus is in an open picking position; 
         FIG. 23  illustrates a rear side view of the carriage assembly, the picking apparatus, the collection apparatus, and the crop ejector of  FIG. 22 ; 
         FIG. 24  illustrates a right side view of the carriage assembly, the picking apparatus, the collection apparatus, and the crop ejector of  FIG. 20 , in which the picking apparatus is in a raised offload position and a gripper of the picking apparatus is in a closed offload position; 
         FIG. 25  illustrates a rear side view of the carriage assembly, the picking apparatus, the collection apparatus, and the crop ejector of  FIG. 24 ; 
         FIG. 26  illustrates a right side view of the carriage assembly, the picking apparatus, the collection apparatus, and the crop ejector of  FIG. 20 , in which the picking apparatus is in the raised offload position and the gripper of the picking apparatus is in an open offload position; 
         FIG. 27  illustrates a rear side view of the carriage assembly, the picking apparatus, the collection apparatus, and the crop ejector of  FIG. 26 ; 
         FIG. 28  illustrates a perspective view of a leaf displacement system, according to an embodiment, hovering over the plant and growing bed of  FIG. 15  in an open configuration; 
         FIG. 29  illustrates a perspective view of the leaf displacement system of  FIG. 28  hovering over the plant and growing bed of  FIG. 15  and beginning to transition from the open configuration to a closed configuration; 
         FIG. 30  illustrates a perspective view of the leaf displacement system of  FIG. 28  hovering over the plant and growing bed of  FIG. 15  and further transitioning from the open configuration to the closed configuration; 
         FIG. 31  illustrates a perspective view of the leaf displacement system of  FIG. 28  hovering over the plant and growing bed of  FIG. 15  in the closed configuration; 
         FIG. 32  illustrates a top, rear, left side perspective view of a portion of a harvesting vehicle, according to an embodiment, traveling through rows of plant beds; 
         FIG. 33  illustrates a rear view of the portion of the harvesting vehicle of  FIG. 32  traveling through the rows of plant beds of  FIG. 32 ; 
         FIG. 34  illustrates a top view of the portion of the harvesting vehicle of  FIG. 32  traveling through the rows of plant beds of  FIG. 32 ; 
         FIG. 35  illustrates a top, rear, right side perspective view of a robot positioning carrier (RPC) of  FIG. 32 ; 
         FIG. 36  illustrates a bottom, front, right side view of the RPC of  FIG. 32  being carried by an RPC track of  FIG. 33  and showing a portion of an RPC drive system of  FIG. 32 ; 
         FIG. 37  illustrates a rear view of a portion of the RPC of  FIG. 32  being carried by the RPC track of  FIG. 33  and showing a drive mechanism of the RPC of  FIG. 32  using an RPC drive shaft of  FIG. 32 ; 
         FIG. 38  illustrates a set of time views over time showing side views of a progression of an RPC on a track over a plant bed, according to an embodiment; 
         FIG. 39  illustrates a schematic of a portion of the plant bed of  FIG. 38 , showing the position of robots carried by the RPC of  FIG. 38  over time; 
         FIG. 40  illustrates a top view of a portion of a vehicle over rows of plant beds, according to an embodiment, in a progression of time views as the vehicle moves through the rows of plant beds; 
         FIG. 41  illustrates a top view of the portion of the vehicle of  FIG. 40 , showing an X-axis and a Y-axis in a coordinate system for a guidance control system; 
         FIG. 42  illustrates a rear view of the vehicle of  FIG. 40 , showing the Y-axis and a Z-axis in the coordinate system of  FIG. 41  for a guidance control system; 
         FIG. 43  illustrates a top view of a plant bed, showing holes punched for growing plants; 
         FIG. 44  illustrates a side view of suspension components for adjusting a vertical position of a wheel with respect to a body, according to an embodiment; 
         FIG. 45  illustrates a perspective view of a portion of a vehicle, according to an embodiment, showing a body of the vehicle in a lowered suspension position; 
         FIG. 46  illustrates a perspective view of the portion of the vehicle of  FIG. 45 , showing the body of the vehicle in a raised suspension position; 
         FIG. 47  illustrates a flow chart for a method of selectively harvesting crops, according to an embodiment; 
         FIG. 48  illustrates a flow chart for a method of providing a system for selectively harvesting crops, according to an embodiment; 
         FIG. 49  illustrates a flow chart for a method of holding foliage, according to an embodiment; 
         FIG. 50  illustrates a flow chart for a method of providing a system for foliage holding, according to an embodiment; 
         FIG. 51  illustrates a flow chart for a method of facilitating a suspension system for a vehicle, according to an embodiment; 
         FIG. 52  illustrates a flow chart for a method of providing a harvesting vehicle with a suspension system, according to an embodiment; 
         FIG. 53  illustrates a flow chart for a method of performing robot positioning with station-keeping, according to an embodiment; 
         FIG. 54  illustrates a flow chart for a method of providing a system for robot positioning with station-keeping, according to an embodiment; 
         FIG. 55  illustrates a flow chart for a method of individual plant location positioning, according to an embodiment; 
         FIG. 56  illustrates a flow chart for a method of providing a vehicle with individual plant location positioning, according to an embodiment; 
         FIG. 57  illustrates a block diagram of a robotic processing system, according to an embodiment; and 
         FIG. 58  illustrates a block diagram of a harvester processing system, according to an embodiment. 
     
    
    
     For simplicity and clarity of illustration, the drawing figures illustrate the general manner of construction, and descriptions and details of well-known features and techniques may be omitted to avoid unnecessarily obscuring the present disclosure. Additionally, elements in the drawing figures are not necessarily drawn to scale. For example, the dimensions of some of the elements in the figures may be exaggerated relative to other elements to help improve understanding of embodiments of the present disclosure. The same reference numerals in different figures denote the same elements. 
     The terms “first,” “second,” “third,” “fourth,” and the like in the description and in the claims, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms “include,” and “have,” and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, device, or apparatus that comprises a list of elements is not necessarily limited to those elements, but may include other elements not expressly listed or inherent to such process, method, system, article, device, or apparatus. 
     The terms “left,” “right,” “front,” “back,” “top,” “bottom,” “over,” “under,” and the like in the description and in the claims, if any, are used for descriptive purposes and not necessarily for describing permanent relative positions. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the apparatus, methods, and/or articles of manufacture described herein are, for example, capable of operation in other orientations than those illustrated or otherwise described herein. 
     The terms “couple,” “coupled,” “couples,” “coupling,” and the like should be broadly understood and refer to connecting two or more elements mechanically and/or otherwise. Two or more electrical elements may be electrically coupled together, but not be mechanically or otherwise coupled together. Coupling may be for any length of time, e.g., permanent or semi-permanent or only for an instant. “Electrical coupling” and the like should be broadly understood and include electrical coupling of all types. The absence of the word “removably,” “removable,” and the like near the word “coupled,” and the like does not mean that the coupling, etc. in question is or is not removable. 
     As defined herein, two or more elements are “integral” if they are comprised of the same piece of material. As defined herein, two or more elements are “non-integral” if each is comprised of a different piece of material. 
     As defined herein, “approximately” can, in some embodiments, mean within plus or minus ten percent of the stated value. In other embodiments, “approximately” can mean within plus or minus five percent of the stated value. In further embodiments, “approximately” can mean within plus or minus three percent of the stated value. In yet other embodiments, “approximately” can mean within plus or minus one percent of the stated value. 
     DESCRIPTION OF EXAMPLES OF EMBODIMENTS 
     Various embodiments include a device for selectively harvesting crops on a plant. The device can include a picking apparatus. The picking apparatus can be rotatable around a central axis. The picking apparatus can include a plurality of grippers each spaced apart and extending radially from the central axis, and each configured to pick a different individual one of the crops. Each of the plurality of grippers can be adjustable between an open position and a closed position. Each of the plurality of grippers can be configured in the open position to open around the individual crop. Each of the plurality of grippers can be configured in the closed position to securely hold the individual crop when the picking apparatus is rotated around the central axis. 
     A number of embodiments include a method of providing a device for selectively harvesting crops on a plant. The method can include providing a picking apparatus. The picking apparatus can be rotatable around a central axis. The picking apparatus can include a plurality of grippers each spaced apart and extending radially from the central axis, and each configured to pick a different individual one of the crops. The method also can include providing a carriage assembly. The carriage assembly can include a first rotational mechanism. The picking apparatus can be configured to be coupled to the first rotational mechanism. The first rotational mechanism can be configured to rotate the picking apparatus around the central axis in a rotational path with respect to the carriage assembly. Each of the plurality of grippers can be adjustable between an open position and a closed position. Each of the plurality of grippers can be configured in the open position to open around the individual crop. Each of the plurality of grippers can be configured in the closed position to securely hold the individual crop when the picking apparatus is rotated around the central axis. 
     Some embodiments include a foliage displacement mechanism for facilitating harvesting crops on a plant. The foliage displacement mechanism can include a back surface configured to extend normal to a growing bed of the plant. The foliage displacement mechanism also can include a base configured to extend parallel to the growing bed from the back surface toward the plant. The foliage displacement mechanism further can include a curved surface extending from the base upward to the back surface. The foliage displacement mechanism also can include a channel bisecting a front portion of the base and extending upward through the curved surface, the channel being configured to surround a center of the plant when the foliage displacement mechanism is moved toward the plant. The foliage displacement mechanism can be configured, when moved toward the plant, to move the foliage upward and toward the center of the plant to expose at least a portion of the crops. 
     Various embodiments include a system. The system can include a picking apparatus including a plurality of grippers each spaced apart and extending radially from a central axis of the picking apparatus, and each configured to pick a different individual crop of crops of plants. The picking apparatus can be configured to use a first one of the plurality of grippers to pick a first individual crop of the crops at a first time. During a second time period that starts with a second one of the plurality of grippers picking a second individual crop of the crops and ends with a third one of the plurality of grippers picking a third individual crop of the crops, the picking apparatus can be configured to offload the first individual crop from the first one of the plurality of grippers. The second time period can start after the first time. The second and third ones of the plurality of grippers can be configured to hold the second and third individual crops, respectively, at the end of the second time period. 
     A number of embodiments include a method. The method can include picking, at a first time, a first individual crop of crops of plants using a picking apparatus. The picking apparatus can include a plurality of grippers each spaced apart and extending radially from a central axis of the picking apparatus, and each configured to pick a different individual crop of the crops of the plants. The method also can include picking a second individual crop of the crops to start a second time period. The second time period can start after the first time. The method additionally can include offloading the first individual crop during the second time period. The method further can include picking a third individual crop of the crops to end the second time period. The picking apparatus can hold the second and third individual crops at the end of the second time period. 
     Several embodiments include a method of providing a system. The method can include providing a picking apparatus. Providing the picking apparatus can include providing a plurality of grippers. Providing the picking apparatus can include attaching the plurality of grippers to the picking apparatus such that the plurality of grippers are each spaced apart and extend radially from a central axis. The plurality of grippers each can be configured to pick a different individual crop of crops of plants. The picking apparatus can be configured to use a first one of the plurality of grippers to pick a first individual crop of the crops at a first time. During a second time period that starts with a second one of the plurality of grippers picking a second individual crop of the crops and ends with a third one of the plurality of grippers picking a third individual crop of the crops, the picking apparatus can be configured to offload the first individual crop from the first one of the plurality of grippers. The second time period can start after the first time. The second and third ones of the plurality of grippers can be configured to hold the second and third individual crops, respectively, at the end of the second time period. 
     Various embodiments include a system including a foliage displacement system. The foliage displacement system can include a support structure and two or more surfaces movably coupled to the support structure and configured to move between an open configuration of the foliage displacement system and a closed configuration of the foliage displacement system. The two or more surfaces can be configured to move foliage of a plant toward a center of the plant such that crops of the plant that underlie the foliage are exposed when the foliage displacement system moves from the open configuration to the closed configuration. 
     Several embodiments include a method. The method can include moving foliage of a plant toward a center of the plant using two or more surfaces of a foliage displacement system such that crops of the plant that underlie the foliage are exposed when the foliage displacement system moves from an open configuration of the foliage displacement system to a closed configuration of the foliage displacement system. The foliage displacement system can include a support structure and the two or more surfaces. The two or more surfaces can be movably coupled to the support structure and configured to move between the open configuration to the closed configuration. The method also can include holding in a stationary manner the foliage of the plant using the two or more surfaces when the foliage displacement system is in the closed configuration to keep the crops of the plant exposed. 
     A number of embodiments include a method of providing a system. The method can include providing a foliage displacement system. Providing a foliage displacement system can include providing a support structure. Providing a foliage displacement system also can include providing two or more surfaces. Providing a foliage displacement system further can include movably coupling the two or more surfaces to the support structure, such that the two or more surfaces are configured to move between an open configuration of the foliage displacement system and a closed configuration of the foliage displacement system. The two or more surfaces can be configured to move foliage of a plant toward a center of the plant such that crops of the plant that underlie the foliage are exposed when the foliage displacement system moves from the open configuration to the closed configuration. 
     Many embodiments include a harvesting vehicle. The harvesting vehicle can include a body including a plurality of picking systems configured to be carried over plants growing in one or more plant beds to harvest crops of the plants. Each picking system can include an imaging system and can be configured to (a) determine a height of the picking system over one of the one or more plant beds as the picking system is carried over the plants and (b) provide distance measurement data based on the height. The harvesting vehicle also can include a plurality of wheels each having a vertical position with respect to the body. The harvesting vehicle also can include a suspension control system configured to perform: receiving the distance measurement data from the plurality of picking systems; determining adjustment information for an adjustment of the vertical position of one or more of the plurality of wheels with respect to the body based at least in part on the distance measurement data provided by at least one of the plurality of picking systems; and controlling the adjustment of the vertical position of the one or more of the plurality of wheels with respect to the body based on the adjustment information. 
     Some embodiments include a method. The method can include receiving distance measurement data provided from a plurality of picking systems carried by a harvesting vehicle over plants growing in one or more plant beds to harvest crops of the plants. Each picking system can include an imaging system and can be configured to determine a height of the picking system over one of the one or more plant beds as the picking system is carried over the plants. The distance measurement data can be based on the height. The harvesting vehicle can include (a) a body comprising the plurality of picking systems and (b) a plurality of wheels each having a vertical position with respect to the body. The method also can include determining adjustment information for an adjustment of the vertical position of one or more of the plurality of wheels with respect to the body based at least in part on the distance measurement data provided by at least one of the plurality of picking systems. The method additionally can include controlling the adjustment of the vertical position of the one or more of the plurality of wheels with respect to the body based on the adjustment information. 
     Various embodiments include a method of providing a harvesting vehicle. The method can include providing a body comprising a plurality of picking systems configured to be carried over plants growing in one or more plant beds to harvest crops of the plants. Each picking system can include an imaging system and configured to (a) determine a height of the picking system over one of the one or more plant beds as the picking system is carried over the plants and (b) provide distance measurement data based on the height. The method also can include providing a plurality of wheels each having a vertical position with respect to the body. The method additionally can include providing a suspension control system configured to perform: receiving the distance measurement data from the plurality of picking systems; determining adjustment information for an adjustment of the vertical position of one or more of the plurality of wheels with respect to the body based at least in part on the distance measurement data provided by at least one of the plurality of picking systems; and controlling the adjustment of the vertical position of the one or more of the plurality of wheels with respect to the body based on the adjustment information. 
     Several embodiments include a system. The system can include one or more first carriers each configured to carry two or more robotic systems. The system also can include one or more second carriers configured to be coupled to a vehicle that is movable across a surface. Each of the one or more first carriers each can be movably coupled to and carried by one of the one or more second carriers. The system can be configured to automatically hold each of the one or more first carriers in a first carrier position and stationary with respect to the surface for a first time period while the vehicle moves the one or more second carriers in a first direction with respect to the surface, such that at least a portion of each of the two or more robotic systems carried by each of the one or more first carriers is carried in a stationary manner with respect to the surface for the first time period by each of the one or more first carriers. 
     A number of embodiments include a method. The method can include moving a vehicle across a surface in a first direction, such that one or more second carriers coupled to the vehicle are moved in the first direction with respect to the surface. The one or more second carriers can be movably coupled to and can be carrying one or more first carriers each configured to carry two or more robotic systems. The method also can include automatically offsetting the movement in the first direction of the one or more second carriers to hold each of the one or more first carriers in a first carrier position and stationary with respect to the surface for a first time period while the vehicle moves the one or more second carriers in the first direction, such that at least a portion of each of the two or more robotic systems carried by each of the one or more first carriers is carried in a stationary manner with respect to the surface for the first time period by each of the one or more first carriers. 
     Many embodiments include a method of providing a system. The method can include providing one or more first carriers each configured to carry two or more robotic systems. The method also can include providing one or more second carriers configured to be coupled to a vehicle that is movable across a surface. The method additionally can include movably coupling each of the one or more first carriers to one of the one or more second carriers, such that the each of the one or more first carriers is carried by the one of the one or more second carriers. The system can include the one or more first carriers and the one or more second carriers. The system can be configured to automatically hold each of the one or more first carriers in a first carrier position and stationary with respect to the surface for a first time period while the vehicle moves the one or more second carriers in a first direction with respect to the surface, such that at least a portion of each of the two or more robotic systems carried by each of the one or more first carriers is carried in a stationary manner with respect to the surface for the first time period by each of the one or more first carriers. 
     Some embodiments include a vehicle. The vehicle can include a body, a plurality of wheels movably coupled to the body, a guidance control system. The plurality of wheels can be configured to roll through rows between plant beds such that at least a portion of the body moves above the plant beds. The guidance control system can be configured to guide the vehicle along the rows. The guidance control system can be configured to track a different individual plant location of each individual plant of plants that are either planned for growth or growing in the plant beds. 
     Several embodiments include a method. The method can include guiding a vehicle along rows. The rows can be between plant beds. The vehicle can include a body, a plurality of wheels movable coupled to the body, and a guidance control system. The plurality of wheels can be configured to move along the rows such that at least a portion of the body moves above the plant beds. The method also can include Tracking a different individual plant location of each individual plant of plants that are either planned for growth or growing in the plant beds. 
     Further embodiments include a method of providing a vehicle. The method can include providing a body, providing a plurality of wheels movably coupled to the body, and providing a guidance control system. The plurality of wheels can be configured to roll through rows between plant beds such that at least a portion of the body moves above the plant beds. The guidance control system can be configured to guide the vehicle along the rows. The guidance control system can be configured to track a different individual plant location of each individual plant of plants that are either planned for growth or growing in the plant beds. 
     Turning to the drawings,  FIG. 1  illustrates a top, front, left side perspective view of a harvesting robot  100 .  FIG. 2  illustrates a bottom, back, right side perspective view of harvesting robot  100 . Harvesting robot  100  is merely exemplary, and embodiments of the harvesting robot are not limited to embodiments presented herein. The harvesting robot can be employed in many different embodiments or examples not specifically depicted or described herein. In many embodiments, harvesting robot  100  can include a picking apparatus  110 , a carriage assembly  140 , and/or a carrier assembly  170 . In several embodiments, harvesting robot  100  can be configured to harvest crops from plants. In some embodiments, harvesting robot  100  can be used to harvest crops such as strawberries from strawberry plants. In the same or other embodiments, harvesting robot  100  can be used to harvest crops such as tomatoes, peppers (e.g., bell peppers, chili peppers, etc.), oranges, and/or other suitable crops. In a number of embodiments, harvesting robot  100  can be configured to selectively pick crops (e.g., ripe crops) from plants, and leave other crops (e.g., unripe crops) on the plants. 
     Turning ahead in the drawings,  FIG. 3  illustrates a top, front, right side perspective view of picking apparatus  110 . Picking apparatus  110  is merely exemplary, and embodiments of the picking apparatus are not limited to embodiments presented herein. The picking apparatus can be employed in many different embodiments or examples not specifically depicted or described herein. In many embodiments, picking apparatus  110  can be rotatable around a central axis  311 . In a number of embodiments, picking apparatus  110  can include one or more grippers, such as grippers  312 ,  313 ,  314 , and/or  315 . In various embodiments, each of the grippers (e.g.,  312 - 315 ) can be used to pick a different individual one of the crops. For example, gripper  312  can be used to pick a first strawberry; gripper  313  can be used to pick a second strawberry; gripper  314  can be used to pick a third strawberry; and/or gripper  315  can be used to pick a fourth strawberry. In a number of embodiments, picking apparatus  110  can include four grippers (e.g.,  312 - 315 ), such as shown in  FIG. 3 . In other embodiments, the number of grippers (e.g.,  312 - 315 ) on picking apparatus  110  can be one, two, three, five, six, seven, eight, nine, ten, or another suitable number of grippers. In some embodiments, the number of grippers can be even numbered. In other embodiments, the number of grippers can be odd numbered. In several embodiments, the number of grippers (e.g.,  312 - 315 ) on picking apparatus  110  can be based on the average number of individual crops (e.g., strawberries, etc.) expected to be harvested from a plant, the time it takes to offload the individual crops from the grippers (e.g.,  312 - 315 ), a compromise (such as an optimal compromise) between the maximum number of individual crops expected to be harvested and the time it takes to offload the individual crops, and/or other suitable factors. Each gripper can be identical to the other grippers in picking apparatus  110 . 
     In a number of embodiments, the grippers (e.g.,  312 - 315 ) can be spaced apart and/or can extend radially from central axis  311 . In many embodiments, the grippers (e.g.,  312 - 315 ) can be facing radially outwards from a rotational circumference of picking apparatus  110 . In some embodiments, the gripper can be equally spaced apart on picking apparatus  110 . In several embodiments, picking apparatus  110  can include a frame  316 , which can include one or more spokes, such as spokes  317 ,  318 ,  319 , and/or  320 . In various embodiments, each gripper (e.g.,  312 - 315 ) can be attached to a different spoke (e.g.,  317 - 320 ). For example, as shown in  FIG. 3 , gripper  312  can be attached to spoke  317 ; gripper  313  can be attached to spoke  318 ; gripper  314  can be attached to spoke  319 ; and/or gripper  315  can be attached to spoke  320 . In other embodiments, frame  316  can be a solid wheel with or without spokes, and the grippers (e.g.,  312 - 315 ) can be attached to the solid wheel of frame  316 . In various embodiments, frame  316  can include an attachment mechanism, such as attachment mechanism  321 . In many embodiments, attachment mechanism  321  can be used to rotate picking apparatus  110  around central axis  311 . 
     Turning ahead in the drawings,  FIG. 4  illustrates a front view of gripper  312  in an open position.  FIG. 5  illustrates a front view of gripper  312  in a closed position. Gripper  312  is merely exemplary, and embodiments of the gripper are not limited to embodiments presented herein. The gripper can be employed in many different embodiments or examples not specifically depicted or described herein. In many embodiments, each of the other grippers (e.g.,  313 - 315  ( FIG. 3 )) on picking apparatus  110  ( FIG. 3 ) can be identical or similar to gripper  312 . In several embodiments, gripper  312  can be adjustable between the open position, as shown in  FIG. 4 , and the closed position, as shown in  FIG. 5 . In a number of embodiments, gripper  312  can be configured in the open position (as shown in  FIG. 4 ) to open around an individual crop, such as a single strawberry growing on a strawberry plant, or another suitable crop. In many embodiments, gripper  312  can be configured in the closed position (as shown in  FIG. 5 ) to securely hold the individual crop, such as strawberry  535 , when picking apparatus  110  ( FIGS. 1-3 ) is moved and/or rotated around central axis  311  ( FIG. 3 ). 
     In various embodiments, gripper  312  can include a first claw piece  410  and a second claw piece  420 . In other embodiments, gripper  312  can include a single claw or scoop piece and one or more support pieces. In yet other embodiments, gripper  312  can include three or more claw pieces. In many embodiments, first claw piece  410  can include a first claw frame  411  and/or second claw piece  420  can include a second claw frame  421 . In some embodiments, first claw frame  411  can provide rigid support for first claw piece  410 , and/or second claw frame  421  can provide rigid support for second claw piece  420 . In a number of embodiments, first claw frame  411  and/or second claw frame  421  can be made of a suitable rigid polymer (e.g., polycarbonate (PC), acrylonitrile butadiene styrene (ABS)), metal (e.g., aluminum), or another suitable material. 
     In many embodiments, first claw piece  410  can include a first claw surface  412 , and/or second claw piece  420  can include a second claw surface  422 . In a number of embodiments, first claw surface  412  can be attached to and/or can at least partially cover first claw frame  411 , and/or second claw surface  422  can be attached to and/or can at least partially cover second claw frame  421 . In a number of embodiments, first claw surface  412  and/or second claw surface  422  can be made of a soft and/or elastic material, such as silicone rubber, thermoplastic elastomer (TPE) (e.g., thermoplastic polyurethane (TPU)), rubber, foam, neoprene, or another suitable material that can provide a gentle, soft, and/or compliant surface for contacting, without damaging, the crops, and/or that can be suitable for contact with food. For example, first claw surface  412  and/or second claw surface  422  can be made of 20 A Shore durometer silicone rubber. First claw surface  412  and/or second claw surface  422  can be within a range of durometer, such as below 50 A Shore durometer. 
     In many embodiments, first claw piece  410  can include a first tip  413 , and/or second claw piece  420  can include a second tip  423 . In many embodiments, first tip  413  and/or second tip  423  can be wedge-shaped and/or configured to be inserted between crops to separate an individual crop from proximate crops (e.g., a cluster of crops) in order to pick the individual crop without damaging the proximate crops. For example, if a crop to be picked is located between two other nearby crops, first tip  413  can be configured to be wedged between the crop to be picked and another one of the nearby crops, and second tip  423  can be configured to be wedged between the crop to be picked and the other one of the nearby crops, which can separate and/or isolate the individual crop to be picked from the nearby crops without damaging the nearby crops. 
     In some embodiments, first claw piece  410  can include a retention surface  518 , and/or second claw piece  420  can include a retention surface  528 . Retention surface  518  and/or retention surface  528  can be configured to securely hold the crop (e.g., strawberry  535 ) in gripper  312 . In several embodiments, such as shown in  FIG. 5 , retention surface  518  and/or retention surface  528  can each include a concave surface, which can at least partially surround the crop (e.g., strawberry  535 ) to facilitate securely holding the crop. 
     In several embodiments, gripper  312  can be spring biased to be in the open position, as shown in  FIG. 4 . In a number of embodiments, gripper  312  can include a displacement block  430 , which can be coupled to spoke  317 , and which can be configured to slide radially inward and outward along spoke  317 . In several embodiments, displacement block  430  can include a pin  431 , which can facilitate coupling displacement block  430  to spoke  317 . In many embodiments, spoke  317  can include a compression spring  432 , which can compress when displacement block  430  is adjusted outward along spoke  317  to adjust gripper  312  to the closed position, as shown in  FIG. 5 , and which can be biased to press displacement block  430  inward along spoke  317  to adjust gripper  312  to the open position, as shown in  FIG. 4 . In various embodiments, gripper  312  can include one or more spring guards, such as spring guard  433  and/or spring guard  434 , which can cover and/or protect compression spring  432 . 
     In many embodiments, a first claw piece  410  can include a first displacement mounting portion  416  and a spoke mounting portion  417 , and/or second claw piece  420  can include a second displacement mounting portion  426  and a spoke mounting portion  427 . In a number of embodiments, spoke mounting portion  417  and/or spoke mounting portion  427  can be hingedly coupled to spoke  317 , such as at a hinge  419  and/or a hinge  429 , respectively. In several embodiments, first displacement mounting portion  416  and/or second displacement mounting portion  426  can be linkedly attached to displacement block  430 , such that adjusting the position of displacement block  430  can adjust first claw piece  410  and/or second claw piece  420  between the open position, as shown in  FIG. 4 , and the closed position, as shown in  FIG. 5 , such as by rotating first claw piece  410  around hinge  419  and/or rotating second claw piece  420  around hinge  429 . 
     In many embodiments, gripper  312  can include a first strip  414 , a first linkage piece  415 , a second strip  424 , and/or a second linkage piece  425 . First strip  414  and/or second strip  424  can be coupled to displacement block  430 . First linkage piece  415  can be hingedly coupled to first displacement mounting portion  416  at a hinge  418 , and can be coupled, such as slidably coupled, to first strip  414 . Second linkage piece  425  can be hingedly coupled to second displacement mounting portion  426  at a hinge  428 , and can be coupled, such as slidably coupled, to second strip  424 . In many embodiments, first strip  414  and/or second strip  424  can be made of a flexible and/or abrasive-resistant semi-rigid material, such as ultra-high-molecular-weight (UHMW) polyethylene (UHMWPE). As shown in  FIGS. 4-5 , as displacement block  430  is adjusted radially outward on spoke  317 , first strip  414  can push first claw piece  410  forward to rotate around hinge  419  to the closed position, and first linkage piece  415  can slide outwardly along first strip  414  away from displacement block  430  as the position of first displacement mounting portion  416  is adjusted. Similarly, as displacement block  430  is adjusted radially outward on spoke  317 , second strip  424  can push second claw piece  420  forward to rotate around hinge  429  to the closed position, and second linkage piece  425  can slide outwardly along second strip  424  away from displacement block  430  as the position of second displacement mounting portion  426  is adjusted. 
     In several embodiments, as displacement block  430  is adjusted radially outward on spoke  317 , first strip  414  and/or second strip  424  can bend backward (i.e., toward a center of frame  316  ( FIG. 3 )) to account for first claw piece  410  and/or second claw piece  420 , respectively, not fully pushing forward in their rotation around hinge  419  and/or hinge  429 , respectively. For example, if gripper  312  is utilized to pick a large-size crop, the size of the crop can prevent first claw piece  410  and/or second claw piece  420  from being fully pushed forward in their rotation around hinge  419  and/or hinge  429 , respectively. When displacement block  430  is adjusted radially outward on spoke  317 , first strip  414  and/or second strip  424  can provide spring-loaded bias on first claw piece  410  and/or second claw piece  420 , respectively, to securely hold a crop (e.g., strawberry  535 ) in gripper  312 . In a number of embodiments, the spring-loaded bending of first strip  414  and/or second strip  424  can advantageously allow gripper  312  to pick crops of various different sizes and securely hold those different-sized crops without damaging the crops. For example, gripper  312  can be configured to pick strawberries ranging from small-sized strawberries to large-sized strawberries. 
     Turning ahead in the drawings,  FIG. 6  illustrates a top, front, left side perspective view of carriage assembly  140 , showing a stationary cam  669 , and covers of a top base  641 , a guide assembly  651 , and a gear housing  652 .  FIG. 7  illustrates a bottom, front, left side perspective view of various internal components of carriage assembly  140 , and not showing stationary cam  669  and the covers of top base  641 , guide assembly  651 , and gear housing  652 .  FIG. 8  illustrates a rear view of carriage assembly  140 , showing stationary cam  669  and the covers of top base  641 , guide assembly  651 , and gear housing  652 , and showing various internal components in gear housing  652 . Carriage assembly  140  is merely exemplary, and embodiments of the carriage assembly are not limited to embodiments presented herein. The carriage assembly can be employed in many different embodiments or examples not specifically depicted or described herein. In many embodiments, carriage assembly  140  can include a carriage support assembly  640  and a carriage  650 . In many embodiments, carriage  650  can be vertically adjustable with respect to carriage support assembly  640 . 
     In a number of embodiments, carriage support assembly  640  can include top base  641  and/or a bottom base  642 . In several embodiments, carriage support assembly  640  can include a left guide pole  643  and/or a right guide pole  644 , which can each extend from top base  641  to bottom base  642 . In some embodiments carriage support assembly can include a vertical adjustment shaft  645 . In many embodiments, vertical adjustment shaft  645  can extend from top base  641  to bottom base  642 , and can rotate with respect to top base  641  and bottom base  642 . In a number of embodiments, vertical adjustment shaft  645  can be a threaded shaft, such as a lead screw. In a number of embodiments, top base  641  can include a gear enclosure  647 . In various embodiments, carriage support assembly  640  can include a motor  646 . Motor  646  can be a stepper motor or another suitable motor. In a number of embodiments, motor  646  can control the rotation of vertical adjustment shaft  645 . For example, as shown in  FIG. 7 , which shows the components within gear enclosure  647  ( FIGS. 6, 8 ) and which does not show the cover of gear enclosure  647  itself, motor  646  can be coupled to a gear  746  inside first gear enclosure  647 , and vertical adjustment shaft  645  can be coupled to a gear  745  inside gear enclosure  647  ( FIGS. 6, 8 ). Gear  745  can be positioned to engage with gear  746  within gear enclosure  647  ( FIGS. 6, 8 ). By rotating vertical adjustment shaft  645 , motor  646  can control the vertical position of carriage  650 . 
     In several embodiments, carriage  650  can include guide assembly  651 . As shown in  FIG. 7 , which shows the components within guide assembly  651  and which does not show the cover of guide assembly  651  itself, guide assembly  651  can include left linear bearings  750  and/or right linear bearings  751 . In various embodiments, left linear bearings  750  can be guide the vertical motion of carriage  650  along left guide pole  643 , and/or right linear bearings  751  can guide the vertical motion of carriage  650  along right guide pole  644 . In several embodiments, carriage assembly  140  can include one or more springs, such as spring  648  and spring  849 , which can extend from carriage  650  to top base  641  of carriage support assembly  640 . Spring  648  and spring  849  can be extension springs, which can beneficially support carriage  650  to decrease the force required to vertically lift carriage  650  with respect to carriage support assembly  640 . 
     In many embodiments, carriage  650  can include gear housing  652 . As shown in  FIG. 7 , which shows the components inside gear housing  652  and which does not show the cover of gear housing  652  itself, carriage  650  can include a carriage position piece  752 , which can be attached to vertical adjustment shaft  645  and can be configured to vertically adjust the position of the carriage upon rotational movement of vertical adjustment shaft  645 . In several embodiments, carriage position piece  752  can be a lead screw nut that has a threading corresponding to vertical adjustment shaft  645 . 
     In a number of embodiments, carriage  650  can include a rotational shaft  655 . Rotational shaft  655  can be configured to couple to picking apparatus  110  ( FIGS. 1-3 ). For example, rotational shaft  655  can attach to attachment mechanism  321  ( FIG. 3 ). In many embodiments, carriage  650  can include a motor  654 . Motor  654  can be a stepper motor or another suitable motor. In several embodiments, motor  654  can control the rotation of a rotational shaft  655  and/or picking apparatus  110 . For example, motor  654  can be configured to control the rotational positioning of the grippers (e.g.,  312 - 315  ( FIG. 3 )) on picking apparatus  110  ( FIGS. 1-3 ). As shown in  FIG. 8 , which shows various internal components within gear housing  652  ( FIG. 6 ), motor  654  can be coupled to a gear  854  inside gear housing  652  ( FIG. 6 ), and rotational shaft  655  can be coupled to a gear  855  inside gear housing  652  ( FIG. 6 ). Gear  854  can be positioned to engage with gear  855  within gear housing  652  ( FIG. 6 ). For example, gear  854  can be a worm, and gear  855  can be a corresponding worm gear. By rotating rotational shaft  655 , motor  654  can control the rotational position of picking apparatus  110  ( FIGS. 1-3 ). 
     In several embodiments, carriage  650  can include stationary cam  669  ( FIGS. 6, 8 , not shown in  FIG. 7 ). In a number of embodiments, rotational shaft  655  can pass through a central region of stationary cam  669 . In many embodiments, stationary cam  669  can facilitate controlling the adjustment position (e.g., open position, closed position) of the grippers (e.g.,  312 - 315  ( FIG. 3 )) on picking apparatus  110  ( FIGS. 1-3 ) as the grippers (e.g.,  312 - 315  ( FIG. 3 )) rotate around central axis  311  ( FIG. 3 ), as shown in  FIGS. 10-11  and described below in greater detail. 
     In some embodiments, carriage  650  can include an actuation cam  660 . Actuation cam  660  can be configured to facilitate controlling the adjustment position (e.g., open position, closed position) of the grippers (e.g.,  312 - 315  ( FIG. 3 )) on picking apparatus  110  ( FIGS. 1-3 ) as each of the grippers (e.g.,  312 - 315  ( FIG. 3 )) are positioned above and utilized to pick a crop, as shown in  FIGS. 10-11  and described below in greater detail. In many embodiments, actuation cam  660  can be a snail drop cam. In various embodiments, carriage  650  can include a motor  653 . Motor  653  can be a stepper motor or another suitable motor. In many embodiments, motor  653  can be coupled to and/or can control the rotation of actuation cam  660   
     In some embodiments, carriage  650  can include an actuator  661 . As shown in  FIG. 7 , which shows components of carriage  650  ( FIGS. 6, 8 ) with stationary cam  669  ( FIGS. 6, 8 ) removed, actuator can include a drive portion  761 , which can fit vertically between left actuator bearings  766  and right actuator bearings  767  on carriage  650  ( FIGS. 6, 8 ), and can adjust vertically to transfer the control position of actuation cam  660  to the gripper (e.g.,  312 - 315  ( FIG. 3 )), which can adjust the adjustment position (e.g., open position, closed position) of the gripper (e.g.,  312 - 315  ( FIG. 3 )), as shown in  FIGS. 10-11  and described below in greater detail. In various embodiments, drive portion  761  can include a sliding slot  764 , which can allow actuator  661  to surround rotational shaft  655 , and which can allow vertical movement of actuator  661  with respect to rotational shaft  655 . In a number of embodiments, actuator  661  can include guide portions  762 , which can each fit horizontally between left actuator bearings  766  and right actuator bearings  767 , respectively. For example, guide portions  762  can guide the vertical adjustment of actuator  661  between, and prevent the vertical movement beyond, the top bearings and bottom bearings of left bearings  766  and/or right bearings  767 . In certain embodiments guide portions  762  can include attachment pieces  763 , which can attach actuator  661  to attachment bases  765  on gear housing  652  ( FIGS. 6, 8 ) of carriage  650  ( FIGS. 6, 8 ) via springs (e.g., extension springs) or other suitable elastic components, in order to bias actuator  661  in a vertically upward position to engage with actuation cam  660 . 
     Turning ahead in the drawings,  FIG. 9  illustrates a top, rear, left side perspective view of actuation cam  660 , actuator  661 , and stationary cam  669 . Actuation cam  660 , actuator  661 , and stationary cam  669  are merely exemplary, and embodiments of the actuation cam, actuator, and stationary cam are not limited to embodiments presented herein. The actuation cam, actuator, and stationary cam can be employed in many different embodiments or examples not specifically depicted or described herein. In many embodiments, actuator  661  can include a cam interface piece  960 , which can follow the shape of actuation cam  660  to adjust the position of actuator  661 . In several embodiments, actuation cam  660  can be attached to motor  653  ( FIGS. 6-8 ) at rotation point  961 , and actuation cam  660  can rotate around rotation point  961 . In many embodiments, actuation cam  660  can rotate in a counter-clockwise direction, as viewed from the rear perspective shown  FIG. 9 . As actuation cam  660  rotates, cam interface piece  960  can move along actuation cam  660  from a base point  962  of actuation cam  660  to a peak point  963  of actuation cam  660 , which can push actuator  661  vertically downward. As actuation cam  660  rotates further, cam interface piece  960  can drop back from peak point  963  to base point  962 . 
     In several embodiments, actuator  661  can include a gripper interface portion  969 , which can interface with a gripper (e.g.,  312 - 315  ( FIG. 3 )) on picking apparatus  110  ( FIGS. 1-3 ) to adjust the adjustment position of the gripper (e.g.,  312 - 315  ( FIG. 3 )) between the open position (as shown in  FIG. 4 ) and the closed position (as shown in  FIG. 5 ). The gradual, continuous increase of actuation cam  660  can beneficially allow motor  653  ( FIGS. 6-8 ) to precisely control the vertical position of actuator  661 , which can advantageously allow motor  653  to precisely control the adjustment position of the gripper (e.g.,  312 - 315  ( FIG. 3 )) on picking apparatus  110  ( FIGS. 1-3 ). For example, motor  653 , actuation cam  660 , and actuator  661  can be used to precisely adjust the position of first tip  413  ( FIGS. 4-5 ) of first claw piece  410  ( FIGS. 4-5 ) and second tip  423  ( FIGS. 4-5 ) of second claw piece  420  ( FIGS. 4-5 ) in order to fit around an individual crop to be picked, and to separate and/or isolate the individual crop to be picked from the other nearby crops without damaging the nearby crops. 
     In a number of embodiments, stationary cam  669  can include a circular slot  968 , which can be configured to surround rotational shaft  655  ( FIGS. 6-7 ). In several embodiments, stationary cam  669  can have a fixed position with respect to carriage  650  ( FIGS. 6, 8 ), and the grippers (e.g.,  312 - 315  ( FIG. 3 )) on picking apparatus  110  ( FIGS. 1-3 ) can rotate around stationary cam  669 . In many embodiments, the rotational path of stationary cam  669  can include a first portion  964 . Stationary cam  669  can be configured to hold the grippers (e.g.,  312 - 315  ( FIG. 3 )) on picking apparatus  110  ( FIGS. 1-3 ) in a closed position (as shown in  FIG. 5 ) along first portion  964  of the rotational path. In several embodiments, the rotational path of stationary cam  669  can include a second portion  965 . In a number of embodiments, second portion  965  of the rotational path can include a release position  967  and a picking position  966 . Stationary cam  669  can be configured to allow the grippers (e.g.,  312 - 315  ( FIG. 3 )) on picking apparatus  110  ( FIGS. 1-3 ) to open to the open position (as shown in  FIG. 4 ) along second portion  965  of the rotational path from release position  967  to picking position  966 . 
     Turning ahead in the drawings,  FIG. 10  illustrates a rear view of actuation cam  660 , actuator  661 , stationary cam  669 , and picking apparatus  110  with gripper  312  in picking position  966  being in the open position.  FIG. 11  illustrates a rear, right side perspective view of actuation cam  660 , actuator  661 , stationary cam  669 , and picking apparatus  110  with gripper  312  in picking position  966  being in the closed position. In a number of embodiments, gripper  312  can include a displacement pin  1032  and/or a bearing  1012 . In a number of embodiments, displacement pin  1032  can be identical to or attached to pin  431  ( FIGS. 4-5 ). In many embodiments, displacement pin  1032  can be coupled to displacement block  430  ( FIGS. 4-5 ), such that adjusting displacement pin  1032  can adjust displacement block  430 . In many embodiments, bearing  1012  can be centered on displacement pin  1032 , and can rotate along the rotational path of stationary cam  669 . Similarly, gripper  313  can include a displacement pin  1033  and/or a bearing  1013 ; gripper  314  can include a displacement pin  1034  and/or a bearing  1014 ; and/or gripper  315  can include a displacement pin  1035  and/or a bearing  1015 . Displacement pin  1033 , displacement pin  1034 , and/or displacement pin  1035  can be similar or identical to displacement pin  1032 . Bearing  1013 , bearing  1014 , and/or bearing  1015  can be similar or identical to bearing  1012 . 
     In many embodiments, motor  654  ( FIGS. 6-8 ) can rotate picking apparatus  110  in a counter-clockwise direction, as viewed from the rear perspective shown in  FIGS. 10-11 . Gripper  312  can be rotated to picking position  966  of second portion  965  of the rotational path of the grippers (e.g.,  312 - 315  ( FIG. 3 )) along stationary cam  669 . In many embodiments, stationary cam  669  can include a stopping edge  1066 , which can stop bearing  1012  in the rotation of picking apparatus  110  to stop gripper  312  at picking position  966 . In many embodiments, when gripper  312  is in picking position  966 , gripper  312  can be facing downward to allow gripper  312  to pick a crop from a growing bed. When gripper  312  is rotated to picking position  966 , actuation cam  660  can be rotated such that cam interface piece  960  of actuator  661  can be at base point  962  of actuation cam  660  and actuator  661  is adjusted upwards (e.g., retracted) with respect to stationary cam  669 . When actuator  661  is in the retracted position, as shown in  FIG. 10 , gripper interface portion  969  of actuator  661  can be at or proximate to second portion  965  of stationary cam  669 , such that gripper  312  can remain in the open position. 
     In several embodiments, as gripper  312  rotates toward picking position  966 , gripper  315  can rotate along the rotational path of stationary cam  669  from first portion  964  to second portion  965  at release position  967 . In many embodiments, stationary cam  669  can include a release edge  1067 , which can allow gripper  315  to gradually open from the closed position (as shown in  FIG. 5 ) to the open position (as shown in  FIG. 4 ) at release position  967 . When gripper  315  is rotated to release position  967  and opens to the open position, gripper  315  can release a crop that it is holding, such as in a collection device. When gripper  312  is at picking position  966  and gripper  315  is at release position  967 , grippers  313  and  314  can be positioned along first portion  964  of the rotational path of stationary cam  669 , which can hold grippers  313  and  314  in the closed position, as shown in  FIG. 10 . For example, grippers  313  and  314  can each be holding a crop. 
     In many embodiments, at picking position  966  and in the open position, as shown in  FIG. 10 , gripper  312  can be ready to pick a crop from a plant. In several embodiments, carrier  170  ( FIG. 1 ) can move carriage support assembly  140  such that gripper  312  is positioned over the crop to be picked. Motor  653  ( FIGS. 6-8 ) can rotate actuation cam  660  to engage gripper interface portion  969  of actuator  661  with displacement pin  1032  of gripper  312  to adjust the position of first claw piece  410  ( FIGS. 4-5 ) and second claw piece  420  ( FIGS. 4-5 ) of gripper  312  in order to fit around the individual crop to be picked. For example, if the crop is a larger, such as a large-sized strawberry, gripper  312  can be set to a wider opening in the open position, and if the crop is smaller, such as a small-sized strawberry, gripper  312  can be set to a narrow opening in the open position, which can allow gripper  312  to separate and/or isolate the individual crop to be picked from the other nearby crops without damaging the nearby crops. 
     When gripper  312  is adjusted to the appropriate opening width for the crop to be picked, carriage support assembly  140  can lower carriage  150  such that first claw piece  410  ( FIGS. 4-5 ) and second claw piece  420  ( FIGS. 4-5 ) of gripper  312  can surround the crop to be picked. Motor  653  ( FIGS. 6-8 ) can rotate actuation cam  660  such that cam interface piece  960  can move along actuation cam  660  to peak point  963 , which can push extend actuator  661  to an extended position, as shown in  FIG. 11 . As actuator  661  is extended, gripper interface portion  969  of actuator  661  can push displacement pin  1032  to adjust the position of gripper  312  to the closed position (as shown in  FIG. 11 ). When gripper  312  is in the closed position, bearing  1012  of gripper  312  can be extended beyond stopping edge  1066  of stationary cam  669 , such that gripper  312  can be rotated along first portion  964  of the rotational path of stationary cam  669 . In many embodiments, gripper  312  can securely hold the picked crop as gripper  312  rotates along first portion  964 . After gripper  312  picks the crop, motor  654  ( FIGS. 6-8 ) can rotate picking apparatus  110  such that gripper  315  is rotated to picking position  966 . Although picking apparatus  110  is shown with 4 grippers (e.g.,  312 - 315 ), picking apparatus  110  can include fewer or additional grippers, and first portion  964  and second portion  965  of the rotational path of stationary cam  669  can be adjusted accordingly. 
     Turning ahead in the drawings,  FIG. 12  illustrates a bottom, rear, right side perspective view of carrier assembly  170 .  FIG. 13  illustrates a top view of harvesting robot  100 , showing carrier assembly  170  coupled to carriage assembly  140  ( FIGS. 1-2, 6-8 ) and picking apparatus  110 . Carrier assembly  170  is merely exemplary, and embodiments of the carrier assembly are not limited to embodiments presented herein. The carrier assembly can be employed in many different embodiments or examples not specifically depicted or described herein. In several embodiments, carrier assembly  170  can include a mounting bearing  1274 . In many embodiments, carrier assembly  170  and/or harvesting robot  100  can be mounted above a plant to be harvested at mounting bearing  1274 . In a number of embodiments, mounting bearing  1274  can be a geared slewing bearing, which can be used to rotate carrier assembly  170  and/or harvesting robot  100  with respect to the plant. For example, harvesting robot  100  can rotate in a clockwise and/or counterclockwise direction, as viewed from the top perspective shown  FIG. 13 , around mounting bearing  1274 . 
     In many embodiments, carrier assembly  170  can include an carriage attachment base  1284 , which can be configured to couple to top base  641  ( FIGS. 6, 8 ) in order to couple carriage assembly  140  to carrier assembly  170  and to move carriage assembly  140  with respect carrier assembly  170 . In a number of embodiments, carrier assembly  170  can include a motor  1275 . Motor  1275  can be a stepper motor or another suitable motor. In several embodiments, motor  1275  can control the rotation of an adjustment shaft  1278  to adjust the position of carriage attachment base  1284  and/or carriage assembly  140  with respect to mounting bearing  1274 . In a number of embodiments, adjustment shaft  1278  can be a threaded shaft, such as a lead screw. 
     In some embodiments, carrier assembly  170  can include a foliage displacement base  1281 , which can be coupled to a foliage displacement mechanism  1400 , as shown in  FIG. 14  and described below. In a number of embodiments, foliage displacement mechanism  1400  ( FIG. 14 ) can be attached to foliage displacement base  1281  at attachment portions  1282  and  1383 . In many embodiments, carrier assembly  170  can include a motor  1276 . Motor  1276  can be a stepper motor or another suitable motor. In various embodiments, motor  1276  can control the rotation of an adjustment shaft  1277  to adjust the position of foliage displacement base  1281  with respect to mounting bearing  1274 . In a number of embodiments, adjustment shaft  1277  can be a threaded shaft, such as a lead screw. 
     In several embodiments, carrier assembly  170  can include rails  1279  and  1280 , which can allow carriage attachment base  1284  and/or foliage displacement base  1281  to adjustably slide radially inward and outward with respect to mounting bearing  1274 . In many embodiments, carrier assembly  170  can include one or more imaging sensors  1290  and/or  1291 . Imaging sensors  1290  and/or  1291  can be cameras configured to detect optical image information. In a number of embodiments, carrier assembly  1270  can include an electronics unit  1271 . In some embodiments, electronics unit  1271  can include a control unit  1272  and/or a processing unit  1273 . In a number of embodiments, processing unit  1273  can include one or more processors configured to receive information from imaging sensors  1290  and/or  1291  to determine the location of the crops to be harvested. For example, processing unit can be configured to determine that certain crops are ripe and ready to be harvested, and other crops are not yet ripe or are damaged, and should not be harvested. In various embodiments, control unit  1272  can be electrically coupled to processing unit  1273  and/or can include one or more controllers to control the motors in harvesting robot  100 , such as motor  646  ( FIGS. 6-8 ), motor  653  ( FIGS. 6-8 ), motor  654  ( FIGS. 6-8 ), motor  1275  ( FIGS. 12-13 ), and/or motor  1276  ( FIGS. 12-13 ). 
     Turning ahead in the drawings,  FIG. 14  illustrates a bottom, front, right side perspective view of a foliage displacement mechanism  1400 . Foliage displacement mechanism  1400  is merely exemplary, and embodiments of the foliage displacement mechanism are not limited to embodiments presented herein. The foliage displacement mechanism can be employed in many different embodiments or examples not specifically depicted or described herein. In many embodiments, foliage displacement mechanism  1400  can be configured to move foliage of a plant to expose at least a portion of the crops under the foliage, which can allow imaging sensors  1290  ( FIGS. 12-13 ) and/or  1291  ( FIGS. 12-13 ) to detect the crops and/or allow the grippers (e.g.,  312 - 315  ( FIGS. 3, 10-11 )) of picking apparatus  110  ( FIGS. 1-3 ) to pick the crops. 
     In several embodiments, foliage displacement mechanism  1400  can include a back surface  1410 . In many embodiments, back surface  1410  can have a planar rectangular shape. In a number of embodiments, back surface  1410  can be configured to extend normal to a growing bed of the plant, as shown in  FIG. 15  and described below. In several embodiments, foliage displacement mechanism  1400  can include a base  1420 . Base  1420  can be configured to extend parallel to the growing bed of the plant from a back edge  1411  at back surface  1410  toward the center of the plant, as shown in  FIG. 15  and described below. In a number of embodiments, base  1420  can have a semicircular shape. 
     In several embodiments, foliage displacement mechanism  1400  can include a surface  1440 . Surface  1440  can extend from base  1420  upward to back surface  1410 . In a number of embodiments, at least one or more portions of surface  1440  can be curved and/or have a concave shape. In some embodiments, at least one or more portions of surface  1440  can be shaped as at least a portion of an ellipse. In several embodiments, foliage displacement mechanism  1400  can include a channel  1450 . In many embodiments, channel  1450  can extend from base  1420  at a bottom channel portion  1451  upwards through surface  1440  to a top channel portion  1452 . In some embodiments, base  1420  can extend outward toward the plant from a left side of back surface  1410  to a left front portion  1421  and from a right side of back surface  1410  to a right front portion  1422 . In many embodiments, base  1420  can recede back toward back surface  1410  in the center of base  1420  between left front portion  1421  and right front portion  1422  to bottom channel portion  1451 . 
     In a number of embodiments, foliage displacement mechanism  1400  can include attachment mechanisms  1430  and/or  1431 . Attachment mechanisms  1430  and  1431  can be configured to attach foliage displacement mechanism  1400  to foliage displacement base  1281  ( FIGS. 12-13 ) at attachment portions  1383  ( FIG. 13 ) and/or  1282  ( FIGS. 12-13 ), respectively. Motor  1276  can be configured to adjust the position of foliage displacement mechanism  1400  to move foliage displacement mechanism  1400  toward or away from the plant. In many embodiments, as foliage displacement mechanism  1400  is moved toward the plant, foliage displacement mechanism  1400  can be positioned such that the channel  1450  surrounds the center of the plant. In a number of embodiments, foliage displacement mechanism  1400  can be configured, when moved toward the plant, to move the foliage upward and toward the center of the plant. For example, the curves on surface  1440  can be configured to lift the foliage upwards and towards the center of the plant, which can advantageously prevent damaging and/or tangling the foliage (such as the leaves, vines, and/or blossoms) of the plant. 
     Turning ahead in the drawings,  FIG. 15  illustrates a right side view of harvesting robot  100  and foliage displacement mechanism  1400  hovering above a plant  1510  and growing bed  1501 , with foliage displacement mechanism  1400  in a retracted position. To assist with water run-off, growing bed  1501  can be slightly angled. In other examples, growing bed can be flat. Plant  1510  can be a strawberry plant, as shown in  FIG. 15 . In other examples, plant  1510  can be a tomato plant, a pepper (e.g., bell peppers, chili peppers, etc.) plant, an orange tree, or another suitable plant. As shown in  FIG. 15 , plant  1510  can have a center  1513  (e.g., a crown of a strawberry plant), and foliage  1512 , such as leaves, vines, and/or blossoms, that grow above growing bed  1501 . Plant  1510  can have crops  1511  that, when ripe, are located on growing bed  1501 . At least some of crops  1511  can be covered by foliage  1512 . 
     In many embodiments, such as shown in  FIG. 15 , harvesting robot  100  can be mounted and/or supported such that central axis  311  of picking apparatus  110  is parallel to growing bed  1501 . In several embodiments, foliage displacement mechanism  1400  can be attached to carrier mechanism  170  at attachment portion  1282  and/or attachment portion  1383  ( FIG. 13 ) on  1281  with one or more attachment poles, such as attachment pole  1520 . Carrier mechanism  170  can adjust foliage displacement mechanism  1400  from a retracted position, as shown in  FIG. 15 , toward plant  1510  to move foliage  1512  upward and toward center  1513  of plant  1510  to expose crops  1511  to be detected by imaging sensor  1290  and/or imaging sensor  1291  ( FIGS. 12-13 ) and/or picked by harvesting robot  100 . In many embodiments, center  1513  can fit within channel  1450  ( FIG. 14 ) when foliage displacement mechanism  1400  is moved toward plant  1510 . 
     In several embodiments, mounting bearing  1274  can be centered above plant  1510 . When mounting bearing  1274  is centered above plant  1510 , mounting bearing  1274  can be configured to rotate harvesting robot  100 , carrier assembly  170 , carriage assembly  140 , picking apparatus  110 , and/or foliage displacement mechanism  1400  around plant  1510 . When a crop, such as one of crops  1511 , is located to be picked, (a) mounting bearing  1274  can rotate carrier assembly  170  such that the gripper (e.g.,  312 - 315  ( FIG. 3 )) in picking position  966  ( FIGS. 9-11 ) is radially in a line extending from center  1513  of plant  1510  through the crop (e.g.,  1511 ) to be picked, (b) carrier assembly  170  can move carriage assembly  140  radially inward toward plant  1510 , and (c) carriage assembly  140  can lower carriage  650  ( FIGS. 6, 8 ) to lower picking apparatus  110  to allow a gripper (e.g.,  312 - 315  ( FIG. 3 )) to close and pick the crop (e.g.,  1511 ). In some embodiments, the motion of harvesting robot  100  can beneficially conserve motion, and/or can do a minimum amount of movement, such as to harvest an average maximum number of crops (e.g.,  1511 ) from plant  1510  in one rotation. For example, in some embodiments, harvesting robot  100  can be configured to harvest three crops from plant  1510 . In other embodiments, harvesting robot  100  can be configured to harvest fewer or additional crops from plant  1510 . In a number of embodiments, the picked crops can be deposited in a collection device as harvesting robot  100  moves to another plant. 
     Turning ahead in the drawings,  FIG. 16  illustrates a top, rear view of foliage displacement mechanism  1400  hovering above plant  1510  in an extended position. In many embodiments, when foliage displacement mechanism  1400  is extended toward plant  1510 , moving foliage  1512  ( FIG. 15 ), imaging sensors  1290  and/or  1291  ( FIGS. 12-13 ) can detect crops  1511  on growing bed  1501 , and processing unit  1273  ( FIGS. 12-13 ) can determine the crops to be harvested, such as based on ripeness. In many embodiments, harvesting robot  100  ( FIGS. 1-2, 13, 15 ) can rotate around plant  1510  with foliage displacement mechanism  1400  in the extended position, as shown in  FIG. 16 , in order for processing unit  1273  ( FIGS. 12-13 ) to determine which of the crops (e.g.,  1511 ) are the best crops to be picked. 
     Turning ahead in the drawings,  FIG. 17  illustrates an exemplary embodiment of computer system  1700 , all of which or a portion of which can be suitable for implementing processing unit  1273  ( FIGS. 12-13 ) and/or processing unit  2173  ( FIG. 21 , described below). As an example, a different or separate one of chassis  1702  (and all or a portion of its internal components) can be suitable for implementing processing unit  1273  ( FIGS. 12-13 ) and/or processing unit  2173  ( FIG. 21 ). Furthermore, one or more elements of computer system  1700  (e.g., refreshing monitor  1706 , keyboard  1704 , and/or mouse  1710 , etc.) can also be appropriate for implementing the techniques described herein. Computer system  1700  comprises chassis  1702  containing one or more circuit boards (not shown), Universal Serial Bus (USB) port  1712 , Compact Disc Read-Only Memory (CD-ROM) and/or Digital Video Disc (DVD) drive  1716 , and hard drive  1714 . A representative block diagram of the elements included on the circuit boards inside chassis  1702  is shown in  FIG. 18 . Central processing unit (CPU)  1810  in  FIG. 18  is coupled to system bus  1814  in  FIG. 18 . In various embodiments, the architecture of CPU  1810  can be compliant with any of a variety of commercially distributed architecture families. 
     Continuing with  FIG. 18 , system bus  1814  also is coupled to memory storage unit  1808 , where memory storage unit  1808  comprises both read only memory (ROM) and random access memory (RAM). Non-volatile portions of memory storage unit  1808  or the ROM can be encoded with a boot code sequence suitable for restoring computer system  1700  ( FIG. 17 ) to a functional state after a system reset. In addition, memory storage unit  1808  can comprise microcode such as a Basic Input-Output System (BIOS). In some examples, the one or more memory storage units of the various embodiments disclosed herein can comprise memory storage unit  1808 , a USB-equipped electronic device, such as, an external memory storage unit (not shown) coupled to universal serial bus (USB) port  1712  ( FIGS. 17-18 ), hard drive  1714  ( FIGS. 17-18 ), and/or CD-ROM or DVD drive  1716  ( FIGS. 17-18 ). In the same or different examples, the one or more memory storage units of the various embodiments disclosed herein can comprise an operating system, which can be a software program that manages the hardware and software resources of a computer and/or a computer network. The operating system can perform basic tasks such as, for example, controlling and allocating memory, prioritizing the processing of instructions, controlling input and output devices, facilitating networking, and managing files. Some examples of common operating systems can comprise Microsoft® Windows® operating system (OS), Mac® OS, UNIX® OS, and Linux® OS. 
     As used herein, “processor” and/or “processing module” means any type of computational circuit, such as but not limited to a microprocessor, a microcontroller, a controller, a complex instruction set computing (CISC) microprocessor, a reduced instruction set computing (RISC) microprocessor, a very long instruction word (VLIW) microprocessor, a graphics processor, a digital signal processor, or any other type of processor or processing circuit capable of performing the desired functions. In some examples, the one or more processors of the various embodiments disclosed herein can comprise CPU  1810 . 
     In the depicted embodiment of  FIG. 18 , various I/O devices such as disk controller  1804 , graphics adapter  1824 , video controller  1802 , keyboard adapter  1826 , mouse adapter  1806 , network adapter  1820 , and other I/O devices  1822  can be coupled to system bus  1814 . Keyboard adapter  1826  and mouse adapter  1806  are coupled to keyboard  1704  ( FIGS. 17-18 ) and mouse  1710  ( FIGS. 17-18 ), respectively, of computer system  1700  ( FIG. 17 ). While graphics adapter  1824  and video controller  1802  are indicated as distinct units in  FIG. 18 , video controller  1802  can be integrated into graphics adapter  1824 , or vice versa in other embodiments. Video controller  1802  is suitable for refreshing monitor  1706  ( FIGS. 17-18 ) to display images on a screen  1708  ( FIG. 17 ) of computer system  1700  ( FIG. 17 ). Disk controller  1804  can control hard drive  1714  ( FIGS. 17-18 ), USB port  1712  ( FIGS. 17-18 ), and CD-ROM drive  1716  ( FIGS. 17-18 ). In other embodiments, distinct units can be used to control each of these devices separately. 
     In some embodiments, network adapter  1820  can comprise and/or be implemented as a WNIC (wireless network interface controller) card (not shown) plugged or coupled to an expansion port (not shown) in computer system  1700  ( FIG. 17 ). In other embodiments, the WNIC card can be a wireless network card built into computer system  1700  ( FIG. 17 ). A wireless network adapter can be built into computer system  1700  by having wireless communication capabilities integrated into the motherboard chipset (not shown), or implemented via one or more dedicated wireless communication chips (not shown), connected through a PCI (peripheral component interconnector) or a PCI express bus of computer system  1700  ( FIG. 17 ) or USB port  1712  ( FIG. 17 ). In other embodiments, network adapter  1820  can comprise and/or be implemented as a wired network interface controller card (not shown). 
     Although many other components of computer system  1700  ( FIG. 17 ) are not shown, such components and their interconnection are well known to those of ordinary skill in the art. Accordingly, further details concerning the construction and composition of computer system  1700  and the circuit boards inside chassis  1702  ( FIG. 17 ) are not discussed herein. 
     When computer system  1700  in  FIG. 17  is running, program instructions stored on a USB-equipped electronic device connected to USB port  1712 , on a CD-ROM or DVD in CD-ROM and/or DVD drive  1716 , on hard drive  1714 , or in memory storage unit  1808  ( FIG. 18 ) are executed by CPU  1810  ( FIG. 18 ). A portion of the program instructions, stored on these devices, can be suitable for carrying out at least part of the techniques described above. 
     Although computer system  1700  is illustrated as a desktop computer in  FIG. 17 , there can be examples where computer system  1700  may take a different form factor while still having functional elements similar to those described for computer system  1700 . In some embodiments, computer system  1700  may comprise a single computer, a single server, or a cluster or collection of computers or servers, or a cloud of computers or servers. Typically, a cluster or collection of servers can be used when the demand on computer system  1700  exceeds the reasonable capability of a single server or computer. In certain embodiments, computer system  1700  may comprise a portable computer, such as a laptop computer. In certain other embodiments, computer system  1700  may comprise a mobile device, such as a smart phone. In certain additional embodiments, computer system  1700  may comprise an embedded system. 
     Turning ahead in the drawings,  FIG. 19  illustrates a flow chart for a method  1900  of providing a device for selectively harvesting crops on a plant in accordance with the present disclosure. Method  1900  is merely exemplary and is not limited to the embodiments presented herein. Method  1900  can be employed in many different embodiments or examples not specifically depicted or described herein. In some embodiments, the procedures, the processes, and/or the activities of method  1900  can be performed in the order presented. In other embodiments, the procedures, the processes, and/or the activities of method  1900  can be performed in any suitable order. In still other embodiments, one or more of the procedures, the processes, and/or the activities of method  1900  can be combined or skipped. In some embodiments, the plant can be a strawberry plant and each of the crops can be a strawberry. The plant can be similar or identical to plant  1510  ( FIG. 15 ). Each of the crops can be similar or identical to strawberry  535  ( FIG. 5 ). In other embodiments, the plant can be another suitable plant. 
     Referring to  FIG. 19 , method  1900  can include a block  1901  of providing a picking apparatus. In many embodiments, the picking apparatus can be similar or identical to picking apparatus  110  ( FIGS. 1-3 ). In a number of embodiments, the picking apparatus can be rotatable around a central axis. The central axis can be similar or identical to central axis  311  ( FIG. 3 ). In various embodiments, the central axis can be parallel to a growing bed of the plant. The growing bed can be similar or identical to growing bed  1501  ( FIG. 15 ). In several embodiments, the picking apparatus can include a plurality of grippers each spaced apart and extending radially from the central axis, and each configured to pick a different individual one of the crops. The individual crop can be similar or identical to crop  535 , or another suitable crop. The grippers can be similar or identical to grippers  312 - 315  ( FIG. 3 ). In some embodiments, the plurality of grippers can include four grippers. For example, the picking apparatus can include, four, fix, six, seven, eight, or more grippers. In other embodiments, the plurality of grippers can include fewer than four grippers. 
     In a number of embodiments, each of the plurality of grippers can be adjustable between an open position and a closed position. The open position can be similar or identical to the open position shown in  FIG. 4 . The close position can be similar or identical to the closed position shown in  FIG. 5 . In various embodiments, each of the plurality of grippers can be configured in the open position to open around the individual crop. In several embodiments, each of the plurality of grippers can be configured in the closed position to securely hold the individual crop when the picking apparatus is rotated around the central axis. 
     In some embodiments, each of the plurality of grippers can be configured to securely hold the individual crop in the closed position across different sizes of the individual crop. In many embodiments, each of the plurality of grippers can include a first claw piece and a second claw piece. The first claw piece can be similar or identical to first claw piece  410  ( FIGS. 4-5 ). The second claw piece can be similar or identical to second claw piece  420  ( FIGS. 4-5 ). In many embodiments, the first claw piece and/or the second claw piece can each include a metal frame at least partially covered with silicone rubber. 
     In a number of embodiments, for each of the plurality of grippers, the first claw piece can include a first wedged-shaped tip and/or the second claw piece can include a second wedge-shaped tip. The first wedge-shaped tip can be similar or identical to first tip  413  ( FIGS. 4-5 ), and/or the second wedge-shaped tip can be similar or identical to second tip  423  ( FIGS. 4-5 ). In a number of embodiments, when each of the plurality of grippers is in the open position (such as shown in  FIG. 4 ), the first wedged-shaped tip, and the second wedge-shaped tip are adjustable to fit around the individual crop and to separate the individual crop from one or more proximate crops. 
     In various embodiments, each of the plurality of grippers can further include a first flexible strip attached to the first claw piece and/or a second flexible strip attached to the second claw piece. The first flexible strip can be similar or identical to first strip  414  ( FIGS. 4-5 ), and/or the second flexible strip can be similar or identical to second strip  424  ( FIGS. 4-5 ). In several embodiments, when the gripper is adjusted to the closed position around the individual crop, the first flexible strip and the second flexible strip can be configured to bend to allow for different sizes of the individual crop. 
     Method  1900  next can include a block  1902  of providing a carriage assembly. In a number of embodiments, the carriage assembly can be similar or identical to carriage assembly  140  ( FIGS. 1-2, 6-8 ). In some embodiments, the carriage assembly can include a first rotational mechanism. In many embodiments, the first rotational mechanism can be similar or identical to rotational shaft  655  ( FIGS. 6-7 ), motor  654  ( FIGS. 6-8 ), gear  854  ( FIG. 8 ), and/or gear  855  ( FIG. 8 ). In several embodiments, the picking apparatus can be configured to be coupled to the first rotational mechanism. In some embodiments, the first rotational mechanism can be configured to rotate the picking apparatus around the central axis in a rotational path with respect to the carriage assembly. 
     In some embodiments, the carriage assembly can further include a first cam surrounding the first rotational mechanism. The first cam can be similar or identical to stationary cam  669  ( FIGS. 6, 8-11 ). In a number of embodiments, the carriage assembly can further include an actuator. The actuator can be similar or identical to actuator  661  ( FIGS. 6-11 ), motor  653  ( FIGS. 6-8 ), and/or actuation cam  660  ( FIGS. 6-7, 9-11 ). In some embodiments, the first cam can be configured to hold the plurality of grippers in the closed position for a first portion of the rotational path and to allow the plurality of grippers to open to the open position for a second portion of the rotational path from a release position to a picking position. The first portion of the rotational path can be similar or identical to first portion  964  ( FIGS. 9-11 ), and/or the second portion of the rotational path can be similar or identical to second portion  965  ( FIGS. 9-11 ). The release position can be similar or identical to release position  967  ( FIGS. 9-11 ), and/or the picking position can be similar or identical to picking position  966  ( FIGS. 9-11 ). In a number of embodiments, the first cam can be configured to stop rotation of the picking apparatus when each of the plurality of grippers is rotated to the picking position on the second portion of the rotational path. In various embodiments, the actuator can be configured to adjust an opening width of a picking gripper of the plurality of grippers at the picking position to isolate the individual crop and to close the gripper to securely hold the individual crop. The picking gripper can be similar or identical to gripper  312  at picking position  966  as shown in  FIGS. 10-11 . The first cam can be configured such that, as each of the plurality of grippers rotates to the release position of the rotational path, each of the plurality of grippers can be configured to open to the open position and release the individual crop in a collection device. 
     Method  1900  next can optionally include a block  1903  of providing a carrier assembly. The carrier assembly can be similar or identical to carrier assembly  170  ( FIGS. 1-2, 12-13 ). In some embodiments, the carrier assembly can include a second rotational mechanism. The second rotational mechanism can be similar or identical to mounting bearing  1274  ( FIGS. 12-13 ). In various embodiments, the second rotational mechanism can be configured to rotate the carrier assembly around the second rotational mechanism such that the picking apparatus can be rotated around the plant when the second rotational mechanism is centered above the plant. 
     Method  1900  next can include a block  1904  of providing one or more imaging sensors. In a number of embodiments, the one or more imaging sensors can be similar or identical to imaging sensor  1290  ( FIGS. 12-13 ) and/or imaging sensor  1291  ( FIGS. 12-13 ). 
     Method  1900  next can include a block  1905  of providing a processing unit. The processing unit can be similar or identical to processing unit  1273  ( FIGS. 12-13 ). In a number of embodiments, the processing unit can be configured to receive information from the one or more imaging sensors to determine the location of the crops to be harvested. 
     Method  1900  next can optionally include a block  1906  of providing a foliage displacement mechanism. In many embodiments, the foliage displacement mechanism can be similar or identical to foliage displacement mechanism  1400  ( FIGS. 14-16 ). In several embodiments, the foliage displacement mechanism can be configured to move foliage of the plant and expose at least a portion of the crops to the one or more imaging sensors. The foliage can be similar or identical to foliage  1512  ( FIG. 15 ). In some embodiments, the foliage displacement mechanism can include a back surface. The back surface can be similar or identical to back surface  1410  ( FIG. 14 ). In many embodiments, the back surface can be configured to extend normal to a growing bed of the plant. In various embodiments, the foliage displacement mechanism can include a base. The base can be similar or identical to base  1420  ( FIG. 14 ). In several embodiments, the base can be configured to extend parallel to the growing bed from the back surface toward the plant. In some embodiments, the foliage displacement mechanism can include a curved surface. The curved surface can be similar or identical to surface  1440  ( FIG. 14 ). In a number of embodiments, the curved surface can extend from the base upward to the back surface. In many embodiments, the foliage displacement mechanism can include a channel. The channel can be similar or identical to channel  1450  ( FIG. 14 ). In some embodiments, the channel can bisect a front portion of the base and extend upward through the curved surface. In several embodiments, the channel can be configured to surround a center of the plant when the foliage displacement mechanism is moved toward the plant. The center of the plant can be similar or identical to center  1513 . In some embodiments, the foliage displacement mechanism can be configured, when moved toward the plant, to move the foliage upward and toward the center of the plant. 
     Turning ahead in the drawings,  FIG. 20  illustrates a top, back, left side perspective view of a harvesting robot  2000  hovering above plant  1510  and growing bed  1501 .  FIG. 21  illustrates a bottom, front, right side perspective view of harvesting robot  2000 . Harvesting robot  2000  is merely exemplary, and embodiments of the harvesting robot are not limited to embodiments presented herein. The harvesting robot can be employed in many different embodiments or examples not specifically depicted or described herein. Harvesting robot  2000  can be similar to harvesting robot  100  ( FIGS. 1-2, 13, 15 ), and various components of harvesting robot  2000  can be similar or identical to various components of harvesting robot  100  ( FIGS. 1-2, 13, 15 ). 
     In many embodiments, harvesting robot  2000  can include a picking apparatus  2010 , a carriage assembly  2040 , and/or a carrier assembly  2070 . Picking apparatus  2010  can be similar to picking apparatus  110  ( FIGS. 1-3, 10-11, 13, 15 ), and various components of picking apparatus  2010  can be similar or identical to various components of picking apparatus  110  ( FIGS. 1-3, 10-11, 13, 15 ). Carriage assembly  2040  can be similar to carriage assembly  140  ( FIGS. 1-2, 6-8, 13, 15 ), and various components of carriage assembly  2040  can be similar or identical to various components of carriage assembly  140  ( FIGS. 1-2, 6-8, 13, 15 ). Carrier assembly  2070  can be similar to carrier assembly  170  ( FIGS. 1-2, 12-13, 15 ), and various components of carrier assembly  2070  can be similar or identical to various components of carrier assembly  170  ( FIGS. 1-2, 12-13, 15 ). In several embodiments, harvesting robot  2000  can be configured to harvest crops from plants. In some embodiments, harvesting robot  2000  can be used to harvest crops such as strawberries from strawberry plants. In the same or other embodiments, harvesting robot  2000  can be used to harvest crops such as tomatoes, peppers (e.g., bell peppers, chili peppers, etc.), oranges, and/or other suitable crops. In a number of embodiments, harvesting robot  2000  can be configured to selectively pick crops (e.g., ripe crops) from plants, and leave other crops (e.g., unripe crops) on the plants. For example, harvesting robot can be used to pick crops  1511  ( FIG. 20 ), when ripe, from plant  1510  ( FIG. 20 ). In several embodiments, harvesting robot  2000  can pick crops and offload picked crops simultaneously. In other embodiments, harvesting robot  2000  can be used for picking other individual items that are not crops. For example, in some embodiments, harvesting robot  2000  can be used for picking and/or offloading recycled items in a recycling plant. 
     In several embodiments, picking apparatus  2010  can be rotatable around a central axis, which can be similar or identical to central axis  311  ( FIG. 3 ). In many embodiments, picking apparatus  2010  can include grippers, such as grippers  2011 - 2014  ( FIGS. 20-21 ), gripper  2015  ( FIG. 20 ), and gripper  2116  ( FIG. 21 ), which can be similar or identical to grippers  312 - 315  ( FIG. 3 ). In various embodiments, each of the grippers can be used to pick a different individual one of the crops. In the embodiment of picking apparatus  2010  shown in  FIGS. 20-21  and  FIGS. 22-27  (described below), picking apparatus  2010  includes six grippers. In other embodiments, the number of grippers on picking apparatus  110  can be two, three, four, five, seven, eight, nine, ten, or another suitable number of grippers. In a number of embodiments, the grippers can be spaced apart and/or can extend radially from the central axis. 
     In many embodiments, carriage assembly  2040  can include a carriage support assembly  2041  and a carriage  2045 . Carriage support assembly  2041  can be similar or identical to carriage support assembly  640  ( FIGS. 6, 8 ), and various components of carriage support assembly  2041  can be similar or identical to carriage support assembly  640  ( FIGS. 6, 8 ). Carriage  2045  can be similar or identical to carriage  650  ( FIGS. 6, 8 ), and various components of carriage  2045  can be similar or identical to carriage  650  ( FIGS. 6, 8 ). In several embodiments, carriage  2045  can include a rotational shaft  2146  ( FIG. 21 ), which can be configured to couple to picking apparatus  2010 , and which can be driven by a motor in carriage  2045  (which can be similar or identical to motor  654  ( FIGS. 6-8 ) to rotate picking apparatus  2010 . In many embodiments, carriage support assembly  2041  can control a vertical position of carriage  2045 , similarly as shown in carriage assembly  140  ( FIGS. 1-2, 6-8, 13, 15 ) and described above, which can raise and/or lower picking apparatus  2010 . For example, carriage  2045  and picking apparatus  2010  can be adjusted in a lowered position, as shown in  FIG. 20 . Similarly, carriage  2045  and picking apparatus  2010  can be adjusted to a raised position, as shown in  FIG. 21 . 
     In many embodiments, carriage support assembly  2041  can include a bottom base  2042 . Bottom base  2042  can be similar or identical to bottom base  642  ( FIGS. 6-8 ). In several embodiments, carriage support assembly  2041  can include a stem separation bar  2043 , which can be attached to bottom base  2042 . In a number of embodiments, stem separation bar  2043  can be configured to provide tension on a stem of an individual crop, such as one of crops  1511  ( FIG. 20 ), when a gripper (e.g., gripper  2012 ) picks the crop (e.g.,  1511  ( FIG. 20 )) from plant  1510  ( FIG. 20 ). For example, in many embodiments, a crop (e.g.,  1511  ( FIG. 20 )) can be separated from a stem (e.g., stem  2019  ( FIG. 20 )) of the crop that holds the crop (e.g.,  1511  ( FIG. 20 )) to the plant (e.g., plant  1510  ( FIG. 20 )) by holding a portion of the stem down with stem separation bar  2043  while pulling upward on the crop (e.g.,  1511  ( FIG. 20 )), which can provide a substantially perpendicular tension force to the stem (e.g., stem  2019  ( FIG. 20 )) of the crop from the attachment of the stem (e.g., stem  2019  ( FIG. 20 )) on the crop. In a number of embodiments, the crop can be raised upward by the gripper (e.g., gripper  2012 ) after it is picked, and the stem (e.g., stem  2019  ( FIG. 20 )) can extend downward to stem separation bar  2043 , which can apply tension and result in the efficient separation of the stem (e.g., stem  2019  ( FIG. 20 )) from the crop (e.g.,  1511  ( FIG. 20 )). In many embodiments, the gripper (e.g.,  2012 ) picking the crop (e.g.,  1511  ( FIG. 20 )) can be lowered through stem separation bar  2043 , as shown in  FIG. 20 . Stem separation bar  2043  can be stationary with respect to carriage support assembly  2041 , and can remain in place when carriage  2045 , picking apparatus  2010 , and the grippers (e.g., gripper  2012 ) are lowered to pick the crop (e.g.,  1511  ( FIG. 20 )), as shown in  FIG. 20 . After the gripper (e.g.,  2012 ) closes around a crop (e.g.,  1511  ( FIG. 20 )), carriage  2045 , picking apparatus  2010 , and the grippers (e.g., gripper  2012 ) can be raised, as shown in  FIG. 21 . Because stem separation bar  2043  remains stationary when the gripper (e.g.,  2012 ) is raised, stem separation bar  2043  tension can apply tension to the stem (e.g., stem  2019  ( FIG. 20 )) and snap the stem (e.g., stem  2019  ( FIG. 20 )) from the berry. In many embodiments, stem separation bar  2043  and/or bottom base  2042  can encircle the stem (e.g., stem  2019  ( FIG. 20 )) of the crop (e.g.,  1511  ( FIG. 20 )) that is picked, such that stem separation bar  2043  will apply tension to the stem (e.g., stem  2019  ( FIG. 20 )) as the crop (e.g.,  1511  ( FIG. 20 )) is raised and/or rotated in the gripper (e.g.,  2012 ). 
     In many embodiments, carrier assembly  2070  can include a mounting bearing  2074  ( FIG. 20 ). Mounting bearing  2074  ( FIG. 20 ) can be similar or identical to mounting bearing  1274  ( FIG. 12 ). In many embodiments, similarly as described above in connection with  FIG. 12 , carrier assembly  2070  and/or harvesting robot  2000  can be mounted above plant  1510  ( FIG. 20 ) to be harvested at mounting bearing  2074 , and mounting bearing can provide for rotation of harvesting robot  2000  with respect to plant  1510  ( FIG. 20 ). Similarly as described above in connection with  FIG. 12 , in many embodiments, carrier assembly  2070  can include a motor (not shown), which can rotate mounting bearing  2074 , and or a motor (not shown), which can rotate an adjustment shaft  2078  of carrier assembly  2070 , which can adjust the position of a carriage attachment base (not shown) and/or carriage assembly  2040  with respect to mounting bearing  2074 , which can adjust the distance of picking apparatus  2010  from the center of plant  1510  ( FIG. 20 ). 
     In some embodiments, carrier assembly  2070  can include one or more imaging sensors, such as imaging sensors  2190  and/or  2191 . Imaging sensors  2190  and/or  2191  can be cameras configured to detect optical image information. In several embodiments, carrier assembly  2070  can include one or more illumination sources, such as lights  2192  and/or  2193 . In a number of embodiments, carrier assembly  2070  can include an electronics unit  2071 . Electronics unit  2071  can be similar to electronics unit  1271  ( FIG. 12 ), and various components of electronics unit  2071  can be similar or identical to various components of electronics unit  1271  ( FIG. 12 ). In many embodiments, electronics unit  2071  can include a control unit  2072  and/or a processing unit  2173  ( FIG. 21 ). Control unit  2072  can be similar or identical to control unit  1272  ( FIG. 12 ), and processing unit  2173  can be similar or identical to processing unit  1273  ( FIG. 12 ). For example, control unit  2072  can be a suitable programmable logic controller (PLC), which can control motors in harvesting robot  2000 . In several embodiments, processing unit  2173  can be similar to an embodiment of computer system  1700  ( FIG. 17 ), which can include one or more processors configured to receive information from imaging sensors  2190  and/or  2191  to determine the location of the crops to be harvested. For example, processing unit can be configured to determine that certain crops are ripe and ready to be harvested, and other crops are not yet ripe or are damaged, and should not be harvested. 
     In several embodiments, carriage assembly  2040  and/or carrier assembly  2070  can include a collection apparatus  2001 . In many embodiments, after a gripper (e.g., gripper  2012 ) has picking a crop (e.g.,  1511  ( FIG. 20 )) from a picking position, the gripper (e.g., gripper  2012 ) can be rotated while holding the crop (e.g.,  1511  ( FIG. 20 ), which can allow another gripper to pick another crop. In many embodiments, once the gripper (e.g., gripper  2012 ) has been rotated to an offload position, where the crop (e.g.,  1511  ( FIG. 20 )) can be offloaded from the gripper (e.g., gripper  2012 ) into collection apparatus  2001 . In many embodiments, collection apparatus  2001  can hold crops that have been offloaded from the grippers (e.g., gripper  2012 ). In many embodiments, collection apparatus  2001  can include a gate  2002  ( FIG. 20 ), which can open to allow collection apparatus  2001  to be emptied, such as when collection apparatus is full or when harvesting robot  2000  is positioned such that collection apparatus can empty into a suitable collection container or collection conveyer, such as when harvesting robot  2000  has finished rotating around plant  1510  ( FIG. 20 ) and returned to its starting position. In many embodiments, gate  2002  ( FIG. 20 ) can be opened using an actuator  2003 . 
     In several embodiments, carriage assembly  2040  and/or carrier assembly  2070  can include a crop ejector  2004  ( FIG. 20 ), which can facilitate moving a crop (e.g.,  1511  ( FIG. 20 )) from a gripper (e.g.,  2012 ) in the offload position to collection apparatus  2001 . In many embodiments, crop ejector  2004  can include an ejection plate  2005  ( FIG. 20 ) and an actuator  2006  ( FIG. 20 ). In a number of embodiments, ejection plate  2005  can prevent the crop (e.g.,  1511  ( FIG. 20 )) from falling out of the gripper (e.g.,  2012 ) when the gripper opens to offload the crop (e.g.,  1511  ( FIG. 20 )). In several embodiments, ejection plate  2005  can push the crop out of the gripper (e.g.,  2012 ) toward collection plate  2001  when the gripper (e.g.,  2012 ) is in the open position. In many embodiments, actuator  2006  can move ejection plate  2005 . 
     Turning ahead in the drawings,  FIG. 22  illustrates a right side view of carriage assembly  2040 , picking apparatus  2010 , collection apparatus  2001 , and crop ejector  2004 , in which picking apparatus  2010  is in a lowered position and gripper  2012  in a picking position is in an open position.  FIG. 23  illustrates a rear side view of carriage assembly  2040 , picking apparatus  2010 , collection apparatus  2001 , and crop ejector  2004 , in which the picking apparatus  2010  is in the lowered position and gripper  2012  in the picking position is in the open position.  FIG. 24  illustrates a right side view of carriage assembly  2040 , picking apparatus  2010 , collection apparatus  2001 , and crop ejector  2004 , in which picking apparatus  2010  is in a raised position and gripper  2015  in the offload position is in a closed position.  FIG. 25  illustrates a rear side view of carriage assembly  2040 , picking apparatus  2010 , collection apparatus  2001 , and crop ejector  2004 , in which picking apparatus  2010  is in the raised position and gripper  2015  in the offload position is in the closed position.  FIG. 26  illustrates a right side view of carriage assembly  2040 , picking apparatus  2010 , collection apparatus  2001 , and crop ejector  2004 , in which picking apparatus  2010  is in the raised position and gripper  2015  in the offload position is in the open position.  FIG. 27  illustrates a rear side view of carriage assembly  2040 , picking apparatus  2010 , collection apparatus  2001 , and crop ejector  2004 , in which picking apparatus  2010  is in the raised position and gripper  2015  in the offload position is in the open position. 
     In many embodiments, the grippers (e.g.,  2011 - 2015 ,  2116 ) of picking apparatus  2010  can be spring biased in a closed configuration. For example, gripper  312  shown in  FIG. 4 , can be modified such that compression spring  432  ( FIG. 4 ) can be situated on the other side of pin  431  to bias displacement block  430  outward along spoke  317  to adjust gripper  312  to the closed position, such as the closed position of gripper  312  in  FIG. 5 . In yet another embodiment, compression spring  432  can be situated in the same position shown in  FIG. 4 , but can be replaced with an extension spring, which can similarly bias displacement block  430  outward along spoke  317  to adjust gripper  312  to the closed position. In many embodiments, each of the grippers (e.g.,  2011 - 2015 ,  2116 ) of picking apparatus  2010  can include a claw cushion, such as claw cushion  2317  shown on gripper  2012  in  FIG. 23 , or claw cushion  2718  shown on gripper  2015  in  FIG. 27 . In many embodiments, the claw cushion (e.g.,  2317  ( FIG. 23 ),  2718  ( FIG. 27 )) can provide a surface on the inside of the gripper (e.g.,  2011 - 2015 ,  2116 ) to prevent a picked crop in the gripper (e.g.,  2011 - 2015 ,  2116 ) from being displaced from between the claw pieces (e.g.,  410 ,  420  ( FIG. 4 )) and falling into a hinge region proximate to the hinges (e.g.,  419 ,  429  ( FIG. 4 )). For example, when gripper  2015  opens in the offload position in  FIG. 27 , crop cushion  2718  can prevent a crop within gripper  2015  from falling into the hinges of gripper  2015 . 
     In many embodiments, picking apparatus  2010  can move the grippers (e.g.,  2011 - 2015 ,  2116 ) in a rotational path centered with respect to the central axis of picking apparatus  2010 . In several embodiments, a picking position can be located at the bottom of the rotational path, such as the position of gripper  2012  shown in  FIGS. 22-27 . In other embodiments, the picking position can be located at a different location of the rotational path, such as a side of the rotational path, or a top of the rotational path. In many embodiments, each of the grippers (e.g.,  2011 - 2015 ,  2116 ) can be configured to be opened to an open position, such as the open position of gripper  312  in  FIG. 4 , when the gripper (e.g.,  2012 ) is located at the picking position, as shown in  FIGS. 22-23 . In many embodiments, the gripper (e.g.,  2012 ) located at the picking position can be opened to the open position to pick a crop. 
     In several embodiments, the gripper (e.g.,  2012 ) located at the picking position can be opened to the open position before or while picking apparatus  2010  and the gripper (e.g.,  2012 ) in the picking position is lowered to pick the crop. In many embodiments, the gripper (e.g.,  2012 ) in the picking position can be opened using an actuator, such as actuator  2210 . In many embodiments, actuator  2210  can be configured to engage with a pin of the gripper, such as pin  431  in  FIG. 4  or displacement pin  1032  in  FIG. 10 , described above, and move the pin to adjust the position of the claw pieces (e.g.,  410 ,  420  ( FIG. 4 )) of the gripper (e.g.,  2012 ) and adjust the gripper (e.g.,  2012 ) to the open position. In many embodiments, actuator  2210  can pull the pin inward along the spoke (e.g., pulling pin  413  inward along spoke  317  in  FIG. 4 ) to open the gripper (e.g.,  2012 ). In many embodiments, actuator  2210  can be configured to adjust the position of the claw pieces (e.g.,  410 ,  420  in  FIG. 4 ) in order to fit around the individual crop to be picked, as such described above in connection with actuator  661  in  FIG. 10 . 
     In a number of embodiments, before picking apparatus  2010  and the gripper (e.g.,  2012 ) in the picking position is lowered to pick the crop, and after picking apparatus  2010  and the gripper (e.g.,  2012 ) in the picking position is raised (e.g., with the crop in the gripper (e.g.,  2012 )), picking apparatus  2010  and the gripper (e.g.,  2012 ) in the picking position can be positioned in the raised position, as shown in  FIGS. 24-25 . In many embodiments, when picking apparatus  2010  is in the raised position, each of the grippers (e.g.,  2011 - 2015 ,  2116 ) can be in the closed position, which can allow picking apparatus  2010  to be rotated with one or more crops in one or more of the grippers (e.g.,  2011 - 2015 ,  2116 ). 
     In many embodiments, when picking apparatus  2010  is in the raised position, one of the grippers (e.g., gripper  2015 ) can be opened to the open position to offload a crop from the gripper (e.g.,  2015 ), such as shown in  FIGS. 26-27 . In a number of embodiments, an offload position can be located at the top of the rotational path, such as the position of gripper  2015  shown in  FIGS. 22-27 . In other embodiments, the offload position can be located at a different location of the rotational path, such as a side of the rotational path, or a bottom of the rotational path. In many embodiments, each of the grippers (e.g.,  2011 - 2015 ,  2116 ) can be configured to be opened to an open position, such as the open position of gripper  312  in  FIG. 4 , when the gripper (e.g.,  2015 ) is located at the offload position, as shown in  FIGS. 26-27 . In many embodiments, the gripper (e.g.,  2015 ) located at the offload position be opened to the open position to offload a crop from the gripper (e.g.,  2015 ). 
     In many embodiments, the gripper (e.g.,  2015 ) in the offload position can be opened using an actuator, such as actuator  2220 . In many embodiments, actuator  2220  can be configured to engage with a pin of the gripper, such as pin  431  in  FIG. 4  or displacement pin  1032  in  FIG. 10 , described above, and move the pin to adjust the position of the claw pieces (e.g.,  410 ,  420  ( FIG. 4 )) of the gripper (e.g.,  2015 ) and adjust the gripper (e.g.,  2015 ) to the open position. In many embodiments, actuator  2220  can pull the pin inward along the spoke (e.g., pulling pin  413  inward along spoke  317  in  FIG. 4 ) to open the gripper (e.g.,  2015 ). 
     In a number of embodiments, once the gripper (e.g.,  2015 ) in the offload position is open, crop ejector  2004  can eject the crop in the opened gripper (e.g.,  2015 ) in the offload position into collection apparatus  2001 . For example, actuator  2006  can move ejection plate  2005  toward collection plate  2001 , as shown in  FIG. 26 . In many embodiments, ejection plate  2005  can be configured to fit between the claw pieces (e.g.,  410 ,  420  ( FIG. 4 )) of the gripper (e.g.,  2015 ) in the offload position when the gripper (e.g.,  2015 ) is in the open position. 
     In several embodiments, each of the grippers (e.g.,  2011 - 2015 ,  2116 ) can pick a different individual crop, and picking apparatus  2010  can be configured to offload (e.g., continuously offload) the crops while picking apparatus  2010  is picking the crops in the individual grippers (e.g.,  2011 - 2015 ,  2116 ). For example, crops can be offloaded during a time in which crops are being picked. In some embodiments, a gripper (e.g.,  2011 - 2015 ,  2116 ) can pick a first crop at a first time. Later, a gripper different from the gripper that picked the first crop can pick a second crop, after which a gripper different from the gripper that picked the second crop can pick a third crop. During the time between the second crop and the third crop being picked, the first crop can be offloaded from the gripper that picked the first crop. In some embodiments, the gripper that picked the first crop can pick the third crop. In other embodiments, the gripper that picks the third crop can be different than the gripper that picked the first crop. In many embodiments, the second crops can be held in the gripper that picked the second crop when the first crop is offloaded from the gripper that picked the second crop. In a number of embodiments, the second crop and the third crop can be held the grippers that picked them respectively when the third crop has been picked. 
     In many embodiments, using picking apparatus  2010 , as shown in  FIGS. 20-27 , gripper  2012  in the picking position can pick a crop and gripper  2015  in the offload position can offload a crop from gripper  2015 . Picking apparatus  2010  can rotate such that gripper  2013  (of if rotated the other rotational direction, gripper  2011 ) can pick a crop while gripper  2012  holds the crop until it is rotated to the offload position. Picking apparatus  2010 , in the embodiment shown in  FIGS. 20-27 , can hold up to four individual crops at a time when gripper  2012  has just picked a crop and gripper  2015  has not offloaded the crop, as gripper  2013  and gripper  2014  can also be holding crops. Gripper  2116  and gripper  2011  can be empty. In other embodiments, a crop in the gripper (e.g.,  2015 ) in the offload position can be offloaded before the gripper (e.g.,  2012 ) in the picking position is used to pick a crop, in which case picking apparatus can hold up to three crops. In several embodiments, a series of picks and offloads can be interleaved, with a pick followed by an offload, followed by a pick, followed by an offload, etc. In several embodiments, during this entire series of picks and offloads, picking apparatus can be holding at least one crop. In other embodiments, picking apparatus can be holding at least two crop, three crops, four crops, or another suitable number of crops each in individual grippers. In still other embodiments, a crop in the gripper (e.g.,  2015 ) in the offload position can be offloaded simultaneously with the gripper (e.g.,  2012 ) in the picking position picking a crop. In such embodiments, the gripper can be considered to have offloaded the first crop during the time period between the second crop and the third crop being picked, as described above. In yet other embodiments, picking apparatus  2010  can include a different number of grippers, as described above. For example, picking apparatus can include two grippers, and a pick in one of the two grippers can be followed by an offload in the other gripper, after which the other gripper can pick another individual crop. 
     In many embodiments, the continuous offload of crops from the grippers (e.g.,  2011 - 2015 ,  2116 ) of picking apparatus  2010  can beneficially allow harvesting robot  2000  to pick many crops while rotating around a plant. For example, if a plant has seven ripe crops that are ready to be picked, harvesting robot  2000  can circle the plant, and pick the seven plants while simultaneously offload at least some of the crops while circling the plant and picking the seven crops. The offloaded crops can advantageously be collected in collection apparatus  2001 . 
     Turning ahead in the drawings,  FIG. 28  illustrates a perspective view of a leaf displacement system  2800  hovering over plant  1501  in an open configuration.  FIG. 29  illustrates a perspective view of leaf displacement system  2800  hovering over plant  1501  and beginning to transition from the open configuration to a closed configuration.  FIG. 30  illustrates a perspective view of leaf displacement system  2800  hovering over plant  1501  and further transitioning from the open configuration to the closed configuration.  FIG. 31  illustrates a perspective view of leaf displacement system  2800  hovering over plant  1501  in the closed configuration. Leaf displacement system  2800  is merely exemplary, and embodiments of the harvesting robot are not limited to embodiments presented herein. The leaf displacement system can be employed in many different embodiments or examples not specifically depicted or described herein. Leaf displacement system  2800  can be similar to foliage displacement mechanism  1400  ( FIG. 14 ), and leaf displacement system can be configured to move foliage of a plant, such as foliage  1512  of plant  1510 , to expose at least a portion of the crops under the foliage, which can allow imaging sensors  1290 - 1291  ( FIGS. 12-13 ) and/or images sensors  2190 - 2191  ( FIG. 21 ) to detect the crops and/or allow the grippers (e.g.,  312 - 315  ( FIGS. 3, 10-11 ),  2011 - 2015  ( FIGS. 20-21 ),  2116  ( FIG. 21 )) to pick the crops, such as crops  1511 . 
     In a number of embodiments, leaf displacement system  2800  can include a support structure  2810 , a first assembly  2850 , and/or a second assembly  2870 . In many embodiments, first assembly  2850  and second assembly  2870  can each be movably coupled to support structure  2810 , as shown in  FIGS. 28-31 . In other embodiments, one of first assembly  2850  and second assembly  2870  can be movably coupled to support structure  2810  and the other one of first assembly  2850  and second assembly  2870  can be fixedly coupled to support structure  2810 . For example, leaf displacement system  2800  can include a first assembly rail  2815  to movably couple first assembly  2850  to support structure  2810  and allow first assembly  2850  to extend from and/or retract to support structure  2810 . Leaf displacement system  2800  can include a second assembly rail  2817  to movably couple second assembly  2870  to support structure  2810  and allow second assembly  2870  to extend from and/or retract to support structure  2810 . In several embodiments, support structure  2810  can include one or more motors (not shown) to drive the extension/retraction of first assembly  2850  along second assembly rail  2815  and/or the extension/retraction of second assembly  2870  along second assembly rail  2817 . 
     In some embodiments, leaf displacement system  2800  can include two or more surfaces, which can be movable with respect to each other, and can push and/or hold foliage  1512  toward center  1513  of plant  1510 . In some embodiments, for example, each of the two or more surfaces can be curved or flat surfaces, which can push foliage  1512  toward center  1513 . As shown in  FIG. 28 , second assembly  2870  can include a second assembly base surface  2871 , a second assembly first wing surface  2872 , and a second assembly second wing surface  2873 . 
     In many embodiments, second assembly base surface  2871  can be fixedly coupled to second assembly rail  2817 , and second assembly first wing surface  2872  and second assembly second wing surface  2873  can each rotate with respect to second assembly base surface  2871 . For example, in some embodiments, leaf displacement system  2800  can include arms  2821 - 2822  and gear  2831 , with arm  2821  coupled to gear  2831  at one end of arm  2821  and coupled to arm  2822  at the other end of arm  2821 , and arm  2822  coupled to arm  2821  at one end of arm  2822  and coupled to second assembly first wing surface  2872  at the other end of arm  2822 , such that when gear  2831  rotates, second assembly first wing surface  2872  can be rotated. Similarly, leaf displacement system  2800  can include arms  2823 - 2824  and another gear (not shown), with arm  2823  coupled to the gear at one end of arm  2823  and coupled to arm  2824  at the other end of arm  2823 , and arm  2824  coupled to arm  2823  at one end of arm  2824  and coupled to second assembly second wing surface  2873  at the other end of arm  2824 , such that when the gear rotates, second assembly second wing surface  2873  can be rotated. 
     In some embodiments, leaf displacement system  2800  can rotate second assembly first wing surface  2872  and second assembly second wing surface  2873  when second assembly  2870  is extended and/or retracted along second assembly rail  2817 . In many embodiments, as second assembly  2870  is retracted along second assembly rail  2817 , second assembly base surface  2871 , second assembly first wing surface  2872 , and/or second assembly second wing surface  2873  can push foliage  1512  toward center  1513  of plant  1510 . 
     As shown in  FIG. 28 , first assembly  2850  can include a first assembly base surface  2851 , a first assembly first wing surface  2852 , and a first assembly second wing surface  2853 . In many embodiments, first assembly base surface  2851  can be fixedly coupled to first assembly rail  2815 , and first assembly first wing surface  2852  and first assembly second wing surface  2853  can each rotate with respect to first assembly base surface  2851 . For example, in some embodiments, leaf displacement system  2800  can include arms  2851 - 2826  and gear  2832 , with arm  2825  coupled to gear  2833  at one end of arm  2825  and coupled to arm  2826  at the other end of arm  2825 , and arm  2826  coupled to arm  2825  at one end of arm  2826  and coupled to first assembly first wing surface  2852  at the other end of arm  2826 , such that when gear  2833  rotates, first assembly first wing surface  2852  can be rotated. Similarly, leaf displacement system  2800  can include a first arm (not shown), an arm  2828  and another gear (not shown), with the first arm coupled to the gear at one end of the first arm and coupled to arm  2828  at the other end of the first arm, and arm  2828  coupled to the first arm at one end of arm  2828  and coupled to first assembly second wing surface  2853  at the other end of arm  2828 , such that when the gear rotates, first assembly second wing surface  2853  can be rotated. 
     In some embodiments, leaf displacement system  2800  can rotate first assembly first wing surface  2852  and first assembly second wing surface  2853  when first assembly  2850  is extended and/or retracted along first assembly rail  2815 . In a number of embodiments, second assembly  2850  can include a first assembly first plate surface  2854  and/or a first assembly second plate surface  2855 . In many embodiments, first assembly first plate surface  2854  can be fixedly coupled to first assembly first wing surface  2852 , such that first assembly first plate surface  2854  can rotate when first assembly first wing surface  2852  is rotated. In various embodiments, first assembly second plate surface  2855  can be fixedly coupled to first assembly second wing surface  2853 , such that first assembly second plate surface  2855  can rotate when first assembly second wing surface  2853  is rotated. 
     In many embodiments, as first assembly  2850  is retracted along first assembly rail  2815 , first assembly base surface  2851 , first assembly first plate surface  2854 , and/or first assembly second plate surface  2855  can push foliage  1512  toward center  1513  of plant  1510 . In many embodiments, first assembly base surface  2851 , first assembly first wing surface  2852 , first assembly second wing surface  2853 , second assembly base surface  2871 , second assembly first wing surface  2872 , and second assembly second wing surface  2873  can each be rounded surfaces, such as a portion of a cylinder. In many embodiments, when leaf displacement system  2800  is in the closed configuration, as shown in  FIG. 28 , first assembly base surface  2851 , first assembly first wing surface  2852 , first assembly second wing surface  2853 , second assembly base surface  2871 , second assembly first wing surface  2872 , and second assembly second wing surface  2873  can form a cylindrical shell that encloses first assembly first plate surface  2854 , first assembly second plate surface  2855 , and/or foliage  1512 . 
     In several embodiments, second assembly first wing surface  2872  and second assembly second wing surface  2873  can each be larger than first assembly first wing surface  2852  and first assembly second wing surface  2853 , to allow second assembly first wing surface  2872  and second assembly second wing surface  2873  to capture more of foliage  1512 , as shown in  FIG. 29 . Because first assembly first wing surface  2852  and first assembly second wing surface  2853  are smaller, and unable to capture as much of foliage  1512 , first assembly first plate surface  2874  and first assembly second plate surface  2855  can be used by first assembly  2850  to capture more of foliage  1512 , as shown in  FIG. 29 . In many embodiments, first assembly first plate surface  2874  and first assembly second plate surface  2855  can capture foliage  1512  and sweep foliage  1512  within the cylindrical shell shown in  FIG. 31 . As partially shown in  FIG. 30  by first assembly first plate surface  2854 , as first assembly first plate surface  2854  and first assembly second plate surface  2855  are rotated inward as leaf displacement system  2800  transitions from the open configuration (as shown in  FIG. 28 ) to the closed configuration (as shown in  FIG. 31 ), first assembly first plate surface  2854  and first assembly second plate surface  2855  can sweep within second assembly first wing surface  2872  and second assembly second wing surface  2873 , such that when leaf displacement system  2800  is in the closed configuration, as shown in  FIG. 30 , first assembly first plate surface  2854  and first assembly second plate surface  2855  can be fully enclosed within the cylindrical shell described above. 
     In many embodiments, foliage  1512  can be held within a circumference to expose crops  1511 , and allow a harvesting robot (e.g.,  100  ( FIG. 1 ),  2000  ( FIG. 20 )) to rotate around plant  1510  and detect and pick crops  1511  without interference from foliage  1512 . In many embodiments, the circumference can be dictated by the type of plant being harvested. For example, in some plants, such as strawberry plants, the circumference can be no more than approximately 8 inches (20.32 centimeters (cm)), 7 inches (17.78 cm), 6 inches (15.24 cm), 5 inches (12.7 cm), or another suitable circumference. For other plants, the circumference can be another suitable circumference. 
     In many embodiments, foliage displacement system  2800  can be carried such that a bottommost of foliage displacement system  2800 , such as a bottommost part of first assembly base surface  2851 , first assembly first wing surface  2852 , first assembly second wing surface  2853 , first assembly first plate surface  2874 , first assembly second plate surface  2855 , second assembly base surface  2871 , second assembly first wing surface  2872 , and/or second assembly second wing surface  2873  can be a first distance from growing bed  1501  when leaf displacement system  2800  transitions from the open configuration (shown in  FIG. 28 ) to the closed configuration (shown in  FIG. 31 ). In many embodiments, the distance can be dependent on the size of the crops (e.g.,  1511 ) and/or the typical size of the foliage (e.g.,  1512 ) when the crops are being harvested, such that the crops (e.g.,  1511 ) are not captured by leaf displacement system  2800 , but the foliage (e.g.,  1512 ) is captured. For example, in some embodiments, such as when the crops are strawberries, the distance can be approximately 2 inches (5.08 cm) to 4 inches (10.16 cm). In other embodiments, the distance can be approximately 2.5 inches (6.35 cm) or approximately 3.0 inches (7.62 cm). In other embodiments, the distance can be another suitable distance. 
     In many embodiments, leaf displacement system  2800  can be held below carrier assembly  2070  ( FIGS. 20-21 ) of harvesting robot  2000  ( FIG. 20 ) or carrier assembly  170  ( FIG. 1 ) of harvesting robot  100  ( FIG. 1 ). For example, leaf displacement system  2800  can be held between mounting bearing  2074  ( FIG. 20 ) and plant  1510  when mounting bearing  2074  is centered over plant  1510 . In many embodiments, can be held stationary such that leaf displacement system  2800  does not rotate with respect to plant  1510  when harvesting robot  2000  ( FIG. 20 ) or harvesting robot  100  ( FIG. 1 ) rotates around plant  1510  to detect and pick crops, which can beneficially hold foliage  1512  in place without leaf displacement system  2800  damaging foliage  1512  or getting caught on foliage  1512 . 
     In many embodiments, when the harvesting robot (e.g.,  100  ( FIG. 1 ),  2000  ( FIG. 20 )) corresponding to leaf displacement system  2800  approaches plant  1510 , such as a plant along a row of plants, leaf displacement system  2800  can be in the open configuration, as shown in  FIG. 28 , and/or first assembly  2850  can be disposed on one side of plant  1510  and second assembly  2870  can be disposed on the opposite side of plant  1510 , as shown in  FIG. 28 , which can beneficially allow the harvesting robot (e.g.,  100  ( FIG. 1 ),  2000  ( FIG. 20 )) and support structure  2810  of leaf displacement system  2800  to approach plant  1510  and become centered over plant  1510 , after which leaf displacement system can transition from the open configuration to the closed configuration. After the harvesting robot (e.g.,  100  ( FIG. 1 ),  2000  ( FIG. 20 )) has finished rotating around plant  1510  (and finished detecting and picking crops on plant  1510 ), leaf detection system  2800  can transition from the closed configuration (as shown in  FIG. 31 ) to the open configuration (as shown in  FIG. 28 ). 
     In other embodiments, a leaf displacement system can have other configurations. For example, a base surface can be surrounded by two wing surfaces, which can each rotate with respect to the base surface and can capture foliage  1512  within the base surface the two wing surfaces, to close in a triangular shape and hold foliage  1512 . 
     Turning ahead in the drawings,  FIG. 32  illustrates a top, rear, left side perspective view of a harvesting vehicle  3200  traveling through rows of plant beds  3280 .  FIG. 33  illustrates a rear view of harvesting vehicle  3200  traveling through rows of plant beds  3280 .  FIG. 34  illustrates a top view of harvesting vehicle  3200  traveling through rows of plant beds  3280 . Harvesting vehicle  3200  is merely exemplary, and embodiments of the harvesting vehicle are not limited to embodiments presented herein. The harvesting vehicle can be employed in many different embodiments or examples not specifically depicted or described herein. 
     The rows of plant beds can include plant beds  3281 - 3290  which can be spaced apart to form rows  3291 - 3299 . Plant beds  3281 - 3290  can include rows of plants, such as plants  3220 . In some embodiments, plant beds  3280 - 3290  can be slightly angled, such as on each side of each of plant beds  3280 - 3290  to assist with water run-off. In many embodiments, each angled side of the bed can include rows of plants. Plants  3220  can be a strawberry plant, a tomato plant, a pepper (e.g., bell peppers, chili peppers, etc.) plant, an orange tree, or another suitable plant. 
     In many embodiments, harvesting vehicle  3200  can be used to harvest plants  3220 . In many embodiments, harvesting vehicle  3200  can include wheels, such as wheels  3201 - 3204  and a body  3210 . In many embodiments, the wheels can rolls along rows (e.g.,  3291 - 3299 ) between the plant beds (e.g.,  3281 - 3290 ). For example, in some embodiments, wheels  3201 - 3202  can roll along row  3292  and wheels  3203 - 3204  can roll along row  3298 , such that harvesting vehicle  3200  straddles six plant beds (e.g., plant beds  3283 - 3288 ), and can be used to harvest four plant beds (e.g., plant beds  3284 - 3287 ) at a time. In other embodiments, harvesting vehicle  3200  can straddle more or fewer plant beds and can harvest more or fewer plant beds at a time. In the embodiment illustrated in  FIG. 32 , rows  3291 - 3299  can be straight, but in a different embodiment, the rows can be curved. 
     In many embodiments, body  3210  can include frame pieces  3211 - 3212 , which in some embodiments can be I-beams or other suitable frame pieces to provide support for body  3210  across the plant beds (e.g.,  3283 - 3288 ) straddled by body  3210 . In several embodiments, body  3210  can include arms  3213  and  3214  on each side of harvesting vehicle  3200 , which can include global positioning system (GPS) receivers  3215  and  3216 , respectively. 
     In a number of embodiments, body  3210  can include robot positioning carrier (RPC) tracks  3334 - 3337  ( FIGS. 33-34 ). In many embodiments, RPC tracks  3334 - 3337  can carry robot positioning carriers (RPCs)  3240 ,  3250 ,  3260 , and  3270 , respectively. In many embodiments, each RPC can carry robots, such as harvesting robots  3461 - 3464  ( FIG. 34 ), as explained in greater detail below. In several embodiments, body  3210  can include an RPC drive system  3230 , which can control the position of RPCs  3240 ,  3250 ,  3260 , and  3270  with respect to RPC tracks  3334 - 3337 . 
     In many embodiments, RPC drive system  3230  can include an RPC motor  3231 , an RPC drive block  3232 , an RPC drive shaft  3233 , and an RPC frame  3234 . In a number of embodiments, RPC drive frame  3234  can be mounted to body  3210 , such as to frame pieces  3211 - 3212 . In several embodiments, RPC motor  3231  can be mounted to RPC drive frame  3234 , and can drive RPC drive block  3232  to rotate RPC shaft  3233 . In many embodiments, RPC shaft  3233  can extend through each of RPC tracks  3334 - 3337  to control the position of RPCs  324 ,  3250 ,  3260 , and  3270  with respect to RPC tracks  3334 - 3337 , as explained below in greater detail. 
     Turning ahead in the drawings,  FIG. 35  illustrates a top, rear, right side perspective view of RPC  3260 .  FIG. 36  illustrates a bottom, front, right side view of RPC  3260  being carried by RPC track  3336  and showing a portion of RPC drive system  3230 .  FIG. 37  illustrates a rear view of a portion of RPC  3260  being carried by RPC track  3336  and showing a drive mechanism of RPC  3260  using RPC drive shaft  3233 . RPC  3260  is merely exemplary, and embodiments of the RPC are not limited to embodiments presented herein. The RPC can be employed in many different embodiments or examples not specifically depicted or described herein. RPC drive system  3230  is merely exemplary, and embodiments of the RPC drive system are not limited to embodiments presented herein. The RPC drive system can be employed in many different embodiments or examples not specifically depicted or described herein. 
     In many embodiments, each RPC (e.g.,  3240 ,  3250 ,  3260 ,  3270 ) can be the same as each other, such as RPC  3260 . In many embodiments, RPC  3260  can carry harvesting robots  3461 - 3464 , which can be similar or identical to harvesting robot  100  ( FIG. 1 ) and/or harvesting robot  2000  ( FIG. 20 ). In some embodiments, each harvesting robot (e.g.,  3461 - 3464 ) can be include a mounting bearing, such as mounting bearings  3521 - 3524 , respectively. Mounting bearings  3521 - 3524  can be similar or identical to mounting bearings  1274  ( FIG. 12 ) and/or  2074  ( FIG. 20 ). In many embodiments, RPC  3260  can include a carrier frame  3510 , which can include mounting pieces  3511 - 3514 , which can attached to mounting bearings  3521 - 3524 , respectively. In many embodiments, mounting pieces  3511 - 3514  can be modular attachment pieces, which can be removably coupled to harvesting robots  3461 - 3464 , respectively, such as to quickly replace a harvesting robot (e.g.,  3461 - 3464 ) in case of malfunction, or to attach different types of robots, such as hole punching robots, as described below in further detail. 
     In several embodiments, RPC  3260  can carry four robots, as shown in  FIGS. 35-36 . In other embodiments, RPC  3260  can carry another number of robots, such as 1, 2, 3, 5, 6, 7, 8, 9, 10, 11, 12, or another suitable number of robots. By carrying multiple robots, RPC  3260  can position multiple robots in place to each simultaneously perform tasks, such as harvesting plants or other suitable tasks. In many embodiments, RPC  3260  can position the robots such that the robots can perform the tasks simultaneously and independently without interfering with the other robots. For example, as shown in  FIGS. 35-36 , RPC  3260  can space the robots two on each side, with interleaved spacing, as further shown in  FIG. 39  and described below. 
     In many embodiments, for ease of service, each robot (e.g.,  3461 - 3464 ) can have its own self-contained controller and processors, which can have communications and/or power connections to the rest of the harvesting vehicle (e.g.,  3200  ( FIGS. 32-34 )). Each one of these robots can include motor controls, position sensors, solenoid controls, cameras, vision processing, strobe controls, and/or other suitable components. The robots (e.g.,  3461 - 3464 ) can act like a hive of bees that are orientated to perform certain tasks or functions when cued and report back when completed so that the higher-level system in the harvesting vehicle (e.g.,  3200  ( FIGS. 32-34 )) can perform next steps. In many embodiments, the robots (e.g.,  3461 - 3464 ) can perform these basic functions simultaneously and independently when commanded. In case of the malfunction of one of the robots (e.g.,  3461 - 3464 ), it is advantageous to be able to trade out the robot (e.g.,  3461 - 3464 ) quickly so that the rest of the robots (e.g.,  3461 - 3464 ) can continue working. A quick change-out system for the robots (e.g.,  3461 - 3464 ) can be implemented by minimizing the electrical and mechanical connections it takes to replace a robot (e.g.,  3461 - 3464 ). By including multiple RPCs (e.g.,  3240 ,  3250 ,  3260 ,  3270  ( FIGS. 32-34 )) each with multiple robots (e.g.,  3461 - 3464 ) on harvesting vehicle  3200  ( FIGS. 32-34 ), harvesting vehicle  3200  ( FIGS. 32-34 ) can perform operations (e.g., picking, hole punching) on multiple rows during picking operations, increasing picking efficiency of harvesting vehicle  3200  ( FIGS. 32-34 ). For example, harvesting vehicle  3200  ( FIGS. 32-34 ) show in  FIGS. 32-34  includes 16 different harvesting robots, which can pick crops on 16 different plants simultaneously. In other embodiments, harvesting vehicle  3200  ( FIGS. 32-34 ) can include more or fewer harvesting robots and/or robots of a different type (e.g., hole punching robots or other suitable robots). 
     In many embodiments, carrier frame  3510  of RPC  3260  can include track coupling mechanisms  3515  and  3516 , which can be configured to slidably couple to RPC track  3336 . For example, track coupling mechanisms  3515 - 3516  can each include a number of wheels to couple RPC  3260  to RPC track  3336  and facilitate movement of RPC  3260  with respect to RPC track  3336 , as shown in  FIG. 36 . 
     In many embodiments, RPC drive shaft  3230  can extend through each RPC track, such as RPC track  3336 , and can include two drums on each side of the RPC track, such as drums  3711  and  3712  ( FIG. 37 ) on each side of RPC track  3336 . In several embodiments, track  3336  can include a track wheel  3638  ( FIGS. 36-37 ) at one end of RPC track  3336  and a track wheel  3739  ( FIG. 37 ) at the other end of RPC track  3336 . In some embodiments, track wheel  3638  can be of a one side of RPC track  3336 , such as on the same side as drum  3711 , and track wheel  3739  can be on the other side of RPC track  3336 , such as drum  3712 . 
     As shown in  FIG. 37 , in several embodiments, a cable  3713  ( FIG. 37 , not shown in other FIGS. for clarity) can be wrapped around drum  3711 , extend from the front side of drum  3711  under drum  3711  and be wound around track wheel  3638 , extend under RPC track  3336  to track wheel  3739 , and be wound around track wheel  3739  to extend under and around drum  3712 . In many embodiments, cable  3712  can be attached to RPC  3260  under RPC track  3336 , such as on carrier frame  3510  (attachment not shown). In many embodiments, cable  3713  can create a positive engagement system, such that when RPC drive shaft  3233  rotates in a first rotational direction and rotates drums  3711 - 3712  in the first rotational direction, drum  3711  can further wind cable  3713  while drum  3712  unwinds cable  3713 , which can result in cable  3713  moving RPC  3260  in a rearward direction. Similarly, when RPC drive shaft  3233  rotates in a second direction and rotates drums  3711 - 3712  in the second rotational direction, drum  3712  can further wind cable  3713  while drum  3711  unwinds cable  3713 , which can result in cable  3713  moving RPC  3260  in a frontward direction. As shown in  FIG. 36 , RPC motor  3231  can use RPC drive block to drive RPC drive shaft  3230  in either rotational direction. 
     In many embodiments, each RPC (e.g.,  3240 ,  3250 ,  3260 ,  3270  ( FIGS. 32-34 )) on harvesting vehicle  3200  can be driven by RPC drive shaft  3233 , which is in common, and which can move and position each RPC (e.g.,  3240 ,  3250 ,  3260 ,  3270  ( FIGS. 32-34 )) together to the same position above the different plant beds (e.g.,  3284 - 3287  ( FIGS. 32-34 )). 
     Turning ahead in the drawings,  FIG. 38  illustrates a set of time views  3811 - 3817  over time showing side views of a progression of an RPC  3803  on a track  3802  over a plant bed  3801 .  FIG. 39  illustrates a schematic of a portion of plant bed  3801 , showing the position of robots carried by RPC  3803  over time. RPC  3803  can be similar or identical to RPCs  3240 ,  3250 ,  3260 , or  3270  ( FIGS. 32-34 ). Track  3802  can be similar or identical to RPC tracks  3334 - 3337  ( FIGS. 33-34 ). In many embodiments, RPC  3802  can carry robots  3804 - 3807 , which can each by similar or identical to harvesting robot  100  ( FIG. 1 ) or harvesting robot  2000  ( FIG. 1 ), or another suitable robot. For example, robots  3804 - 3807  can be hole punching robots. Time views  3811 - 3817  can proceed sequentially, showing the progression of RPC  3803  and track  3802  over plant bed  3801 . 
     Plant bed can include a plant row  3901  ( FIG. 39 ) and a plant row  3902  ( FIG. 39 ), which can each be a straight or curved row of plants. For example, plant row  3901  can include plants  3881 - 3895  and plant row  3902  can include plants  3821 - 3835 . In some embodiments, robots  3804 - 3807  can pick plants  3881 - 3895  and  3821 - 3835 , based on the pattern legend shown in  FIG. 39 , and as described below in further detail. 
     In many embodiments, track  3802  be attached to a vehicle, such as harvesting vehicle  3200  ( FIGS. 32-34 ), or another suitable vehicle. In many embodiments, the vehicle can proceed at an approximately constant velocity, such that track  3802  proceeds at an approximately constant velocity in a first direction (e.g., right to left in  FIG. 38 ) with respect to plant bed  3801 . In many embodiments, RPC  3803  can move with respect to track  3802 , such as explained above for RPC  3260  and RPC track  3336  in connection with  FIGS. 36-37 . In many embodiments, the movement of RPC  3803  with respect to track  3802  can beneficially keep robots  3804 - 3807  in a stationary position with respect to plant bed  3801 . 
     As shown in  FIG. 38 , time views  3811  and  3812  are progressive time views during a first time period in which RPC  3803  is held in a first carrier position and stationary with respect to plant bed  3801  while track  3802  moves in the first direction with respect to plant bed  3801 . While in the first carrier position, the robots (e.g.,  3804 - 3807 ) can be carried in a stationary manner at a first set of robot positions, such that robot  3807  is carried in a stationary manner at plant  3821 , robot  3806  is carried in a stationary manner at plant  3881 , robot  3805  is carried in a stationary manner at plant  3824 , and robot  3804  is carried in a stationary manner at plant  3884 . As shown in time views  3811  and  3812 , RPC  3803  is held in the first carrier position and the first set of robot positions remains constant as track  3802  proceeds in the first direction. To achieve this station-keeping of RPC  3803 , RPC  3803  can move with respect to track  3802  in a second direction that is opposite the first direction at the same velocity that track  3802  moves in the first direction with respect to plant bed  3801 . 
     At a time period extending between the time views shown in time views  3812 - 3813 , RPC  3802  can move from the first carrier position to a second carrier position. The movement of RPC  3802  from the first carrier position to the second carrier position can be an adjacent progression. Adjacent progression can refer to the robots moving to a position immediately next to the previous position, such as moving to the next plant in a row of plants. To achieve this adjacent progression of RPC  3803 , RPC  3803  can move with respect to track  3802  in the first direction while track  3802  continues to move in the first direction respect to plant bed  3801 , such that RPC  3803  moves fasted in the first direction with respect to plant bed  3801  than track  3802  moves in the first direction with respect to plant bed  3801 . 
     Time views  3813  and  3814  are progressive time views during a second time period in which RPC  3803  is held in the second carrier position and stationary with respect to plant bed  3801  while track  3802  moves in the first direction with respect to plant bed  3801 . While in the second carrier position, the robots (e.g.,  3804 - 3807 ) can be carried in a stationary manner at a second set of robot positions, such that robot  3807  is carried in a stationary manner at plant  3822 , robot  3806  is carried in a stationary manner at plant  3882 , robot  3805  is carried in a stationary manner at plant  3825 , and robot  3804  is carried in a stationary manner at plant  3885 . As shown in time views  3813  and  3814 , RPC  3803  is held in the second carrier position and the second set of robot positions remains constant as track  3802  proceeds in the first direction. To achieve this station-keeping of RPC  3803 , RPC  3803  can move with respect to track  3802  in a second direction that is opposite the first direction at the same velocity that track  3802  moves in the first direction with respect to plant bed  3801 . 
     At a time period extending between the time views shown in time views  3814 - 3815 , RPC  3802  can move from the second carrier position to a fourth carrier position. The movement of RPC  3802  from the second carrier position to the fourth carrier position can be an adjacent progression. To achieve this adjacent progression of RPC  3803 , RPC  3803  can move with respect to track  3802  in the first direction while track  3802  continues to move in the first direction respect to plant bed  3801 , such that RPC  3803  moves fasted in the first direction with respect to plant bed  3801  than track  3802  moves in the first direction with respect to plant bed  3801 . 
     Time views  3815  and  3816  are progressive time views during a fourth time period in which RPC  3803  is held in the fourth carrier position and stationary with respect to plant bed  3801  while track  3802  moves in the first direction with respect to plant bed  3801 . While in the fourth carrier position, the robots (e.g.,  3804 - 3807 ) can be carried in a stationary manner at a fourth set of robot positions, such that robot  3807  is carried in a stationary manner at plant  3823 , robot  3806  is carried in a stationary manner at plant  3883 , robot  3805  is carried in a stationary manner at plant  3826 , and robot  3804  is carried in a stationary manner at plant  3886 . As shown in time views  3815  and  3816 , RPC  3803  is held in the fourth carrier position and the fourth set of robot positions remains constant as track  3802  proceeds in the first direction. To achieve this station-keeping of RPC  3803 , RPC  3803  can move with respect to track  3802  in a second direction that is opposite the first direction at the same velocity that track  3802  moves in the first direction with respect to plant bed  3801 . 
     At a time period extending between the time views shown in time views  3816 - 3817 , RPC  3802  can move from the fourth carrier position to a third carrier position. The movement of RPC  3802  from the fourth carrier position to the third carrier position can be a leap-frog progression. Leap-frog progression can refer to the robots moving to a position that is not immediately next to the previous position and which skips (or “leap over”) other positions that have already been serviced, such as moving from a plant in a row of plants to another plant in a row of plants that is beyond other plants that have already been picked. To achieve this leap-frog progression of RPC  3803 , RPC  3803  can move with respect to track  3802  in the first direction while track  3802  continues to move in the first direction respect to plant bed  3801 , such that RPC  3803  moves fasted in the first direction with respect to plant bed  3801  than track  3802  moves in the first direction with respect to plant bed  3801 . In many embodiments, RPC  3803  can move faster in the first direction with respect to track  3802  during the leap-frog progression than during the adjacent progression. 
     Time view  3817  is a time view during a third time period in which RPC  3803  is held in the third carrier position and stationary with respect to plant bed  3801  while track  3802  moves in the first direction with respect to plant bed  3801 . While in the third carrier position, the robots (e.g.,  3804 - 3807 ) can be carried in a stationary manner at a third set of robot positions, such that robot  3807  is carried in a stationary manner at plant  3827 , robot  3806  is carried in a stationary manner at plant  3887 , robot  3805  is carried in a stationary manner at plant  3830 , and robot  3804  is carried in a stationary manner at plant  3890 . RPC  3803  is held in the third carrier position and the third set of robot positions remains constant as track  3802  proceeds in the first direction. To achieve this station-keeping of RPC  3803 , RPC  3803  can move with respect to track  3802  in a second direction that is opposite the first direction at the same velocity that track  3802  moves in the first direction with respect to plant bed  3801 . In many embodiments, the process can repeat similarly as explained in the progression of time views  3811 - 3817  in the progressed robot positions to continue positioning the robots at progressed plant positions for plants  3828 ,  3829 ,  3831 - 3835 , and so forth for plant row  3902 , for plants  3888 ,  3889 ,  3891 - 3895 , and so forth for plant row  3901 . 
     At each set of robot positions, the robots (e.g.,  3804 - 3807 ) can perform tasks simultaneously. For example, if robots  3804 - 3807  are harvesting robots (e.g., harvesting robot  100  ( FIG. 1 ), harvesting robot  2000  ( FIG. 20 )), robots  3804 - 3807  can each independently and simultaneously rotate around the plants at the set of robot positions to detect and pick crops from the plants. In many embodiments, the times at which the robots (e.g.,  3804 - 3807 ) are kept at each of the set of robot positions can depend on the nature of the task. For example, for picking crops using harvesting robots, RPC  3803  can remain at each set of robot positions for a set time, such as 8 seconds, or another suitable time required for picking crops. For another type of robots, such as hole-punching robots, the time at each position can be shorter, such as 1 second, or another suitable time period. In many embodiments, the movement from a set of robot positions to the next set of robot positions for an adjacent progression can be a suitable time required to move RPC  3803  to the next set of robots positions. For example, for picking crops using harvesting robots, RPC  3803  can perform the adjacent progression during a set time, such as 1.5 seconds, or another suitable time required for moving RPC  3803  in the adjacent progression. In many embodiments, the movement from a set of robot positions to the next set of robot positions for a leap-frog progression can be a suitable time required to move RPC  3803  to the next set of robots positions when leap-frogging other sets of robot positions. For example, for picking crops using harvesting robots, RPC  3803  can perform the leap-frog progression during a set time, such as 2.5 seconds, or another suitable time required for picking crops, or another suitable time required for moving RPC  3803  in the leap-frog progression. 
     In many embodiments, the station-keeping of RPC  3803  in each set of robot positions can advantageously allow the vehicle (e.g., harvesting vehicle  3200  ( FIGS. 32-34 ) to move at an approximately constant velocity, such that the vehicle does not need to start and stop between each set of robot positions, and such that the vehicle can avoid wasted time required to start and stop and the large amount of wasted energy necessary to accelerate and decelerate the vehicle at each start and stop. 
     Turning ahead in the drawings,  FIG. 40  illustrates a top view of rows of plant beds  4000  showing a vehicle  4001  in a progression of time views  4011 - 4013  as vehicle  4001  moves through rows of plant beds  4000 . Vehicle  4001  is merely exemplary, and embodiments of the vehicle are not limited to embodiments presented herein. The vehicle can be employed in many different embodiments or examples not specifically depicted or described herein. Vehicle  4001  can be similar or identical to vehicle  3200  ( FIGS. 32-34 ), and can show only portions of vehicle  3200  for clarity. For example, vehicle  4001  can include a body with four RPC tracks  4004 - 4007 , which can be similar or identical to RPC tracks  3334 - 3337  ( FIGS. 33-34 ), and can carry RPCs, such as RPCs  3240 ,  3250 ,  3260 , and  3270  ( FIGS. 32-34 ), respectively, but not shown here in  FIG. 40 . In many embodiments, vehicle  4001  can include wheels at each side of vehicle  4001 , such as wheels  4002  at a first side of vehicle  4001  and wheels  4003  at a second side of vehicle  4001 . 
     In many embodiments, vehicle  4001  can move through rows of plant beds  4000 , which can include plant beds, such as plant beds  4021 - 4032 , and rows, such as rows  4041 - 4051 , between the plant beds (e.g.,  4021 - 4032 ). In several embodiments, wheels  4002 - 4003  can roll along rows (e.g.,  4041 - 4051 ) between the plant beds (e.g.,  4021 - 4032 ). For example, in some embodiments, as shown in time view  4011 , wheels  4002  can roll along row  4047  and wheels  4003  can roll along row  4041 , such that vehicle  4001  straddles six plant beds (e.g., plant beds  4021 - 4027 ), and can be used to harvest and/or punch holes in four plant beds (e.g., plant beds  4023 - 4026 ) at a time. For example, track  4004  can be positioned over plant bed  4026 , track  4005  can be positioned over plant bed  4025 , track  4006  can be positioned over plant bed  4024 , and track  4007  can be positioned over plant bed  4023 . In other embodiments, vehicle  4001  can straddle more or fewer plant beds and can harvest more or fewer plant beds at a time. Vehicle  4001  can progress along the rows (e.g.,  4041 ,  4047 ) in a first direction to harvest and/or punch holes on the plant beds (e.g.,  4023 - 4026 ), such as right to left in  FIG. 40 . The rows can be straight or curved. 
     As shown in time view  4012 , after reaching the end of the rows (e.g.,  4023 - 4026 ), vehicle  4001  can turn wheels  4002  and  4003  at a right angle to proceed to a next set of rows. After reaching the next set of rows, vehicle  4001  can again turn wheels  4002  and  4003  at a right angle to proceed along the next set of rows in a second direction that is opposite the first direction, such as left to right in  FIG. 40 . In many embodiments, each wheel (e.g.,  4002 ,  4003 ) can turn independently. 
     As shown in time view  4013 , wheels  4002  can roll along row  4045  and wheels  4003  can roll along row  4051 , such that vehicle  4001  straddles six plant beds (e.g., plant beds  4026 - 4031 ), and can be used to harvest and/or punch holes in four plant beds (e.g., plant beds  4027 - 4030 ) at a time. For example, track  4004  can be positioned over plant bed  4030 , track  4005  can be positioned over plant bed  4029 , track  4006  can be positioned over plant bed  4028 , and track  4007  can be positioned over plant bed  4027 . Vehicle  4001  can similarly progress along rows of plant beds  4000  in a serpentine fashion to process each row of plant beds  4000 . In many embodiments, vehicle  4001  can be guided by a guidance control system, as explained below in greater detail. 
     In many embodiments, vehicle  4001  can be used to punch holes for planting plants for crops (e.g., strawberries or other crops) carry harvesting robots (e.g.,  100  ( FIG. 1 ),  2000  ( FIGS. 20-21 )) for picking crops (e.g., strawberries or other crops). In many embodiments, a guidance control system can position RPCs (e.g.,  3240 ,  3250 ,  3260 ,  3270  ( FIGS. 32-34 )), which can carry hole-punching robots to punch holes, as shown in  FIG. 43  and described below, to carry harvesting robots (e.g.,  100  ( FIG. 1 ),  2000  ( FIGS. 20-21 )), or other suitable robots. In many embodiments, the robots can be positioned to perform tasks (e.g., hole punching, picking crops, etc.) by the guidance control system based on a location from GPS receivers (e.g., GPS receivers  3215 - 3216  ( FIGS. 32-34 )) and/or other approaches, such as those described below. 
     For many types of plants, there are three phases in a lifecycle of the plants in the field, namely planting, growing, and harvesting. At the outset, there are no plants in the field, and as such the placement and positioning of the plants is not established. In some embodiments, the guidance control system can calculate target plant locations based on an initial reference position and a heading. These target plant locations can then be used to position the RPCs (e.g.,  3240 ,  3250 ,  3260 ,  3270  ( FIGS. 32-34 )) and robots carried by the RPCs to punch the holes for the actual plants. In a number of embodiments, the actual plant locations can be stored in a database for later use. In some embodiments, the plant locations can be stored based on a reference position and a heading, with offsets calculated based on fixed spacing between plants. 
     Knowing the plant locations accurately can be an important aspect in facilitating the positioning of vehicle  4001  over the center of the plants in a repeatable manner. However, the nature of commercial, stand-alone GPS generally contains error sources that combine to influence the position error of the GPS solution over time. Standard Positioning Service (SPS) GPS positioning can contain horizontal errors on the order of 10 meters. Wide-area augmentation types, such as WAAS (Wide Area Augmentation System) in the United States, can reduce that error to meter-level, with additional augmentation services and techniques reducing the error even further, down to decimeter-level for local-area differential GPS (LADGPS), and centimeter-level accuracy for Real-Time Kinematic (RTK) systems. 
     Accurate positioning of vehicle  4001  facilitates accurate determination of the RPCs (e.g.,  3240 ,  3250 ,  3260 ,  3270  ( FIGS. 32-34 )) and robots carried by the RPCs, which, when combined with knowledge of the multiple robot positions on the RPC and/or plant locations, can be used to perform tasks with multiple robots at the same time (e.g., picking multiple plants at the same time). 
     A potential challenge when trying to hold sub-inch accuracy with GPS alone is that commercially available GPS systems are generally only accurate down to 0.433 inches (1.10 cm) when using RTK, and may have a slow refresh rate. While moving at approximately 1 mile per hour (mph) (1.61 kilometers per hour (kph)), with a 20 Hertz (Hz) position output from the GPS, vehicle  4001  can move 0.12 inch (0.30 cm) every second, and 0.0061 inch (0.0154 cm) between each GPS position refresh. Slower refresh rates, or a faster harvester speed, can result in a greater distance traveled between each GPS position refresh. Some embodiments may work around a slower refresh rate by using a combination of GPS and dead reckoning using a velocity of vehicle  4001  to estimate the current position of the harvester. 
     When rows (e.g., rows  4041 - 4051 ) are on 50 inch (127 cm) centers, with the distance between plants being even smaller, such distances can lead to inaccuracies due to floating point rounding during the computation process utilizing a purely latitude and longitude-based reference system. Computing geographical distance using the law of cosines can cause such errors over small distances, as the cosine value approaches 1.0. Alternatives, such as the Haversine formula, can suffer from error derived from treatment of the Earth as a sphere, rather than an oblate spheroid. Vincenty&#39;s solutions can offer advantages suited to the needs of plant location calculations. Vincenty&#39;s solutions are derived as two iterative methods: (a) a direct solution, which computes a second point given an initial position, a bearing (heading), and a distance; and (b) an inverse solution, which computes the distance and bearing between two points 
     The start location of a row can be given by either an area around a start point or by a start line defined by two points. A distance can then be calculated from the start location for each of the plants in the row. The distance traveled can then be calculated as the tractor moves down the row by using a number of different inputs such as GPS-based velocity, ground-based velocity, the time from last GPS update, last GPS location, and/or direction of travel. With this, a more accurate estimate of the distance travelled can be calculated than with just using GPS locations alone. 
     In the eyes of advance planning, some embodiments may traverse the row with vehicle  4001  to get the start and stop coordinates for each row along with the travel direction (heading) of the row. From there, the start locations of each row can be calculated from the start location of the first row in the set. 
     When calculating the plant locations using a latitude/longitude system, the use of Vincenty&#39;s direct solution allows for calculation of a position given an initial position, a bearing, and a distance. This can form a two-part solution to find the origin of each row, given the field starting point and the direction the rows are to run, and the distance between each row, and the location of each plant in the row, given the direction the rows are to run and the distance between each plant. 
     For the first step of the process, the equation below gives the origin position for each row: 
               (       ϕ     row   ,   i       ,     λ     row   ,   i         )     =     v   ⁡     (       ϕ   0     ,     λ   0     ,       ψ   field     ±     π   2       ,     δ   ⁢           ⁢   row       )             
where φ row,i  and λ row,i  are the latitude and longitude, respectively, of the start of the row, φ 0  and λ 0  are the latitude and longitude, respectively, of the field origin point, ψ field  is the heading of the field&#39;s rows, δrow is the distance between rows, and the function V(x) is Vincenty&#39;s direct solution.
 
     Once the origin position for each row is known, the position of each plant in the row can be calculated:
 
(φ plt,n ,λ plt,n )= V (φ row,i ,λ row,i ,ψ field   ,δplt )
 
where φ plt,n  and λ plt,n  are the latitude and longitude, respectively, of the n th  plant in the row, φ row,i  and λ row,i  are the latitude and longitude, respectively, of the start of the row, ψ field  is the heading of the field&#39;s rows, δplt is the distance between plants in the row, and the function V(x) is Vincenty&#39;s direct solution.
 
     In order to accurately place the robots over each plant, the location of the GPS with respect to each row as well as the location of the RPC (Robot Position Carrier) with respect to the phase center of the GPS antenna can be determined. Accurately knowing all these values in order to hold +/−0.75 inch (1.90 cm) tolerance on the robots can present challenges. As discussed above, the accuracy of GPS is at best 0.433 inch (1.10 cm), which uses up most of the tolerance. Another possible issue is that a slow refresh rate for GPS position output can cause uncertainty with the current position and velocity of vehicle  4001  if the drive system of vehicle  4001  causes unanticipated acceleration or deceleration to occur between updates. 
     Turning ahead in the drawings,  FIG. 41  illustrates a top view of a vehicle  4001 , showing an X-axis and a Y-axis in a coordinate system for a guidance control system.  FIG. 42  illustrates a rear view of a vehicle  4001 , showing a Y-axis and a Z-axis in the coordinate system of  FIG. 41  for a guidance control system. When discussing items such as platform attitude and lever arms, the guidance control system can use a defined reference frame from which to derive measurements and to assign axes of rotation for the platform attitude parameters. Viewing movement and translations from the perspective of a theoretical driver on vehicle  4001  can be defined by a “body frame” of vehicle  4001 , denoted by B with a subscript for each axis (e.g., B x , B y , B y ). The body frame B can be defined as a right-hand coordinate system, with the positive X-axis pointing in the direction shown in  FIG. 41 , which can be in the same direction of tracks  4004 - 4007 , and the positive Y-axis pointing in a direction from wheels  4003  to wheels  4002 , as shown in  FIG. 41 . As the coordinate system is right-handed, the positive Z axis can point downward from the bottom of the platform towards the ground, as shown in  FIG. 42 . 
     The direction of travel can change if the harvester platform is driven along a row in the opposite direction, but the body frame axes described here will not change with the direction of travel. With the body frame axes defined, as shown in  FIGS. 41-42 , attitude parameters, specifically, roll, pitch, and yaw, can be defined. Roll is a rotation about the body-X axis, tilting the platform from side to side. Pitch is a rotation about the body-Y axis, and is equivalent to tilting the platform forward or backward. Yaw is about the body-Z axis, and is the direction the platform is facing. 
     Each GPS receiver (e.g.  3215 - 3216  ( FIGS. 32-34 )) can provide the calculated position of the phase center of the antenna of the GPS receiver (e.g.  3215 - 3216  ( FIGS. 32-34 )). This calculated position can be used to navigate vehicle  4001 , although the physical mounting location of the GPS receiver (e.g.  3215 - 3216  ( FIGS. 32-34 )) on the frame pieces (e.g.,  3211 - 3212  ( FIGS. 32-34 )) are is usually not ideal for this purpose because of clear-sight line blockages. In many embodiments, GPS receivers (e.g.,  3215 - 3216  ( FIGS. 32-35 )) can be mounted on the top of vehicle  4001 , such as on arms  3213 - 3214  ( FIGS. 32-34 ), respectively, as shown on harvesting vehicle  3200  ( FIGS. 32-34 ) to allow for clear sight lines, which can facilitate improved GPS reception 
     In order to provide a position that is conducive for autonomous navigation, the GPS position can be referenced to a guidance control point (GCP)  4100 . GCP  4100  can serve as a reference for calculating other locations on vehicle  4001 , such as positions of each RPC (e.g.,  3240 ,  3250 ,  3260 ,  3270  ( FIGS. 32-34 )) and each robot (e.g.,  3461 - 3464  ( FIG. 34 )) carried by each RPC (e.g.,  3240 ,  3250 ,  3260 ,  3270  ( FIGS. 32-34 )). The GCP can be used as the reference point when navigating vehicle  4001 . Calculating the position of GCP  4100  from the GPS position can involve incorporating lever arm information for each of the GPS receivers (e.g.,  3215 - 3216  ( FIGS. 32-34 )) on arms  3213 - 3214  ( FIGS. 32-34 ) with respect to GCP  4100 . 
     The lever arm information for the GPS receivers (e.g.,  3215 - 3216  ( FIGS. 32-34 )) can be determined through measurement, either on vehicle  4001  itself or through the use of a modeling program to determine the distances. In most embodiments, the guidance control system can incorporation additional lever arm information for each of the robots. This lever arm information for the robots, when used in conjunction with the lever arm information for the GPS receivers (e.g.,  3215 - 3216  ( FIGS. 32-34 )) can allow for the position of each robot to be calculated based on the position of the GPS receivers ( 3215 - 3216  ( FIGS. 32-34 )). If the assumptions can be made that the RPC (e.g.,  3240 ,  3250 ,  3260 ,  3270  ( FIGS. 32-34 )) is aligned with the body-forward (X) axis, the absolute position of each robot, u, can be determined. 
     The attitude, namely heading, pitch, and roll, of vehicle  4001  can be used to form a Direction Cosine Matrix (DCM) relating the attitude of vehicle  4001  to the north-pointing navigation frame. This DCM, called C B   N , is shown below: 
               C   B   N     =     [           cos   ⁢           ⁢   θ   ⁢           ⁢   cos   ⁢           ⁢   ψ               -   cos     ⁢           ⁢   ϕ   ⁢           ⁢   sin   ⁢           ⁢   ψ     +     sin   ⁢           ⁢   ϕ   ⁢           ⁢   sin   ⁢           ⁢   θ   ⁢           ⁢   cos   ⁢           ⁢   ψ               sin   ⁢           ⁢   ϕ   ⁢           ⁢   sin   ⁢           ⁢   ψ     +     cos   ⁢           ⁢   ϕsin   ⁢           ⁢   θ   ⁢           ⁢   cos   ⁢           ⁢   ψ                 cos   ⁢           ⁢   θ   ⁢           ⁢   sin   ⁢           ⁢   ψ             cos   ⁢           ⁢   ϕ   ⁢           ⁢   cos   ⁢           ⁢   ψ     +     sin   ⁢           ⁢   ϕ   ⁢           ⁢   sin   ⁢           ⁢   θ   ⁢           ⁢   sin   ⁢           ⁢   ψ                 -   sin     ⁢           ⁢   ϕ   ⁢           ⁢   cos   ⁢           ⁢   ψ     +     cos   ⁢           ⁢   ϕsin   ⁢           ⁢   θ   ⁢           ⁢   sin   ⁢           ⁢   ψ                   -   sin     ⁢           ⁢   θ           sin   ⁢           ⁢   ϕcos   ⁢           ⁢   θ           cos   ⁢           ⁢   ϕcos   ⁢           ⁢   θ           ]           
where ψ is the heading of the vehicle  4001 , θ is the pitch, and φ is the roll.
 
     Attitude measurement with only two GPS antennas can suffers from a lack of adequate degrees of freedom to truly measure all 3 axes of rotation. Since any rotation about the axis formed between the two receivers is invisible without external aiding, only two components of platform attitude (i.e., (a) heading and (b) either pitch or roll) can be measured. 
     In order to alleviate the missing degree of freedom, assumptions can be made about the platform, such that it is approximately level at all times, or that the platform&#39;s roll (as it exists across the longest dimension of the harvester platform) is negligible. However, this approach eliminates any possibility of GPS-only measurement of the missing axis to aid in leveling of the harvester platform itself, and does not allow for measurement of potentially sloped areas (e.g., California fields). 
     Error in determination of the horizontal position of the RPC (e.g.,  3240 ,  3250 ,  3260 ,  3270  ( FIGS. 32-34 )) is dominated by heading error, rather than pitch or roll. Some embodiments may use two GPS receivers, or a dual-antenna GPS receiver, to calculate the platform heading. Using the accuracy of RTK GPS coupled with a separation of several meters between antennas (or receivers) can reduce the heading error to less than a few tenths of a degree. 
     In order to provide visibility to the remaining aspects of the attitude of vehicle  4001 , namely pitch and roll, a low-cost Inertial Measurement Unit (IMU) consisting of a triad of orthogonal accelerometers (“accels”) and gyroscopes (“gyros”) to measure the inertial accelerations of vehicle  4001 , allowing for a pitch and roll attitude solution to be calculated without the use of GPS data. In many embodiments, vehicle  4001  can include an IMU, such as in a GPS receiver (e.g.,  3215  or  3216  ( FIGS. 32-34 )) or at another position. 
     By itself, an inertial measurement system using low-cost sensors can be not sensitive enough to determine the platform heading, as it can merely determine the offset from the initial starting point as measured by the gyros. Use of a multiple GPS (or a multi-antenna GPS) system can allow for an absolute heading reference, which can be aided by gyro measurements to account for a loss of GPS, if desired. The low dynamic environment of vehicle  4001  and the clear-sky nature of a farm combine to make this a low probability occurrence. 
     In order to compute the lever arm calculations using geodetic coordinates, some intermediary calculations can be performed by the guidance control system. These calculations can be made with the same assumptions described above. The body frame to navigation frame matrix can be applied to the lever arm information for the RPCs (e.g.,  3240 ,  3250 ,  3260 ,  3270  ( FIGS. 32-34 )) (e.g. lever arm for RPC in the X axis (LA RPC,X ), lever arm for RPC in the Y axis (LA RPC,Y ), and lever arm for RPC in the Z axis (LA RPC,Z ), with the body-X axis adjusted based on the distance (δPos RPC ) of the RPC (e.g.,  3240 ,  3250 ,  3260 ,  3270  ( FIGS. 32-34 )) from home, to form the lever arm distance offsets in terms of the north, east, and downward (as with body frame, positive being downward) (NED) axes. 
               L   ⁢           ⁢     A       R   ⁢           ⁢   P   ⁢           ⁢   C     ,     N   ⁢           ⁢   E   ⁢           ⁢   D           =       C   B   N     ⁡     [             L   ⁢           ⁢     A       R   ⁢           ⁢   P   ⁢           ⁢   C     ,   X         +     δ   ⁢           ⁢     Pos     R   ⁢           ⁢   P   ⁢           ⁢   C                     L   ⁢           ⁢     A       R   ⁢           ⁢   P   ⁢           ⁢   C     ,   Y                   L   ⁢           ⁢     A       R   ⁢           ⁢   P   ⁢           ⁢   C     ,   Z               ]             
The equations for application of a lever arm to a position can be derived from equations used to calculate a change in position due to a velocity. If the assumption is made that the lever arm distances is actually a velocity over a 1 second period, the change in position formulas can be used to compute the change in latitude (δφ) and longitude (δλ).
 
               δ   ⁢           ⁢   ϕ     =       v   N         R   M     +   h                     δ   ⁢           ⁢   λ     =         v   E     ⁢   sec   ⁢           ⁢   ϕ         R   T     +   h             
where φ is the current latitude, h is the current elevation, ν N  is the velocity in the north direction, and ν E  is the velocity in the east direction. R M  is the meridional radius of curvature, and R T  is the transverse radius of curvature of the Earth, such that:
 
               R   M     =         R   P     ⁡     (     1   -     e   2       )           1   -       e   2     ⁢     sin   2     ⁢   ϕ                         R   T     =       R   P         1   -       e   2     ⁢     sin   2     ⁢   ϕ                 
where R P  is the polar radius, R P =6378137.0m, and e 2  is the eccentricity of the ellipsoid, e 2 ≅0.00669438.
 
     Once the position change due to the lever arm has been calculated, the position change can be applied to the GPS position:
 
φ RPC =φ GPS +δφ
 
λ RPC =λ GPS +δλ
 
where φ RPU  is the latitude of the RPC, λ RPU  is the longitude of the RPC, φ GPS  is the latitude of the GPS, and λ GPS  is the longitude of the GPS.
 
     Due to the length of the berry picking season, there is a source of positional error that slowly grows over time due to the movement of the continental plates. The plates themselves move anywhere from 1 to 10 cm per year, eating into the positioning error budget. Using standard GPS, this measurement error can be lost in the noise and uncertainty present in the system, but with RTK GPS, this error will show up as a position bias at a later time if no compensation is used. In order to compensate for this, the base station position can be surveyed before planting, and then surveyed again before harvesting is to be performed. Some embodiments may apply the position difference as an offset to the stored plant locations. 
     In many embodiments, the guidance control system advantageously can provide positioning accuracy for each robot within 0.5 inch (1.27 cm). In some embodiments, the positioning accuracy for each robot using the guidance control system can be more precise, such as within 0.25 in (0.635 cm), which has been measured in testing of the guidance control system. In many embodiments, the guidance control system can facilitate precision agriculture, such that each individual plant location (e.g., for plant, growing, and/or harvesting) is tracked. In several embodiments, precision agriculture provided by the guidance control system can allow picked crops to be traced to the individual plant or limited group of individual plants from which the crops were picked. For example, a package of strawberries can include an identifier that can be used to trace the strawberries picked to a group of plants (e.g.,  8  plants, or another suitable number of plants) at tracked locations. 
     Turning ahead in the drawings,  FIG. 43  illustrates a top view of a plant bed  4300 , showing holes punched for growing plants. As explained above, in many embodiments, the robots of vehicle  4001  ( FIG. 40 ) or harvesting vehicle  3200  ( FIGS. 32-34 ) can include hole punching robots (e.g., in harvesting vehicle  3200  ( FIGS. 32-34 ), the harvesting robots (e.g.,  3461 - 3464  ( FIGS. 34-35 ) can be replaced with hole punching robots). For example, each hole punching robot can be a pneumatic actuator of a cylindrical shaft which can punch a hole in a plant bed, such as through plastic on a plant bed, to create a hole in order to plant a plant (e.g., a strawberry plant or other type of plant). In many embodiments, the vehicle (e.g., vehicle  4001  ( FIG. 40 ) or harvesting vehicle  3200  ( FIGS. 32-34 )) can carry the hole punch robots on the RPCs (e.g.,  3240 ,  3250 ,  3260 ,  3270  ( FIGS. 32-24 )) to punch rows of holes, such as rows of holes  4321  and  4322 . For example, row of holes  4321  can include holes  4301 ,  4302 , and  4303  in a row, and ow of holes  4322  can include holes  4311 ,  4312 , and  4313  in a row. In many embodiments, each of the holes in a row can be approximately equally spaced. As indicated previously, the row can be straight or curved. 
     Turning ahead in the drawings,  FIG. 44  illustrates a side view of suspension components  4400  for adjusting a vertical position of a wheel  4401  with respect to a body  4406 . Suspension components  4400  are merely exemplary, and embodiments of the suspension components are not limited to embodiments presented herein. The suspension components can be employed in many different embodiments or examples not specifically depicted or described herein. In a number of embodiments, suspension components  4400  can include wheel  4401 , an axle  4402 , a wheel stanchion  4403 , a turning assembly  4404 , a wheel mount  4405 , body  4406 , adjustment mechanism  4407 , and/or actuator  4408 . Wheel  4401  can be similar or identical to wheels  3201 - 3204  ( FIGS. 32-34 ) and/or  4002 - 4003  ( FIGS. 40-43 ). Body  4406  can be a portion of body  3210  ( FIGS. 32-34 ), such as a portion of arms  3213 - 3214  ( FIGS. 32-24 ). 
     In many embodiments, wheel  4401  can be coupled to and rotate around axle  4402 , which can be coupled to wheel stanchion  4403 . In various embodiments, wheel stanchion  4403  can be movably coupled to wheel mount  4405  by turning assembly  4404 , which can allow wheel  4401  to be turned in a different direction. In several embodiments, wheel mount  4405  can be movably coupled to body  4406  by adjustment mechanism  4407 , which can be a slidably coupling or another suitable coupling, which can allow wheel mount  4405  to adjust vertically with respect to body  4406 . In several embodiments, wheel mount  4405  can be adjusted vertically up or down with respect to body  4406  with actuator  4408 . Actuator  4408  can be a hydraulic or electric actuator, for example. In several embodiments, actuator  4408  can be controlled by a suspension control system, such as suspension control system  5803  ( FIG. 58 , described below), which in some embodiments can be an active suspension system. 
     In various embodiments, the suspension control system (e.g.,  5803  ( FIG. 58 , described below)) can control the vertical position of wheel  4401  with respect to body  4406 . When wheel  4001  is on a surface, adjusting the vertical position of wheel  4001  with respect to body  4406  can raise or lower body  4406  with respect to the surface. In many embodiments, the assembly for each wheel on the vehicle (e.g., wheels  3201 - 3204  ( FIGS. 32-34 ) on harvesting vehicle  3200  ( FIG. 32 ) and/or  4002 - 4003  ( FIGS. 40-43 ) on vehicle  4001  ( FIG. 40 )) can include suspension components  4400 . In some embodiments, suspension components can provide for a range of vertical adjustment of wheel  4401  with respect to body  4406 . For example, in some embodiments, the range of vertical adjustment of wheel  4401  with respect to body  4406  can be 10 inches (25.4 cm). In other embodiments, the range of vertical adjustment can be more or less than 10 inches (25.4 cm). 
     Turning ahead in the drawings,  FIG. 45  illustrates a perspective view of a vehicle  4500 , showing a body  4520  of vehicle  4500  in a lowered suspension position.  FIG. 46  illustrates a perspective view of vehicle  4500 , showing a body  4520  of vehicle  4500  in a raised suspension position. Vehicle  4500  is merely exemplary, and embodiments of the vehicle are not limited to embodiments presented herein. The vehicle can be employed in many different embodiments or examples not specifically depicted or described herein. Vehicle  4500  can be similar or identical to vehicle  4001  ( FIG. 40 ) and/or harvesting vehicle  3200  ( FIGS. 32-34 ), and various components of vehicle  4500  can be similar or identical to vehicle  4001  ( FIG. 40 ) and/or harvesting vehicle  3200  ( FIGS. 32-34 ). 
     In many embodiments, vehicle  4500  can include a body  4520  and wheels  4501 - 4504 , which can each be part of associated suspension components  4511 - 4514 , respectively. Suspension components  4511 - 4514  each can be similar or identical to suspension components  4400  ( FIG. 44 ), and can raise and/or lower the vertical position of wheels  4501 - 4504 , respectively, with respect to body  4520 . 
     In many embodiments, suspension components  4511 - 4514  for each wheel  4501 - 4504  can operate independently from the other suspension components (e.g.,  4511 - 4514 ). In many embodiments, one or more of suspension components  4511 - 4514  can allow one or more of wheels  4501 - 4504  to be vertically adjusted with respect to the body while not adjusting other wheels (e.g.,  4501 - 4504 ). In some embodiments, suspension components  4511 - 4514  can adjust wheels  4501 - 4504  at different vertical adjustment amounts. For example, as shown in  FIG. 45  vehicle  4500  can be positioned lower than vehicle  4500  in  FIG. 46 . 
     In many embodiments, vehicle  4500  can carry one or more robots, such as harvesting robots  3461 - 3464  ( FIGS. 34-35 ) in harvesting vehicle  3200  ( FIGS. 32-34 ). In many embodiments, each robots can determine a height of the robot from the plant bed (e.g., plant beds  3281 - 3290  ( FIGS. 32-34 )), such as by using imaging sensors (e.g., imaging sensors  1290 - 1291  ( FIGS. 12-13 ) and/or images sensors  2190 - 2191  ( FIG. 21 )) on the robots. For example, the imaging sensors can determine that a robot (not shown) on vehicle  4500  in  FIG. 45  is at a height  4550  from the plant bed. Similarly, the imaging sensors can determine that a robot (not shown) on vehicle  4500  in  FIG. 45  is at a height  4650  from the plant bed, such that height  4650  is greater than height  4550  ( FIG. 45 ). In some embodiments, the height information can be determined by the robot based on the imaging sensors determining the distance from the imaging sensors to the crops to be picked. In other embodiments, the height information can be determined by the robot based on the distance from the imaging sensors to the plant bed. 
     In many embodiments, more than one robot attached to vehicle  4500  can provide height information to the suspension control system ( FIG. 58 , described below)). For example, in some embodiments, each robot can provide height information to the suspension control system ( FIG. 58 , described below)). In many embodiments, the suspension control system ( FIG. 58 , described below)) can receive the height information from the robots and determine how to control the adjustment of the vertical position of one or more of wheels  4501 - 4504 . In a number of embodiments, the adjustment of one or more wheels (e.g.,  4501 - 4504 ) can be based on the height information of one or more robots close to the one or more wheels (e.g.,  4501 - 4504 ). In other embodiments, the adjustment of one or more wheels (e.g.,  4501 - 4504 ) can be based on an average of height information from all of the robots. In other embodiments, the adjustment of each wheel (e.g.,  4501 - 4504 ) can be the same for each wheel (e.g.,  4501 - 4504 ) based on the height information received from one or more robots. 
     In some embodiments, the height information can be received from the robots regularly, such as on a cycle, and the suspension control system ( FIG. 58 , described below)) can provide adjustment control for the one or more wheels (e.g.,  4501 - 4504 ) regularly based on updated information received each cycle and/or over a period of cycles. For example, the height information can be sent from the robots to the suspension control system ( FIG. 58 , described below)) on a 1 Hz cycle, a 2 Hz cycle, a 4 Hz cycle, or another suitable cycle. 
     In a number of embodiments, vehicle  4500  ( FIG. 45 ) can operate in an open field subject to weather. The fields can be leveled and setup initially to relatively tight specifications upon initiation, but due to this weather exposure, various areas of the field can be subject to settling or washout due to water and/or wind erosion. To deal with this issue and keep the robots within preferred inspection distances for picking speed considerations, vehicle  4500  can be equipped in several embodiments with the suspension control system ( FIG. 58 , described below)) to maintain a level of vehicle  4500 , row orientation, and/or proper height above the plant beds for the robots. 
     In many embodiments, the adjustment of the vertical position of one or more wheels (e.g.,  4501 - 4504 ), as controlled by the suspension control system ( FIG. 58 , described below)), can beneficially keep the robots from crashing into the plant beds as they are carried by vehicle  4500 , for example. For example, if a wheel (e.g.,  4501 - 4504 ) of vehicle  4500  start to dip into a washed out area, the suspension control system ( FIG. 58 , described below)) can detect the lowering of the height information from one or more of the robots, and can adjust at least the wheel (e.g.,  4501 - 4504 ) to compensate and level body  4520  and/or keep the robots a distance from the plant beds. 
     In some embodiments, for example, a bottom most part of each of the picking system, excluding the gripper in the picking position that is being lowered to pick the crop, can be kept at a distance above the plant bed. For example, the distance can be 2.0 inches (5.08 cm) to 5.0 inches (12.7 cm). In other embodiments, the distance can be another suitable distance. In a number of embodiments, the suspension control system ( FIG. 58 , described below)) can keep the bottommost part of the robot from the plant bed when the robot is moving with respect from the plant bed and/or when the robot is being held stationary with respect to the plant bed by the RPC (e.g.,  3240 ,  3250 ,  3260 ,  3270  ( FIG. 32 )). 
     Strawberry plants can benefit from trimming off the dead, older growth that gets pushed out from the center of the plant as new growth appears. This trimming can prevent diseases caused by the rotting of older-organic debris. Typically, the resources available to do this trimming by hand are not available on farms due to the labor-intensive process. One of the issues with trimming the plants is that, if diseases are present on one plant, the disease can spread to adjacent plants by using common trimming utensils. 
     In some embodiments, a robot, such as harvesting robots  100  ( FIG. 1 ) and/or  2000  ( FIG. 20 ), and/or leaf displacement system  2800  ( FIGS. 28-31 ), can include a cauterizing cutting hot wire or mechanical sickle bar that can slice off the outside older growth as the robot circles the plant or the leaf displacement system captures and holds the foliage (e.g.,  1512 , as shown in  FIG. 20 ). The razor action and heating of the wire moving across the old outer growth can slice off the vines, which can trim the plant back to the newer inner growth. The older growth can then fall away from the plant after being mechanically stimulated by the robot and/or environmental factors, such as wind or rain. The hot wire can beneficially sterilize the wire so that, if diseases are present on the trimmed growth, they will not be passed to plants trimmed downstream of the diseased plant. 
     Turning ahead in the drawings,  FIG. 47  illustrates a flow chart for a method  4700 . Method  4700  can be a method of selectively harvesting crops. Method  4700  is merely exemplary and is not limited to the embodiments presented herein. Method  4700  can be employed in many different embodiments or examples not specifically depicted or described herein. In some embodiments, the procedures, the processes, and/or the activities of method  4700  can be performed in the order presented. In other embodiments, the procedures, the processes, and/or the activities of method  4700  can be performed in any suitable order. In still other embodiments, one or more of the procedures, the processes, and/or the activities of method  4700  can be combined or skipped. In some embodiments, method  4700  can be performed by a harvesting robot (e.g.,  100  ( FIG. 1 ),  2000  ( FIGS. 20-21 )) and/or a picking apparatus (e.g.,  110  ( FIG. 1 ),  2010  ( FIG. 20 )). 
     Referring to  FIG. 47 , method  4700  can include a block  4701  of picking, at a first time, a first individual crop of crops of plants using a picking apparatus. The picking apparatus can be similar or identical to picking apparatus  110  ( FIG. 1 ) and/or picking apparatus  2010  ( FIGS. 20-21 ). The first individual crop can be similar or identical to one of crops  1511  ( FIG. 15 ). The plants can be similar or identical to plant  1510  ( FIG. 15 ). In some embodiments, the plants can be strawberry plants and each of the crops can be a strawberry. In other embodiments, each of the plants can be another suitable type of plant, such as a tomato plant, a pepper plant, etc., and each of the crops can be another suitable type of crop, such as a tomato, a pepper, etc. In many embodiments, the picking apparatus can include a plurality of grippers each spaced apart and extending radially from a central axis of the picking apparatus. The central axis can be similar or identical to central axis  311  ( FIG. 3 ). The grippers can be similar or identical to grippers  312 - 315  ( FIG. 3 ), grippers  2011 - 2015  ( FIG. 20 ) and/or gripper  2116  ( FIG. 21 ). In various embodiments, each gripper can be configured to pick a different individual crop of the crops of the plants. 
     In a number of embodiments, method  4700  also can include a block  4702  of picking a second individual crop of the crops to start a second time period, the second time period starting after the first time. 
     In several embodiments, method  4700  additionally can include a block  4703  of offloading the first individual crop during the second time period. 
     In a number of embodiments, method  4700  further can include a block  4704  of picking a third individual crop of the crops to end the second time period. In many embodiments, the picking apparatus can hold the second and third individual crops at the end of the second time period. In a number of embodiments, the first, second, and third individual crops can be picked from a first plant of the plants. 
     In a several embodiments, method  4700  optionally can include a block  4705  of picking a fourth individual crop of the crops after the first time and before the second time period begins. In several embodiments, the picking apparatus can be holding the second, third, and fourth individual crops at the end of the second time period. 
     In a number of embodiments, method  4700  optionally can include a block  4706  of receiving information at a processing unit of a system from one or more imaging sensors. The system can be similar or identical to harvesting robot  100  ( FIG. 1 ) and/or harvesting robot  2000  ( FIG. 2000 ). The processing unit can be similar or identical to processing unit  1273  ( FIGS. 12-13 ), processing unit  2173  ( FIG. 21 ), control unit  1272 , control unit  2072  ( FIGS. 20-21 ), and/or harvester processing system  5800  ( FIG. 58 , described below). The imaging sensors can be similar or identical to imaging sensors  1290 - 1291  ( FIGS. 12-13 ) and/or images sensors  2190 - 2191  ( FIG. 21 ). 
     In many embodiments, the system can include the picking apparatus, a carriage assembly, a carrier assembly, the one or more imaging sensors, and the processing unit. The carriage assembly can be similar or identical to carriage assembly  140  ( FIG. 1 ) and/or carriage assembly  2040  ( FIG. 20 ). The carrier assembly can be similar or identical to carrier assembly  170  ( FIG. 1 ) and/or carrier assembly  1070  ( FIG. 20 ). In some embodiments, the carriage assembly can include a first rotational mechanism. In many embodiments, the first rotational mechanism can be similar or identical to rotational shaft  655  ( FIGS. 6-7 ), motor  654  ( FIGS. 6-8 ), gear  854  ( FIG. 8 ), gear  855  ( FIG. 8 ), and/or rotational shaft  2146  ( FIG. 21 ). In some embodiments, the carrier assembly can include a second rotational mechanism. The second rotational mechanism can be similar or identical to mounting bearing  1274  ( FIGS. 12-13 ), and/or mounting bearing  2074  ( FIG. 20 ). In a number of embodiments, the carriage assembly can be coupled to the carrier assembly. In several embodiments, the picking apparatus can be coupled to the first rotational mechanism. 
     In a number of embodiments, the system further comprises a stem separation bar. The stem separation bar can be similar or identical to stem separation bar  2043  ( FIGS. 20-27 ). In many embodiments, the stem separation bar can be configured to provide tension on a stem of the different individual crop when each of the plurality of grippers picks the different individual crop. The stem can be similar or identical to stem  2019  ( FIG. 20 ). 
     In a several embodiments, method  4700  additionally can include a block  4707  of determining at the processing unit a location of the crops to be harvested. 
     In a number of embodiments, method  4700  further can include a block  4708  of rotating the carrier assembly and the carriage assembly around the second rotational mechanism such that the picking apparatus is rotated around a single plant of the plants when the second rotational mechanism is centered above the single plant. 
     In a several embodiments, method  4700  additionally can include a block  4709  of rotating the picking apparatus around the central axis of the picking apparatus using the first rotational mechanism of the carriage assembly. In some embodiments, rotating the picking apparatus around the central axis can include moving the plurality of grippers in a rotational path centered with respect to the central axis of the picking apparatus. 
     In a number of embodiments, method  4700  optionally can include a block  4710  of opening each of the plurality of grippers to an open position to pick the different individual crop when the gripper is located at a first gripper position of the rotational path. In several embodiments, the first gripper position can be located at a bottom of the rotational path. The open position can be similar or identical to the position of gripper  312  in  FIG. 4 , gripper  2012  in  FIGS. 20, 22-23 , and/or gripper  2015  in  FIGS. 26-27 . The first gripper position can be similar or identical to the position of gripper  2012  in  FIGS. 20-27 . In other embodiments, the first gripper position can be at a different position, as described above. 
     In a several embodiments, method  4700  additionally can include a block  4711  of opening each of the plurality of grippers to the open position to offload the different individual crop when the gripper is located at a second gripper position of the rotational path. The second gripper position can be similar or identical to the position of gripper  2015  in  FIGS. 20, 22-27 . In other embodiments, the second gripper position can be at a different position, as described above. In many embodiments, each of the plurality of grippers can be spring-closed. 
     In some embodiments, the system further can include one or more actuators configured to open each of the plurality of grippers when the gripper is located at the first and second gripper positions of the rotational path. The actuators can be similar or identical to actuators  2210  and/or  2220  ( FIGS. 22-27 ). In several embodiments, a first actuator of the one or more actuators can be configured to open each of the plurality of grippers when the gripper is located at the first gripper position of the rotational path. The first actuator can be similar or identical to actuator  2210  ( FIGS. 22-27 ). In many embodiments, the first actuator can be further configured to vary an opening width of the gripper located at the first gripper position based on a size of the individual crop to be picked by the gripper. 
     Turning ahead in the drawings,  FIG. 48  illustrates a flow chart for a method  4800 . Method  4800  can be a method of providing a system for selectively harvesting crops. Method  4800  is merely exemplary and is not limited to the embodiments presented herein. Method  4800  can be employed in many different embodiments or examples not specifically depicted or described herein. In some embodiments, the procedures, the processes, and/or the activities of method  4800  can be performed in the order presented. In other embodiments, the procedures, the processes, and/or the activities of method  4800  can be performed in any suitable order. In still other embodiments, one or more of the procedures, the processes, and/or the activities of method  4800  can be combined or skipped. 
     Referring to  FIG. 48 , method  4800  can include a block  4801  of providing a picking apparatus. The picking apparatus can be similar or identical to picking apparatus  110  ( FIG. 1 ) and/or picking apparatus  2010  ( FIGS. 20-21 ). 
     In a number of embodiments, block  4801  can include a block  4802  of providing a plurality of grippers. The grippers can be similar or identical to grippers  312 - 315  ( FIG. 3 ), grippers  2011 - 2015  ( FIG. 20 ) and/or gripper  2116  ( FIG. 21 ). In some embodiments, the plurality of grippers each can be configured to pick a different individual crop of crops of plants. Each different individual crop can be similar or identical to one of crops  1511  ( FIG. 15 ). The plants can be similar or identical to plant  1510  ( FIG. 15 ). In some embodiments, the plants can be strawberry plants and each of the crops can be a strawberry. In other embodiments, each of the plants can be another suitable type of plant, such as a tomato plant, a pepper plant, etc., and each of the crops can be another suitable type of crop, such as a tomato, a pepper, etc. In some embodiments, the picking apparatus can be configured to use a first one of the plurality of grippers to pick a first individual crop of the crops at a first time. 
     In several embodiments, block  4801  additionally can include a block  4803  of attaching the plurality of grippers to the picking apparatus such that the plurality of grippers are each spaced apart and extend radially from a central axis. The central axis can be similar or identical to central axis  311  ( FIG. 3 ). In many embodiments, during a second time period that starts with a second one of the plurality of grippers picking a second individual crop of the crops and ends with a third one of the plurality of grippers picking a third individual crop of the crops, the picking apparatus can be configured to offload the first individual crop from the first one of the plurality of grippers. In many embodiments, the second time period can starts after the first time. 
     In a number of embodiments, the second and third ones of the plurality of grippers can be configured to hold the second and third individual crops, respectively, at the end of the second time period. In several embodiments, the picking apparatus is configured to pick the first, second, and third individual crops from a first plant of the plants. In many embodiments, a fourth one of the plurality of grippers can be configured to pick a fourth individual crop of the crops after the first time and before the second time period begins. In several embodiments, the second, third, and fourth ones of the plurality of grippers can be configured to hold the second, third, and fourth individual crops, respectively, at the end of the second time period. 
     In many embodiments, the picking apparatus can be configured to move the plurality of grippers in a rotational path centered with respect to the central axis of the picking apparatus. In various embodiments, each of the plurality of grippers can be configured to be opened to an open position to pick the different individual crop when the gripper is located at a first gripper position of the rotational path. In some embodiments, the first gripper position can be located at a bottom of the rotational path. The first gripper position can be similar or identical to the position of gripper  2012  in  FIGS. 20-27 . In other embodiments, the first gripper position can be at a different position, as described above. The open position can be similar or identical to the position of gripper  312  in  FIG. 4 , gripper  2012  in  FIGS. 20, 22-23 , and/or gripper  2015  in  FIGS. 26-27 . 
     In many embodiments, each of the plurality of grippers can be configured to be opened to the open position to offload the different individual crop when the gripper is located at a second gripper position of the rotational path. The second gripper position can be similar or identical to the position of gripper  2015  in  FIGS. 20, 22-27 . In other embodiments, the second gripper position can be at a different position, as described above. In many embodiments, each of the plurality of grippers can be spring-closed. 
     In a number of embodiments, method  4800  optionally can include a block  4804  of providing a carriage assembly comprising a first rotational mechanism. The carriage assembly can be similar or identical to carriage assembly  140  ( FIG. 1 ) and/or carriage assembly  2040  ( FIG. 20 ). In many embodiments, the first rotational mechanism can be similar or identical to rotational shaft  655  ( FIGS. 6-7 ), motor  654  ( FIGS. 6-8 ), gear  854  ( FIG. 8 ), gear  855  ( FIG. 8 ), and/or rotational shaft  2146  ( FIG. 21 ). In some embodiments, the picking apparatus can be configured to be coupled to the first rotational mechanism. In many embodiments, the first rotational mechanism can be configured to rotate the picking apparatus around the central axis. 
     In a several embodiments, method  4800  additionally can include a block  4805  of providing a carrier assembly comprising a second rotational mechanism. The carrier assembly can be similar or identical to carrier assembly  170  ( FIG. 1 ) and/or carrier assembly  1070  ( FIG. 20 ). The second rotational mechanism can be similar or identical to mounting bearing  1274  ( FIGS. 12-13 ), and/or mounting bearing  2074  ( FIG. 20 ). In some embodiments, the carriage assembly can be coupled to the carrier assembly. In a number of embodiments, the second rotational mechanism can be configured to rotate the carrier assembly and the carriage assembly around the second rotational mechanism such that the picking apparatus is rotated around a single plant of the plants when the second rotational mechanism is centered above the single plant. 
     In a number of embodiments, method  4800  further can include a block  4806  of providing one or more imaging sensors. The imaging sensors can be similar or identical to imaging sensors  1290 - 1291  ( FIGS. 12-13 ) and/or images sensors  2190 - 2191  ( FIG. 21 ). 
     In a several embodiments, method  4800  additionally can include a block  4807  of providing a processing unit. The processing unit can be similar or identical to processing unit  1273  ( FIGS. 12-13 ), processing unit  2173  ( FIG. 21 ), control unit  1272 , control unit  2072  ( FIGS. 20-21 ), and/or harvester processing system  5800  ( FIG. 58 , described below). In some embodiments, the system can include the carriage, the carrier, the one or more imaging sensors, the processing unit, and the picking apparatus. In several embodiments, the processing unit can be configured to receive information from the one or more imaging sensors to determine a location of the crops to be harvested. In several embodiments, each of the plurality of grippers can be spring-closed 
     In a number of embodiments, method  4800  optionally can include a block  4808  of providing one or more actuators. The actuators can be similar or identical to actuators  2210  and/or  2220  ( FIGS. 22-27 ). In some embodiments, the system further can include the one or more actuators. In a number of embodiments, the one or more actuators can be configured to open each of the plurality of grippers when the gripper is located at the first and second gripper positions of the rotational path. In some embodiments, a first actuator of the one or more actuators is configured to open each of the plurality of grippers when the gripper is located at the first gripper position of the rotational path. The first actuator can be similar or identical to actuator  2210  ( FIGS. 22-27 ). In many embodiments, the first actuator can be further configured to vary an opening width of the gripper located at the first gripper position based on a size of the individual crop to be picked by the gripper. 
     In a several embodiments, method  4800  optionally can include a block  4809  of providing a stem separation bar. The stem separation bar can be similar or identical to stem separation bar  2043  ( FIGS. 20-27 ). In some embodiments, the system further can include the stem separation bar. In many embodiments, the stem separation bar can be configured to provide tension on a stem of the different individual crop when each of the plurality of grippers picks the different individual crop. The stem can be similar or identical to stem  2019  ( FIG. 20 ). 
     Turning ahead in the drawings,  FIG. 49  illustrates a flow chart for a method  4900 . Method  4900  can be a method of holding foliage. Method  4900  is merely exemplary and is not limited to the embodiments presented herein. Method  4900  can be employed in many different embodiments or examples not specifically depicted or described herein. In some embodiments, the procedures, the processes, and/or the activities of method  4900  can be performed in the order presented. In other embodiments, the procedures, the processes, and/or the activities of method  4900  can be performed in any suitable order. In still other embodiments, one or more of the procedures, the processes, and/or the activities of method  4900  can be combined or skipped. In some embodiments, method  4900  can be performed by a foliage displacement system (e.g., leaf displacement system  2800  ( FIGS. 28-31 )). 
     Referring to  FIG. 49 , method  4900  can include a block  4901  of moving foliage of a plant toward a center of the plant using two or more surfaces of a foliage displacement system such that crops of the plant that underlie the foliage are exposed when the foliage displacement system moves from an open configuration of the foliage displacement system to a closed configuration of the foliage displacement system. The foliage displacement system can be similar or identical to leaf displacement system  2800  ( FIGS. 28-31 ). The foliage can be similar or identical to foliage  1512  ( FIGS. 15, 20, 28-29 ). The crops can be similar or identical to crops  1511  ( FIGS. 15, 20, 28-31 ). The plant can be similar or identical to plant  1510  ( FIG. 15 ). In some embodiments, the plant can be a strawberry plant and each of the crops can be a strawberry. In other embodiments, the plant can be another suitable type of plant, such as a tomato plant, a pepper plant, etc., and the crops can be another suitable type of crop, such as a tomato, a pepper, etc. The two or more surfaces can be similar or identical to first assembly base surface  2851  (FIG.  28 ), first assembly first wing surface  2852  ( FIG. 28 ), first assembly second wing surface  2853  ( FIG. 28 ), first assembly first plate surface  2874  ( FIG. 28 ), first assembly second plate surface  2855  ( FIG. 28 ), second assembly base surface  2871  ( FIG. 28 ), second assembly first wing surface  2872  ( FIG. 28 ), and/or second assembly second wing surface  2873  ( FIG. 28 ). The open configuration can be similar or identical to the configuration of leaf displacement system  2800  shown in  FIG. 28 . The closed configuration can be similar or identical to the configuration of leaf displacement system  2800  shown in  FIG. 31 . 
     In many embodiments, the foliage displacement system can include a support structure and the two or more surfaces. The support structure can be similar or identical to support structure  2810  ( FIG. 28 ). In various embodiments, the two or more surfaces can be movably coupled to the support structure and configured to move between the open configuration to the closed configuration. 
     In a number of embodiments, method  4900  also can include a block  4902  of holding in a stationary manner the foliage of the plant using the two or more surfaces when the foliage displacement system is in the closed configuration to keep the crops of the plant exposed, such as shown in  FIG. 31 , for example In some embodiments, holding in the stationary manner the foliage of the plant using the two or more surfaces can include holding in a stationary manner the foliage of the plant within a first circumference approximately centered at the center of the plant when the foliage displacement system is in the closed configuration. In some embodiments, the first circumference can be no more than 15.24 cm. In other embodiments, the first circumference can be another suitable circumference, such as described above. 
     In several embodiments, the foliage displacement system further can include a first surface assembly and a second surface assembly movably coupled to the support structure. The first surface assembly can be similar or identical to first assembly  2850  ( FIGS. 28-31 ). The second surface assembly can be similar or identical to second assembly  2870  ( FIGS. 28-31 ). In several embodiments, the foliage displacement system can be configured in the open configuration to dispose the first surface assembly on a first side of the plant and dispose the second surface assembly on a second side of the plant opposite the first side of the plant, such as shown in  FIG. 28 . In a number of embodiments, the first surface assembly and the surface second assembly each can be slidably coupled to the support structure. 
     In many embodiments, the first surface assembly can include at least a first surface of the two or more surfaces. For example, the first surface can be similar or identical to first assembly base surface  2851  ( FIG. 28 ). In many embodiments, the second surface assembly can include at least a second surface of the two or more surfaces. For example, the second surface can be similar or identical to second assembly base surface  2871  ( FIG. 28 ), second assembly first wing surface  2872  ( FIG. 28 ), and/or second assembly second wing surface  2873  ( FIG. 28 ). 
     In some embodiments, the first surface assembly can include two or more first assembly surfaces movable with respect to each other. The two or more first assembly surfaces can be similar or identical to first assembly base surface  2851  ( FIG. 28 ), first assembly first wing surface  2852  ( FIG. 28 ), first assembly second wing surface  2853  ( FIG. 28 ). In various embodiments, the second surface assembly can include two or more second assembly surfaces movable with respect to each other. In some embodiments, the two or more second assembly surface can be similar or identical to second assembly base surface  2871  ( FIG. 28 ), second assembly first wing surface  2872  ( FIG. 28 ), and/or second assembly second wing surface  2873  ( FIG. 28 ). In several embodiments, the two or more first assembly surfaces and the two or more second assembly surfaces can be configured to comprise a cylindrical shell in the closed configuration. The cylindrical shell can be similar or identical to the cylindrical shell formed by first assembly base surface  2851  ( FIG. 28 ), first assembly first wing surface  2852  ( FIG. 28 ), first assembly second wing surface  2853  ( FIG. 28 ), second assembly base surface  2871  ( FIG. 28 ), second assembly first wing surface  2872  ( FIG. 28 ), and second assembly second wing surface  2873  ( FIG. 28 ) in the closed configuration as shown in  FIG. 31 . 
     In various embodiments, the first surface assembly further can include a third surface of the two or more surfaces. The third surface can be similar or identical to first assembly second plate surface  2855  ( FIG. 28 ). In some embodiments, the first surface of the two or more surfaces and the third surface of the two or more surfaces can be movable with respect to each other. In a number of embodiments, the foliage displacement system can be configured in the closed configuration to enclose the first surface of the two or more surfaces and the third surface of the two or more surfaces within the cylindrical shell of the two or more first assembly surfaces and the two or more second assembly surfaces. 
     In many embodiments, the foliage displacement system can be configured to keep a bottommost part of each of the two or more surfaces a first distance from a bed of the plant when the foliage displacement system moves from the open configuration to the closed configuration. In some embodiments, the first distance can be approximately 5.08 cm to approximately 10.16 cm. In other embodiments, the first distance can be a different suitable distances, such as described above. 
     In several embodiments, method  4900  optionally can include a block  4903  of rotating a picking system around the plant to detect and pick at least some of the crops of the plant that are exposed when the foliage displacement system is holding the foliage in the closed configuration. The picking system can be similar or identical to harvesting robot  100  ( FIG. 1 ) and/or harvesting robot  2000  ( FIGS. 20-21 )). In several embodiments, the foliage displacement system does not rotate with the picking system. 
     Proceeding to the next drawing,  FIG. 50  illustrates a flow chart for a method  5000 . Method  5000  can be a method of providing a system for foliage holding. Method  5000  is merely exemplary and is not limited to the embodiments presented herein. Method  5000  can be employed in many different embodiments or examples not specifically depicted or described herein. In some embodiments, the procedures, the processes, and/or the activities of method  5000  can be performed in the order presented. In other embodiments, the procedures, the processes, and/or the activities of method  5000  can be performed in any suitable order. In still other embodiments, one or more of the procedures, the processes, and/or the activities of method  5000  can be combined or skipped. 
     Referring to  FIG. 50 , method  5000  can include a block  5001  of providing a foliage displacement system. The foliage displacement system can be similar or identical to leaf displacement system  2800  ( FIGS. 28-31 ). 
     In a number of embodiments, block  5001  can include a block  5002  of providing a support structure. The support structure can be similar or identical to support structure  2810  ( FIG. 28 ). 
     In several embodiments, block  5001  additionally can include a block  5003  of providing two or more surfaces. The two or more surfaces can be similar or identical to first assembly base surface  2851  ( FIG. 28 ), first assembly first wing surface  2852  ( FIG. 28 ), first assembly second wing surface  2853  ( FIG. 28 ), first assembly first plate surface  2874  ( FIG. 28 ), first assembly second plate surface  2855  ( FIG. 28 ), second assembly base surface  2871  ( FIG. 28 ), second assembly first wing surface  2872  ( FIG. 28 ), and/or second assembly second wing surface  2873  ( FIG. 28 ). 
     In a number of embodiments, block  5001  further can include a block  5004  of movably coupling the two or more surfaces to the support structure, such that the two or more surfaces are configured to move between an open configuration of the foliage displacement system and a closed configuration of the foliage displacement system. The open configuration can be similar or identical to the configuration of leaf displacement system  2800  shown in  FIG. 28 . The closed configuration can be similar or identical to the configuration of leaf displacement system  2800  shown in  FIG. 31 . 
     In some embodiments, the two or more surfaces can be configured to move foliage of a plant toward a center of the plant such that crops of the plant that underlie the foliage are exposed when the foliage displacement system moves from the open configuration to the closed configuration. The foliage can be similar or identical to foliage  1512  ( FIGS. 15, 20, 28-29 ). The crops can be similar or identical to crops  1511  ( FIGS. 15, 20, 28-31 ). The plant can be similar or identical to plant  1510  ( FIG. 15 ). In some embodiments, the plant can be a strawberry plant and each of the crops can be a strawberry. In other embodiments, the plant can be another suitable type of plant, such as a tomato plant, a pepper plant, etc., and the crops can be another suitable type of crop, such as a tomato, a pepper, etc. 
     In some embodiments, the two or more surfaces can be configured to hold in a stationary manner the foliage of the plant within a first circumference approximately centered at the center of the plant when the foliage displacement system is in the closed configuration. In some embodiments, the first circumference can be no more than 15.24 cm. In other embodiments, the first circumference can be another suitable circumference, such as described above. 
     In many embodiments, the foliage displacement system can be configured to keep a bottommost part of each of the two or more surfaces a first distance from a bed of the plant when the foliage displacement system moves from the open configuration to the closed configuration. In some embodiments, the first distance can be approximately 5.08 cm to approximately 10.16 cm. In other embodiments, the first distance can be a different suitable distances, such as described above. 
     In a several embodiments, block  5001  additionally can include a block  5005  of providing a first surface assembly movably coupled to the support structure. The first surface assembly can be similar or identical to first assembly  2850  ( FIGS. 28-31 ). In some embodiments, the first surface assembly can include at least a first surface of the two or more surface. For example, the first surface can be similar or identical to first assembly base surface  2851  ( FIG. 28 ). 
     In a number of embodiments, block  5001  further can include a block  5006  of providing a second surface assembly movably coupled to the support structure. The second surface assembly can be similar or identical to second assembly  2870  ( FIGS. 28-31 ). The second surface assembly can include at least a second surface of the two or more surfaces. For example, the second surface can be similar or identical to second assembly base surface  2871  ( FIG. 28 ), second assembly first wing surface  2872  ( FIG. 28 ), and/or second assembly second wing surface  2873  ( FIG. 28 ). 
     In many embodiments, the foliage displacement system can be configured in the open configuration to dispose the first surface assembly on a first side of the plant and dispose the second surface assembly on a second side of the plant opposite the first side of the plant, such as shown in  FIG. 28 . In various embodiments, the first surface assembly and the second surface assembly each can be slidably coupled to the support structure. 
     In some embodiments, the first surface assembly can include two or more first assembly surfaces movable with respect to each other. The two or more first assembly surfaces can be similar or identical to first assembly base surface  2851  ( FIG. 28 ), first assembly first wing surface  2852  ( FIG. 28 ), first assembly second wing surface  2853  ( FIG. 28 ). In various embodiments, the second surface assembly can include two or more second assembly surfaces movable with respect to each other. In some embodiments, the two or more second assembly surface can be similar or identical to second assembly base surface  2871  ( FIG. 28 ), second assembly first wing surface  2872  ( FIG. 28 ), and/or second assembly second wing surface  2873  ( FIG. 28 ). In several embodiments, the two or more first assembly surfaces and the two or more second assembly surfaces can be configured to comprise a cylindrical shell in the closed configuration. The cylindrical shell can be similar or identical to the cylindrical shell formed by first assembly base surface  2851  ( FIG. 28 ), first assembly first wing surface  2852  ( FIG. 28 ), first assembly second wing surface  2853  ( FIG. 28 ), second assembly base surface  2871  ( FIG. 28 ), second assembly first wing surface  2872  ( FIG. 28 ), and second assembly second wing surface  2873  ( FIG. 28 ) in the closed configuration as shown in  FIG. 31 . 
     In various embodiments, the first surface assembly further can include a third surface of the two or more surfaces. The third surface can be similar or identical to first assembly second plate surface  2855  ( FIG. 28 ). In some embodiments, the first surface of the two or more surfaces and the third surface of the two or more surfaces can be movable with respect to each other. In a number of embodiments, the foliage displacement system can be configured in the closed configuration to enclose the first surface of the two or more surfaces and the third surface of the two or more surfaces within the cylindrical shell of the two or more first assembly surfaces and the two or more second assembly surfaces. 
     In a several embodiments, method  5000  optionally can include a block  5007  of providing a picking system configured to rotate around the plant to detect and pick at least some of the crops of the plant that are exposed when the foliage displacement system is holding the foliage in the closed configuration. The picking system can be similar or identical to harvesting robot  100  ( FIG. 1 ) and/or harvesting robot  2000  ( FIGS. 20-21 )). In several embodiments, the foliage displacement system does not rotate with the picking system. 
     Turning ahead in the drawings,  FIG. 51  illustrates a flow chart for a method  5100 . Method  5100  can be a method of facilitating a suspension system for a vehicle. Method  5100  is merely exemplary and is not limited to the embodiments presented herein. Method  5100  can be employed in many different embodiments or examples not specifically depicted or described herein. In some embodiments, the procedures, the processes, and/or the activities of method  5100  can be performed in the order presented. In other embodiments, the procedures, the processes, and/or the activities of method  5100  can be performed in any suitable order. In still other embodiments, one or more of the procedures, the processes, and/or the activities of method  5100  can be combined or skipped. In some embodiments, method  5100  can be performed by harvesting vehicle  3200  ( FIGS. 32-34 ), vehicle  4001  ( FIGS. 40-42 ), and/or vehicle  4500  ( FIGS. 45-46 ), such as by various components of suspension components  4400  ( FIG. 44 ) and/or suspension control system  5803  ( FIG. 58 , described below). 
     Referring to  FIG. 51 , method  5100  can include a block  5101  of receiving distance measurement data provided from a plurality of picking systems carried by a harvesting vehicle over plants growing in one or more plant beds to harvest crops of the plants. The picking systems can be similar or identical to harvesting robot  100  ( FIG. 1 ) and/or harvesting robot  2000  ( FIGS. 20-21 )). The crops can be similar or identical to crops  1511  ( FIGS. 15, 20, 28-31 ). The plants can be similar or identical to plant  1510  ( FIG. 15 ). In some embodiments, the plants can be strawberry plants and each of the crops can be a strawberry. In other embodiments, the plants can be another suitable type of plants, such as a tomato plant, a pepper plant, etc., and the crops can be another suitable type of crop, such as a tomato, a pepper, etc. The plant beds can be similar or identical to plant beds  1501  ( FIGS. 15-16, 20, 28-31 ),  3281 - 3290  ( FIGS. 32-34 ),  3801  ( FIGS. 38-39 ),  4021 - 4032  ( FIG. 40 ), and/or  4300  ( FIG. 43 ). 
     In several embodiments, each picking system can include an imaging system and can be configured to determine a height of the picking system over one of the one or more plant beds as the picking system is carried over the plants. The height can be similar or identical to heights  4550  ( FIG. 45 ) or  4650  ( FIG. 46 ). The imaging system can be similar or identical to imaging sensors imaging sensors  1290 - 1291  ( FIGS. 12-13 ), imaging sensors  2190 - 2191  ( FIG. 21 ) and/or imaging system  5701  ( FIG. 57 , described below). In some embodiments, the distance measurement data can be based on the height. 
     In various embodiments, the harvesting vehicle can include (a) a body including the plurality of picking systems and (b) a plurality of wheels each having a vertical position with respect to the body. The body can be similar or identical to body  3210  ( FIGS. 32-34 ), body  4406  ( FIG. 44 ), and/or body  4520  ( FIGS. 45-46 ). The wheels can be similar or identical to wheels  3203 - 3204  ( FIGS. 32-34 ), wheels  4002 - 4003  ( FIGS. 40-42 ), wheel  4401  ( FIG. 44 ), and/or wheels  4501 - 4504  ( FIGS. 45-46 ). In many embodiments, each of the plurality of wheels can be slidably coupled to the body, such as with adjustment mechanism  4407  ( FIG. 44 ). 
     In some embodiments, the height of the picking system over the one of the one or more plant beds can be determined based on a distance between the imaging system of the picking system and one or more of the crops of the plants in the one of the one or more plant beds. In many embodiments, each picking system can provide the distance measurement data at least twice per second. In other embodiments, the distance measurement data can be provided at another suitable rate, as described above. 
     In a number of embodiments, method  5100  also can include a block  5102  of determining adjustment information for an adjustment of the vertical position of one or more of the plurality of wheels with respect to the body based at least in part on the distance measurement data provided by at least one of the plurality of picking systems. In many embodiments, the harvesting vehicle further can include a plurality of suspension actuators each corresponding to a different wheel of the plurality of wheels and each configured to adjust the vertical position of the corresponding wheel of the plurality of wheels independent of adjustments to other wheels of the plurality of wheels by others of the plurality of suspension actuators. The suspension actuators can be similar or identical to actuator  4408  ( FIG. 44 ). In many embodiments, block  5102  of determining the adjustment information further can include determining the adjustment information at least in part based on the distance measurement data provided by all of the plurality of picking systems. In the same or other embodiments, block  5102  of determining the adjustment information further can include determining the adjustment information at least in part based on an average of the distance measurement data provided by all of the plurality of picking systems. 
     In several embodiments, method  5100  additionally can include a block  5103  of controlling the adjustment of the vertical position of the one or more of the plurality of wheels with respect to the body based on the adjustment information. In a number of embodiments, block  5103  of controlling the adjustment of the vertical position of the one or more of the plurality of wheels can include controlling the adjustment of the vertical position of the one or more of the plurality of wheels such that a bottommost part of each of the plurality of picking systems can be kept at a first distance above a bed of the one or more plant beds when the picking system is being carried over the bed. In some embodiments, the first distance can be approximately 5.08 cm to approximately 12.7 cm. In other embodiments, the first distance can be another suitable distance or another suitable range of distances. 
     Proceeding to the next drawing,  FIG. 52  illustrates a flow chart for a method  5200 . Method  5200  can be a method of providing a harvesting vehicle with a suspension system. Method  5200  is merely exemplary and is not limited to the embodiments presented herein. Method  5200  can be employed in many different embodiments or examples not specifically depicted or described herein. In some embodiments, the procedures, the processes, and/or the activities of method  5200  can be performed in the order presented. In other embodiments, the procedures, the processes, and/or the activities of method  5200  can be performed in any suitable order. In still other embodiments, one or more of the procedures, the processes, and/or the activities of method  5200  can be combined or skipped. In some embodiments, the harvesting vehicle can be similar or identical to harvesting vehicle  3200  ( FIGS. 32-34 ), vehicle  4001  ( FIGS. 40-42 ), and/or vehicle  4500  ( FIGS. 45-46 ). 
     Referring to  FIG. 52 , method  5200  can include a block  5201  of providing a body comprising a plurality of picking systems configured to be carried over plants growing in one or more plant beds to harvest crops of the plants, each picking system comprising an imaging system and configured to (a) determine a height of the picking system over one of the one or more plant beds as the picking system is carried over the plants and (b) provide distance measurement data based on the height. The body can be similar or identical to body  3210  ( FIGS. 32-34 ), body  4406  ( FIG. 44 ), and/or body  4520  ( FIGS. 45-46 ). The picking systems can be similar or identical to harvesting robot  100  ( FIG. 1 ) and/or harvesting robot  2000  ( FIGS. 20-21 )). The crops can be similar or identical to crops  1511  ( FIGS. 15, 20, 28-31 ). The plants can be similar or identical to plant  1510  ( FIG. 15 ). In some embodiments, the plants can be strawberry plants and each of the crops can be a strawberry. In other embodiments, the plants can be another suitable type of plants, such as a tomato plant, a pepper plant, etc., and the crops can be another suitable type of crop, such as a tomato, a pepper, etc. The plant beds can be similar or identical to plant beds  1501  ( FIGS. 15-16, 20, 28-31 ),  3281 - 3290  ( FIGS. 32-34 ),  3801  ( FIGS. 38-39 ),  4021 - 4032  ( FIG. 40 ), and/or  4300  ( FIG. 43 ). 
     In several embodiments, each picking system can provide the distance measurement data at least twice per second. In other embodiments, the distance measurement data can be provided at another suitable rate, as described above. In some embodiments, the height of the picking system over one of the one or more plant beds can be determined based on a distance between the imaging system of the picking system and one or more of the crops of the plants in the one of the one or more plant beds. The height can be similar or identical to heights  4550  ( FIG. 45 ) or  4650  ( FIG. 46 ). 
     In a number of embodiments, method  5200  also can include a block  5202  of providing a plurality of wheels each having a vertical position with respect to the body. The wheels can be similar or identical to wheels  3203 - 3204  ( FIGS. 32-34 ), wheels  4002 - 4003  ( FIGS. 40-42 ), wheel  4401  ( FIG. 44 ), and/or wheels  4501 - 4504  ( FIGS. 45-46 ). In many embodiments, each of the plurality of wheels can be slidably coupled to the body, such as with adjustment mechanism  4407  ( FIG. 44 ). 
     In some embodiments, the suspension control system can be further configured to control the adjustment of the vertical position of the one or more of the plurality of wheels such that a bottommost part of each of the plurality of picking systems can be kept at a first distance above a bed of the one or more plant beds when the picking system is being carried over the bed. In some embodiments, the first distance can be approximately 5.08 cm to approximately 12.7 cm. In other embodiments, the first distance can be another suitable distance or another suitable range of distances. 
     In several embodiments, method  5200  additionally can include a block  5203  of providing a suspension control system. The suspension control system can be similar or identical to suspension control system  5803  ( FIG. 58 , described below). In many embodiments, the suspension control system can be configured to perform receiving the distance measurement data from the plurality of picking systems. 
     In many embodiments, the suspension control system additionally can be configured to perform determining adjustment information for an adjustment of the vertical position of one or more of the plurality of wheels with respect to the body based at least in part on the distance measurement data provided by at least one of the plurality of picking systems. In many embodiments, determining the adjustment information further can include determining the adjustment information at least in part based on the distance. In several embodiments, determining the adjustment information further can include determining the adjustment information at least in part based on an average of the distance measurement data provided by all of the plurality of picking systems. 
     In many embodiments, the suspension control system can be further configured to perform controlling the adjustment of the vertical position of the one or more of the plurality of wheels with respect to the body based on the adjustment information. 
     In a number of embodiments, method  5200  optionally can include a block  5204  of providing a plurality of suspension actuators each corresponding to a different wheel of the plurality of wheels and each configured to adjust the vertical position of the corresponding wheel of the plurality of wheels independent of adjustments to other wheels of the plurality of wheels by others of the plurality of suspension actuators. The suspension actuators can be similar or identical to actuator  4408  ( FIG. 44 ). 
     Turning ahead in the drawings,  FIG. 53  illustrates a flow chart for a method  5300 . Method  5300  can be a method of performing robot positioning with station-keeping. Method  5300  is merely exemplary and is not limited to the embodiments presented herein. Method  5300  can be employed in many different embodiments or examples not specifically depicted or described herein. In some embodiments, the procedures, the processes, and/or the activities of method  5300  can be performed in the order presented. In other embodiments, the procedures, the processes, and/or the activities of method  5300  can be performed in any suitable order. In still other embodiments, one or more of the procedures, the processes, and/or the activities of method  5300  can be combined or skipped. In some embodiments, method  5300  can be performed by harvesting vehicle  3200  ( FIGS. 32-34 ), vehicle  4001  ( FIGS. 40-42 ), and/or vehicle  4500  ( FIGS. 45-46 ). 
     Referring to  FIG. 53 , method  5300  can include a block  5301  of moving a vehicle across a surface in a first direction, such that one or more second carriers coupled to the vehicle are moved in the first direction with respect to the surface. The vehicle can be similar or identical to harvesting vehicle  3200  ( FIGS. 32-34 ), vehicle  4001  ( FIGS. 40-42 ), and/or vehicle  4500  ( FIGS. 45-46 ). The first direction can be the X-axis direction shown in  FIG. 41 , the right-to-left direction of travel of track  3802  in  FIG. 38 , and/or the right-to-left direction of vehicle  4001  in  FIG. 40  from time view  4011  to time view  4012 . The surface can be plant beds  1501  ( FIGS. 15-16, 20, 28-31 ), plant beds  3281 - 3290  ( FIGS. 32-34 ), plant beds  3801  ( FIGS. 38-39 ), plant beds  4021 - 4032  ( FIG. 40 ), and/or  4300  ( FIG. 43 ), rows  3291 - 3299  ( FIGS. 32-34 ), rows  4041 - 4051  ( FIG. 40 ), and/or another suitable surface, such as a work surface. The second carriers can be similar or identical to RPC tracks  3334 - 3337  ( FIGS. 33-34 ), track  3802  ( FIG. 38 ), and/or RPC tracks  4004 - 4007  ( FIGS. 40-42 ). 
     In some embodiments, the one or more second carriers can be movably coupled to and can carry one or more first carriers each configured to carry two or more robotic systems. The first carriers can be similar or identical to RPCs  3240 ,  3250 ,  3260 ,  3270  ( FIGS. 32-34 ), and/or RPC  3803  ( FIG. 38 ). The robotic systems can be similar or identical to harvesting robot  100  ( FIG. 1 ), harvesting robot  2000  ( FIG. 20 ), harvesting robots  3461 - 3464  ( FIGS. 34-36 ), robots  3804 - 3807  ( FIG. 38 ), and/or other suitable robotic systems, such as the hole-punching robot described above. 
     In a number of embodiments, method  5300  also can include a block  5302  of automatically offsetting the movement in the first direction of the one or more second carriers to hold each of the one or more first carriers in a first carrier position and stationary with respect to the surface for a first time period while the vehicle moves the one or more second carriers in the first direction, such that the two or more robotic systems carried by each of the one or more first carriers are carried in a stationary manner with respect to the surface for the first time period by each of the one or more first carriers. For example, as shown in  FIG. 38 , the first carrier position can be the position of RPC  3803  in time views  3811 - 3812  during the first time period in which track  3802  moves in the first direction. 
     In several embodiments, the two or more robotic systems on each of the one or more first carriers can be removably coupled to the one or more first carriers. In some embodiments, each of the two or more robotic systems on each of the one or more first carriers can include hole puncher, as described above. In a number of embodiments, the vehicle can automatically move across the surface at an approximately constant velocity in the first direction. 
     In several embodiments, method  5300  optionally can include a block  5303  of performing tasks on a first set of objects during the first time period using the two or more robotic systems carried by each of the one or more first carriers. In some embodiments, the first set of objects can include plants. In other embodiments, the first set of objects can be other suitable object on which a robotic system can perform work. In several embodiments, the tasks can include picking crops from the plants. The crops can be similar or identical to crops  1511  ( FIGS. 15, 20, 28-31 ). The plants can be similar or identical to plant  1510  ( FIG. 15 ). In some embodiments, the plants can be strawberry plants and each of the crops can be a strawberry. In other embodiments, the plants can be another suitable type of plants, such as a tomato plant, a pepper plant, etc., and the crops can be another suitable type of crop, such as a tomato, a pepper, etc. 
     In some embodiments, block  5303  of performing tasks on the first set of objects during the first time period using the two or more robotic systems carried by each of the one or more first carriers can include simultaneously and independently detecting and picking ripe strawberries from the strawberry plants using the two or more robotic systems carried by each of the one or more first carriers. 
     In a number of embodiments, method  5300  optionally can include, after block  5302  or block  5303 , a block  5304  of automatically moving each of the one or more first carriers after the first time period from the first carrier position relative to the surface to a second carrier position relative to the surface. For example, as shown in  FIG. 38 , RPC  3803  can move from the first carrier position of RPC  3803  in time view  3812  to the second carrier position of RPC  3803  in time view  3813 . 
     In a several embodiments, method  5300  optionally can include a block  5305  of automatically holding each of the one or more first carriers in the second carrier position and stationary with respect to the surface for a second time period while the vehicle moves the one or more second carriers in the first direction with respect to the surface, such that at least a portion of each of the two or more robotic systems carried by each of the one or more first carriers is carried in the stationary manner with respect to the surface for the second time period by each of the one or more first carriers. For example, as shown in  FIG. 38 , the second carrier position can be the position of RPC  3803  in time views  3813 - 3814  during the second time period in which track  3802  moves in the first direction. In many embodiments, the second time period can occur after the first time period. 
     In some embodiments, a first set of robot positions for the two or more robotic systems during the first time period can include a first robot position and a second robot position. For example, the first robot position can be similar or identical to the position of robot  3806  in time views  3811 - 3812  of  FIG. 38 , which can be at plant  3881 , as shown in  FIGS. 38-39 . The first robot position can be similar or identical to the position of robot  3804  in time views  3811 - 3812  of  FIG. 38 , which can be at plant  3884 , as shown in  FIGS. 38-39 . A second set of robot positions for the two or more robotic systems during the second time period can include a third robot position and a fourth robot position. For example, the third robot position can be similar or identical to the position of robot  3806  in time views  3813 - 3814  of  FIG. 38 , which can be at plant  3882 , as shown in  FIGS. 38-39 . The fourth robot position can be similar or identical to the position of robot  3804  in time views  3813 - 3814  of  FIG. 38 , which can be at plant  3885 , as shown in  FIGS. 38-39 . In some embodiments, the first, second, third, and fourth robot positions can be located in a single straight or curved row extending in the first direction. The single row can be similar or identical to plant row  3901  ( FIG. 39 ) and/or plant row  3902  ( FIG. 39 ). In some embodiments, the single row can include an ordering of the first, second, third, and fourth robot positions such that, when moving in the first direction, the first robot position is located before the third robot position, the third robot position is located before the second robot position, and the second robot position is located before the fourth robot position, such as shown in  FIGS. 38-39 . 
     In a number of embodiments, method  5300  optionally can include a block  5306  of automatically moving each of the one or more first carriers after the second time period and before the third time period (described below) from the second carrier position to a fourth carrier position. For example, as shown in  FIG. 38 , RPC  3803  can move from the second carrier position of RPC  3803  in time view  3814  to the fourth carrier position of RPC  3803  in time view  3815 . 
     In a several embodiments, method  5300  optionally can include a block  5307  of automatically holding each of the one or more first carriers in the fourth carrier position and stationary with respect to the surface for a fourth time period while the vehicle moves the one or more carriers in the first direction with respect to the surface, such that at least the portion of each of the two or more robotic systems carried by each of the one or more first carriers is carried in a stationary manner with respect to the surface for the fourth time period by each of the one or more first carriers in a fourth set of robot positions. For example, as shown in  FIG. 38 , the fourth carrier position can be the position of RPC  3803  in time views  3815 - 3816  during the fourth time period in which track  3802  moves in the first direction. In many embodiments, the fourth time period can occur after the second time period. 
     In some embodiments, the fourth set of robot positions can include a fifth robot position and a sixth robot position. For example, the fifth robot position can be similar or identical to the position of robot  3806  in time views  3815 - 3816  of  FIG. 38 , which can be at plant  3883 , as shown in  FIGS. 38-39 . The sixth robot position can be similar or identical to the position of robot  3804  in time views  3815 - 3816  of  FIG. 38 , which can be at plant  3886 , as shown in  FIGS. 38-39 . In some embodiments, the fifth and sixth robot positions can be located in the single row, as shown in  FIG. 39 . In many embodiments, when the vehicle moves in the first direction, the third robot position is located before the fifth robot position, the fifth robot position is located before the second robot position, the fourth robot position is located before the sixth robot position, and the sixth robot position is located before each robot position of the third set of robot positions, such as shown in  FIG. 39 . 
     In a number of embodiments, method  5300  further can include a block  5308  of automatically moving each of the one or more first carriers after the second time period from the second carrier position to a third carrier position. For example, as shown in  FIG. 38 , RPC  3803  can move from the second carrier position of RPC  3803  in time view  3814  to the third carrier position of RPC  3803  in time view  3817 . In some embodiments, one or more first carriers can move to the fourth carrier position between the second carrier position and the third carrier position, such as when the one or more first carriers are used to perform tasks on three different objects with each robot before a leap-frog progression. In other embodiments, the one or more first carriers can move directly from the second carrier position to the third carrier position, such as when the one or more first carriers are used to perform tasks on two different objects with each robot before a leap-frog adjustment. In other embodiments, the one or more first carriers can perform objections on a different number of objects with each robot before a leap-frog progression, such as four, five, six, seven, eight, nine, or ten objections. 
     In a several embodiments, method  5300  optionally can include, after block  5306  or block  5308 , a block  5309  of automatically holding each of the one or more first carriers in the third carrier position and stationary with respect to the surface for a third time period while the vehicle moves the one or more carriers in the first direction with respect to the surface, such that at least the portion of each of the two or more robotic systems carried by each of the one or more first carriers is carried in the stationary manner with respect to the surface for the third time period by each of the one or more first carriers in a third set of robot positions. For example, as shown in  FIG. 38 , the third carrier position can be the position of RPC  3803  in time view  3817  during the third time period in which track  3802  moves in the first direction. In many embodiments, the third time period can occur after the second time period. In some embodiments, the third time period can occur after the fourth time period. In several embodiments, each robot position of the third set of robot positions can be located in the single row. For example, the third set of robot positions can be similar or identical to the position of robot  3806  in time view  3817  of  FIG. 38 , which can be at plant  3887 , and/or the position of robot  3804  in time view  3817  of  FIG. 38 , which can be at plant  3890 , as shown in  FIGS. 38-39 . In several embodiments, when the vehicle moves in the first direction, the fourth robot position can be located before each robot position of the third set of robot positions, such as shown in  FIG. 39 . 
     Turning ahead in the drawings,  FIG. 54  illustrates a flow chart for a method  5400 . Method  5400  can be a method of providing a system for robot positioning with station-keeping. Method  5400  is merely exemplary and is not limited to the embodiments presented herein. Method  5400  can be employed in many different embodiments or examples not specifically depicted or described herein. In some embodiments, the procedures, the processes, and/or the activities of method  5400  can be performed in the order presented. In other embodiments, the procedures, the processes, and/or the activities of method  5400  can be performed in any suitable order. In still other embodiments, one or more of the procedures, the processes, and/or the activities of method  5400  can be combined or skipped. 
     Referring to  FIG. 54 , method  5400  can include a block  5401  of providing one or more first carriers each configured to carry two or more robotic systems. The first carriers can be similar or identical to RPCs  3240 ,  3250 ,  3260 ,  3270  ( FIGS. 32-34 ), and/or RPC  3803  ( FIG. 38 ). The robotic systems can be similar or identical to harvesting robot  100  ( FIG. 1 ), harvesting robot  2000  ( FIG. 20 ), harvesting robots  3461 - 3464  ( FIGS. 34-36 ), robots  3804 - 3807  ( FIG. 38 ), and/or other suitable robotic systems, such as the hole-punching robot described above. 
     In a number of embodiments, method  5400  also can include a block  5402  of providing one or more second carriers configured to be coupled to a vehicle that is movable across a surface. The second carriers can be similar or identical to RPC tracks  3334 - 3337  ( FIGS. 33-34 ), track  3802  ( FIG. 38 ), and/or RPC tracks  4004 - 4007  ( FIGS. 40-42 ). The vehicle can be similar or identical to harvesting vehicle  3200  ( FIGS. 32-34 ), vehicle  4001  ( FIGS. 40-42 ), and/or vehicle  4500  ( FIGS. 45-46 ). The surface can be plant beds  1501  ( FIGS. 15-16, 20, 28-31 ), plant beds  3281 - 3290  ( FIGS. 32-34 ), plant beds  3801  ( FIGS. 38-39 ), plant beds  4021 - 4032  ( FIG. 40 ), and/or  4300  ( FIG. 43 ), rows  3291 - 3299  ( FIGS. 32-34 ), rows  4041 - 4051  ( FIG. 40 ), and/or another suitable surface, such as a work surface. 
     In several embodiments, method  5400  additionally can include a block  5403  of movably coupling each of the one or more first carriers to one of the one or more second carriers, such that the each of the one or more first carriers is carried by the one of the one or more second carriers. In some embodiments, the system can be configured to automatically hold each of the one or more first carriers in a first carrier position and stationary with respect to the surface for a first time period while the vehicle moves the one or more second carriers in a first direction with respect to the surface, such that at least a portion of each of the two or more robotic systems carried by each of the one or more first carriers is carried in a stationary manner with respect to the surface for the first time period by each of the one or more first carriers. For example, as shown in  FIG. 38 , the first carrier position can be the position of RPC  3803  in time views  3811 - 3812  during the first time period in which track  3802  moves in the first direction. 
     In several embodiments, the system can be further configured to automatically move each of the one or more first carriers after the first time period from the first carrier position relative to the surface to a second carrier position relative to the surface. For example, as shown in  FIG. 38 , the first carrier position can be the position of RPC  3803  in time views  3811 - 3812  during the first time period in which track  3802  moves in the first direction. 
     In some embodiments, the system can be further configured to automatically hold each of the one or more first carriers in the second carrier position and stationary with respect to the surface for a second time period while the vehicle moves the one or more second carriers in the first direction with respect to the surface, such that at least the portion of each of the two or more robotic systems carried by each of the one or more first carriers is carried in the stationary manner with respect to the surface for the second time period by each of the one or more first carriers. For example, as shown in  FIG. 38 , the second carrier position can be the position of RPC  3803  in time views  3813 - 3814  during the second time period in which track  3802  moves in the first direction. In many embodiments, the second time period can occur after the first time period. 
     In some embodiments, a first set of robot positions for the two or more robotic systems during the first time period can include a first robot position and a second robot position. For example, the first robot position can be similar or identical to the position of robot  3806  in time views  3811 - 3812  of  FIG. 38 , which can be at plant  3881 , as shown in  FIGS. 38-39 . The first robot position can be similar or identical to the position of robot  3804  in time views  3811 - 3812  of  FIG. 38 , which can be at plant  3884 , as shown in  FIGS. 38-39 . A second set of robot positions for the two or more robotic systems during the second time period can include a third robot position and a fourth robot position. For example, the third robot position can be similar or identical to the position of robot  3806  in time views  3813 - 3814  of  FIG. 38 , which can be at plant  3882 , as shown in  FIGS. 38-39 . The fourth robot position can be similar or identical to the position of robot  3804  in time views  3813 - 3814  of  FIG. 38 , which can be at plant  3885 , as shown in  FIGS. 38-39 . In some embodiments, the first, second, third, and fourth robot positions can be located in a single row extending in the first direction. The single row can be similar or identical to plant row  3901  ( FIG. 39 ) and/or plant row  3902  ( FIG. 39 ). In some embodiments, the single row can include an ordering of the first, second, third, and fourth robot positions such that, when moving in the first direction, the first robot position is located before the third robot position, the third robot position is located before the second robot position, and the second robot position is located before the fourth robot position, such as shown in  FIGS. 38-39 . 
     In various embodiments, the system can be further configured to automatically move each of the one or more first carriers after the second time period from the second carrier position to a third carrier position. For example, as shown in  FIG. 38 , RPC  3803  can move from the second carrier position of RPC  3803  in time view  3814  to the third carrier position of RPC  3803  in time view  3817 . 
     In some embodiments, the system can be further configured to automatically hold each of the one or more first carriers in the third carrier position and stationary with respect to the surface for a third time period while the vehicle moves the one or more carriers in the first direction with respect to the surface, such that at least the portion of each of the two or more robotic systems carried by each of the one or more first carriers is carried in the stationary manner with respect to the surface for the third time period by each of the one or more first carriers in a third set of robot positions. For example, as shown in  FIG. 38 , the third carrier position can be the position of RPC  3803  in time view  3817  during the third time period in which track  3802  moves in the first direction. In many embodiments, each robot position of the third set of robot positions can be located in the single row. For example, the third set of robot positions can be similar or identical to the position of robot  3806  in time view  3817  of  FIG. 38 , which can be at plant  3887 , and/or the position of robot  3804  in time view  3817  of  FIG. 38 , which can be at plant  3890 , as shown in  FIGS. 38-39 . In several embodiments, when the vehicle moves in the first direction, the fourth robot position can be located before each robot position of the third set of robot positions, such as shown in  FIG. 39 . 
     In a number of embodiments, the system can be further configured to automatically move each of the one or more first carriers after the second time period and before the third time period from the second carrier position to a fourth carrier position. For example, as shown in  FIG. 38 , RPC  3803  can move from the second carrier position of RPC  3803  in time view  3814  to the fourth carrier position of RPC  3803  in time view  3815 . 
     In some embodiments, the system can be further configured to automatically hold each of the one or more first carriers in the fourth carrier position and stationary with respect to the surface for a fourth time period while the vehicle moves the one or more carriers in the first direction with respect to the surface, such that at least the portion of each of the two or more robotic systems carried by each of the one or more first carriers is carried in a stationary manner with respect to the surface for the fourth time period by each of the one or more first carriers in a fourth set of robot positions. For example, as shown in  FIG. 38 , the fourth carrier position can be the position of RPC  3803  in time views  3815 - 3816  during the fourth time period in which track  3802  moves in the first direction. 
     In some embodiments, the fourth set of robot positions can include a fifth robot position and a sixth robot position. For example, the fifth robot position can be similar or identical to the position of robot  3806  in time views  3815 - 3816  of  FIG. 38 , which can be at plant  3883 , as shown in  FIGS. 38-39 . The sixth robot position can be similar or identical to the position of robot  3804  in time views  3815 - 3816  of  FIG. 38 , which can be at plant  3886 , as shown in  FIGS. 38-39 . In some embodiments, the fifth and sixth robot positions can be located in the single row, as shown in  FIG. 39 . In many embodiments, when the vehicle moves in the first direction, the third robot position is located before the fifth robot position, the fifth robot position is located before the second robot position, the fourth robot position is located before the sixth robot position, and the sixth robot position is located before each robot position of the third set of robot positions, such as shown in  FIG. 39 . 
     In some embodiments, the system further can include the two or more robotic systems carried by each of the one or more first carriers. In several embodiments, the two or more robotic systems carried by each of the one or more first carriers can perform tasks on a first set of objects during the first time period. In some embodiments, the first set of objects can include plants. In other embodiments, the first set of objects can be other suitable object on which a robotic system can perform work. In several embodiments, the tasks can include picking crops from the plants. The crops can be similar or identical to crops  1511  ( FIGS. 15, 20, 28-31 ). The plants can be similar or identical to plant  1510  ( FIG. 15 ). In some embodiments, the plants can be strawberry plants and each of the crops can be a strawberry. In other embodiments, the plants can be another suitable type of plants, such as a tomato plant, a pepper plant, etc., and the crops can be another suitable type of crop, such as a tomato, a pepper, etc. In some embodiments, the two or more robotic systems carried by each of the one or more first carriers can simultaneously and independently detect and pick ripe strawberries from the strawberry plants. 
     In many embodiments, the two or more robotic systems on each of the one or more first carriers can be removably coupled to the one or more first carriers. In some embodiments, each of the two or more robotic systems on each of the one or more first carriers can include hole puncher, as described above. In several embodiments, the system further can include the vehicle. In a number of embodiments, the vehicle can automatically move across the surface at an approximately constant velocity in the first direction. 
     Proceeding to the next drawing,  FIG. 55  illustrates a flow chart for a method  5500 . Method  5500  can be a method of individual plant location positioning. Method  5500  is merely exemplary and is not limited to the embodiments presented herein. Method  5500  can be employed in many different embodiments or examples not specifically depicted or described herein. In some embodiments, the procedures, the processes, and/or the activities of method  5500  can be performed in the order presented. In other embodiments, the procedures, the processes, and/or the activities of method  5500  can be performed in any suitable order. In still other embodiments, one or more of the procedures, the processes, and/or the activities of method  5500  can be combined or skipped. In some embodiments, method  5500  can be performed by harvesting vehicle  3200  ( FIGS. 32-34 ), vehicle  4001  ( FIGS. 40-42 ), and/or vehicle  4500  ( FIGS. 45-46 ), such as by at least guidance control system  5801  ( FIG. 58 , described below). 
     Referring to  FIG. 55 , method  5500  can include a block  5501  of guiding a vehicle along rows. The rows can be similar or identical to rows  3291 - 3299  ( FIGS. 32-34 ) and/or rows  4041 - 4051  ( FIG. 40 ). In many embodiments, the rows can be between plant beds. The plant beds can be similar or identical to plant beds  1501  ( FIGS. 15-16, 20, 28-31 ),  3281 - 3290  ( FIGS. 32-34 ), plant beds  3801  ( FIGS. 38-39 ), and/or plant beds  4021 - 4032  ( FIG. 40 ). In various embodiments, the vehicle can include a body, a plurality of wheels movable coupled to the body, and a guidance control system. The body can be similar or identical to body  3210  ( FIGS. 32-34 ), body  4406  ( FIG. 44 ), and/or body  4520  ( FIGS. 45-46 ). The wheels can be similar or identical to wheels  3203 - 3204  ( FIGS. 32-34 ), wheels  4002 - 4003  ( FIGS. 40-42 ), wheel  4401  ( FIG. 44 ), and/or wheels  4501 - 4504  ( FIGS. 45-46 ). The guidance control system can be similar or identical to guidance control system  5801  ( FIG. 58 , described below). The plurality of wheels can be configured to move along the rows such that at least a portion of the body moves above the plant beds. 
     In a number of embodiments, method  5500  also can include a block  5502  of tracking a different individual plant location of each individual plant of plants that are either planned for growth or growing in the plant beds. In some embodiments, the plants can be strawberry plants. In other embodiments, the plants can be another suitable type of plants, such as a tomato plant, a pepper plant, etc. 
     The guidance control system further can include a processor. The processing unit can be similar or identical to computer system  1700  ( FIG. 17 ), processing unit  1273  ( FIGS. 12-13 ), processing unit  2173  ( FIG. 21 ), control unit  1272 , control unit  2072  ( FIGS. 20-21 ), and/or harvester processing system  5800  ( FIG. 58 , described below). The guidance control system also can include two global positioning system (GPS) receivers each disposed on a different arm at a different side of the body. The GPS receivers can be similar or identical to GPS receivers  3215 - 3216  ( FIGS. 32-34 ). The arms can be similar or identical to arms  3213 - 3214  ( FIGS. 32-34 ). The guidance control system also can include an inertial measurement unit, as described above, which can be internal or external to one or more of the GPS receivers. 
     In some embodiments, the guidance control system can be configured to calculate a position of the vehicle using at least the two GPS receivers and the inertial measurement unit to track the individual plant locations of the individual plants of the plants. The position can be similar or identical to GCP  4100  ( FIGS. 41-42 ). In many embodiments, the body further can include a plurality of modular attachments configured to attach at separate times to a plurality of picking systems and a plurality of hole punching systems. The modular attachments can be similar or identical to mounting pieces  3511 - 3514  ( FIG. 35 ). The picking system can each be similar or identical to harvesting robot  100  ( FIG. 1 ) and/or harvesting robot  2000  ( FIG. 20 ). The hole punching system can be similar or identical to the hole punching robot described above. 
     In many embodiments, block  5501  of guiding the vehicle along the rows further can include, when the plurality of hole punching systems are attached to the plurality of modular attachments, guiding the vehicle such that each of the plurality of hole punching systems is positioned at the different individual plant location of the different individual plant of the plants that are planned for growth in the plant beds. In many embodiments, the different individual plant locations can be determined by the guidance control system. 
     In several embodiments, holes in each of the plant beds can be punched in rows of holes. The rows of holes can be similar or identical to rows of holes  4321 - 4322  ( FIG. 43 ). The holes can be similar or identical to holes  4301 - 4313  ( FIG. 43 ) and/or holes  4311 - 4313  ( FIG. 43 ). In many embodiments, each hole of the holes in each straight or curved row of holes can be approximately equally spaced from adjacent holes of the holes. For example, hole  4302  ( FIG. 43 ) can be approximately equally spaced from hole  4301  ( FIG. 43 ) and hole  4303  ( FIG. 43 ) in row of holes  4321  ( FIG. 43 ). In some embodiments, block  5501  of tracking the individual plant location of each individual plant further can include tracking a location of each of the holes. 
     In many embodiments, the plurality of picking systems each can be configured to detect and pick crops from a different individual plant of the plants that are growing in the plant bed. In some embodiments, each of the crops can be a strawberry. In other embodiments, the crops can be another suitable type of crop, such as a tomato, a pepper, etc. In some embodiments, block  5501  of guiding the vehicle along the rows further can include, when the plurality of picking systems are attached to the plurality of modular attachments, guiding the vehicle such that each of the plurality of picking systems is positioned at the different individual plant location of the different individual plant of the plants, such that the plurality of picking systems simultaneously pick the crops from the different individual plants of the plants. 
     In many embodiments, the body further can include a plurality of first carriers. The first carriers can be similar or identical to RPCs  3240 ,  3250 ,  3260 ,  3270  ( FIGS. 32-34 ), and/or RPC  3803  ( FIG. 38 ). In several embodiments, each of the plurality of first carriers can include a different set of two or more modular attachments of the plurality of modular attachments. In some embodiments, each of the plurality of first carriers can be positioned to be disposed over a different plant bed of the plant beds. 
     In various embodiments, block  5502  of tracking the different individual plant location of each individual plant of the plants can include tracking the different individual plant location of each individual plant of the plants based on an offset from a measured reference position. For example, the offset can be based on the lever arm described above. In some embodiments, the offset can be determined based on at least a direction of travel of the vehicle and an approximately fixed spacing between the different individual plant locations of the individual plants of the plants. 
     In several embodiments, method  5500  optionally can include a block  5503  of positioning each of the plurality of picking systems for picking a different individual plant of the plants within a positioning tolerance distance of a different hole of the holes that was punched to plant the different individual plant. In some embodiments, the positioning tolerance distance can be approximately 1.27 cm. In other embodiments, the positioning tolerance distance can be another suitable distance, such as 0.635 cm, or another distance described above. 
     Proceeding to the next drawing,  FIG. 56  illustrates a flow chart for a method  5600 . Method  5600  can be a method of providing a vehicle with individual plant location positioning. Method  5600  is merely exemplary and is not limited to the embodiments presented herein. Method  5600  can be employed in many different embodiments or examples not specifically depicted or described herein. In some embodiments, the procedures, the processes, and/or the activities of method  5600  can be performed in the order presented. In other embodiments, the procedures, the processes, and/or the activities of method  5600  can be performed in any suitable order. In still other embodiments, one or more of the procedures, the processes, and/or the activities of method  5600  can be combined or skipped. In some embodiments, the vehicle can be similar or identical to harvesting vehicle  3200  ( FIGS. 32-34 ), vehicle  4001  ( FIGS. 40-42 ), and/or vehicle  4500  ( FIGS. 45-46 ). 
     Referring to  FIG. 56 , method  5600  can include a block  5601  of providing a body. The body can be similar or identical to body  3210  ( FIGS. 32-34 ), body  4406  ( FIG. 44 ), and/or body  4520  ( FIGS. 45-46 ). 
     In a number of embodiments, method  5600  also can include a block  5602  of providing a plurality of wheels movably coupled to the body. The wheels can be similar or identical to wheels  3203 - 3204  ( FIGS. 32-34 ), wheels  4002 - 4003  ( FIGS. 40-42 ), wheel  4401  ( FIG. 44 ), and/or wheels  4501 - 4504  ( FIGS. 45-46 ). In many embodiments, the plurality of wheels can be configured to roll through rows between plant beds such that at least a portion of the body moves above the plant beds. The rows can be similar or identical to rows  3291 - 3299  ( FIGS. 32-34 ) and/or rows  4041 - 4051  ( FIG. 40 ). The plant beds can be similar or identical to plant beds  1501  ( FIGS. 15-16, 20, 28-31 ),  3281 - 3290  ( FIGS. 32-34 ), plant beds  3801  ( FIGS. 38-39 ), and/or plant beds  4021 - 4032  ( FIG. 40 ). 
     In several embodiments, method  5600  additionally can include a block  5603  of providing a guidance control system. The guidance control system can be similar or identical to guidance control system  5801  ( FIG. 58 , described below). In many embodiments, the guidance control system can be configured to guide the vehicle along the rows. In several embodiments, the guidance control system can be configured to track a different individual plant location of each individual plant of plants that are either planned for growth or growing in the plant beds. In some embodiments, the plants can be strawberry plants. In other embodiments, the plants can be another suitable type of plants, such as a tomato plant, a pepper plant, etc. 
     The guidance control system can include a processor. The processing unit can be similar or identical to computer system  1700  ( FIG. 17 ), processing unit  1273  ( FIGS. 12-13 ), processing unit  2173  ( FIG. 21 ), control unit  1272 , control unit  2072  ( FIGS. 20-21 ), and/or harvester processing system  5800  ( FIG. 58 , described below). The guidance control system also can include two global positioning system (GPS) receivers each disposed on a different arm at a different side of the body. The GPS receivers can be similar or identical to GPS receivers  3215 - 3216  ( FIGS. 32-34 ). The arms can be similar or identical to arms  3213 - 3214  ( FIGS. 32-34 ). The guidance control system also can include an inertial measurement unit, as described above, which can be internal or external to one or more of the GPS receivers. 
     In some embodiments, the guidance control system can be configured to calculate a position of the vehicle using at least the two GPS receivers and the inertial measurement unit to track the individual plant locations of the individual plants of the plants. The position can be similar or identical to GCP  4100  ( FIGS. 41-42 ). In many embodiments, the body further can include a plurality of modular attachments configured to attach at separate times to a plurality of picking systems and a plurality of hole punching systems. The modular attachments can be similar or identical to mounting pieces  3511 - 3514  ( FIG. 35 ). The picking system can each be similar or identical to harvesting robot  100  ( FIG. 1 ) and/or harvesting robot  2000  ( FIG. 20 ). The hole punching system can be similar or identical to the hole punching robot described above. In many embodiments, the different individual plant locations can be determined by the guidance control system. 
     In many embodiments, the guidance control system can further be configured guide the vehicle such that, when the plurality of hole punching systems are attached to the plurality of modular attachments, each of the plurality of hole punching systems is positioned at the different individual plant location of the different individual plant of the plants that are planned for growth in the plant beds. 
     In several embodiments, the holes in each of the plant beds can be punched in rows of holes. The rows of holes can be similar or identical to rows of holes  4321 - 4322  ( FIG. 43 ). The holes can be similar or identical to holes  4301 - 4313  ( FIG. 43 ) and/or holes  4311 - 4313  ( FIG. 43 ). In many embodiments, each hole of the holes in each row of holes can be approximately equally spaced from adjacent holes of the holes. For example, hole  4302  ( FIG. 43 ) can be approximately equally spaced from hole  4301  ( FIG. 43 ) and hole  4303  ( FIG. 43 ) in row of holes  4321  ( FIG. 43 ). In some embodiments, the guidance control system can be further configured to track a location of each of the holes. 
     In many embodiments, the plurality of picking systems each can be configured to detect and pick crops from a different individual plant of the plants that are growing in the plant bed. In some embodiments, each of the crops can be a strawberry. In other embodiments, the crops can be another suitable type of crop, such as a tomato, a pepper, etc. In some embodiments, the guidance control system can be further configured to guide the vehicle such that, when the plurality of picking systems are attached to the plurality of modular attachments, each of the plurality of picking systems is positioned at the different individual plant location of the different individual plant of the plants, such that the plurality of picking systems simultaneously pick the crops from the different individual plants of the plants. 
     In some embodiments, the guidance control system can be further configured to position each of the plurality of picking systems for picking the different individual plant of the plants within a positioning tolerance distance of a different hole of the holes that was punched to plant the different individual plant. In some embodiments, the positioning tolerance distance can be approximately 1.27 cm. In other embodiments, the positioning tolerance distance can be another suitable distance, such as 0.635 cm, or another distance described above. 
     In many embodiments, the body further can include a plurality of first carriers. The first carriers can be similar or identical to RPCs  3240 ,  3250 ,  3260 ,  3270  ( FIGS. 32-34 ), and/or RPC  3803  ( FIG. 38 ). In several embodiments, each of the plurality of first carriers can include a different set of two or more modular attachments of the plurality of modular attachments. In some embodiments, each of the plurality of first carriers can be positioned to be disposed over a different plant bed of the plant beds. 
     In several embodiments, the guidance system can be further configured to track the different individual plant location of each individual plant of the plants based on an offset from a measured reference position. For example, the offset can be based on the lever arm described above. In some embodiments, the offset can be determined based on at least a direction of travel of the vehicle and an approximately fixed spacing between the different individual plant locations of the individual plants of the plants. 
     Turning ahead in the drawings,  FIG. 57  illustrates a block diagram of a robotic processing system  5700  that can be employed for at least partially performing embodiments of various methods relating to the robots described herein, such as harvesting robots  100  ( FIG. 1 ) and/or  2000  ( FIG. 20 ). Robotics processing system  5700  is merely exemplary and embodiments of the system are not limited to robotics processing system presented herein. The robotics processing system can be employed in many different embodiments or examples not specifically depicted or described herein. In some embodiments, certain elements or modules of robotics processing system  5700  can perform various procedures, processes, and/or activities. In other embodiments, the procedures, processes, and/or activities can be performed by other suitable elements or modules of robotics processing system  5700 . In some embodiments, robotic processing system  5700  can be perform by one or more of a processing unit, such as processing unit  1273  ( FIGS. 12-13 ) and/or processing unit  2173  ( FIG. 21 ), and/or a control unit, such as control unit  1272  and/or control unit  2072  ( FIGS. 20-21 ). 
     In some embodiments, robotics processing system  5700  can include an imaging system  5701 , a robotics system  5702 , a communications system  5703 , and/or a foliage displacement control system  5704 . In some embodiments, each of the systems ( 5701 - 5704 ) can be implemented in software and/or hardware in the processing unit, such as processing unit  1273  ( FIGS. 12-13 ) and/or processing unit  2173  ( FIG. 21 ), and/or the control unit, such as control unit  1272  and/or control unit  2072  ( FIGS. 20-21 ). 
     In many embodiments, imaging system  5701  can receive imaging input from imaging sensors (e.g., imaging sensors  1290 - 1291  ( FIGS. 12-13 ) and/or imaging sensors  2190 - 2191  ( FIG. 21 )). In a number of embodiments, imaging system  5701  can process the imaging input to determine distances and/or locations of objects, such as the crops (e.g.,  1511  ( FIG. 15 )) and/or the plant beds (e.g.,  1501  ( FIG. 15 )), such as by using conventional methods. In many embodiments, imaging system  5701  can process the imaging input to determine the ripeness of the crops (e.g.,  1511  ( FIG. 15 )), such as by using conventional methods. In several embodiments, imaging system  5701  can determine blooms on the plant (e.g.,  1510  ( FIG. 15 )), determine the stage of the blooms, and/or count the number of blooms (or number of blooms at each stage). In many embodiments, each plant can have unique identifiers for location based on their GPS coordinates. In many embodiments, imaging system can provide information about the individual plants the robots are inspecting/picking including the number (and/or type) of blooms a robot has counted on the individual plant and the numbers of ripe and unripe berries, along with how many berries the robot picked off the plant. Using the unique identifier for each plant, robotics processing system and/or harvester processing system  5800  ( FIG. 58 , described below) can store this information about each plant in the field. Based off of plant production in this capacity, a great deal of information can be derived from this data, such as predictive analysis of how many berries might be coming from a plant, and how plants may have produced better in one part of a field based off of the number of berries picked (which could be correlated back to water and soil analysis). The analytics can be extensive when so much data can be stored from each plant. 
     In a number of embodiments, imaging system  5701  can at least partially perform block  4706  ( FIG. 47 ) of receiving information at a processing unit of a system from one or more imaging sensors. 
     In many embodiments, robotics system  5702  can control the rotation of harvesting robots  100  ( FIG. 1 ) and/or  2000  ( FIG. 20 ) to detect crops (e.g.,  1511  ( FIG. 15 )), and to determine, based at least in part on the imaging information from imaging system  5701 , how to position and control harvesting robots  100  ( FIG. 1 ) and/or  2000  ( FIG. 20 ) to pick the crops. In many embodiments, robotics system  5702  can control the motors and actuators in harvesting robots  100  ( FIG. 1 ) and/or  2000  ( FIG. 20 ). In several embodiments, robotics system  5702  can receive input from harvester processing system  5800  ( FIG. 58 , described below), when harvesting robots  100  ( FIG. 1 ) and/or  2000  ( FIG. 20 ) can start rotating to detect and pick crops (e.g.,  1511  ( FIG. 15 )) from a plant (e.g.,  1510  ( FIG. 15 )), and can report back to harvester processing system  5800  ( FIG. 58 , described below) when the detecting and picking is complete for a plant (e.g.,  1510  ( FIG. 15 )). 
     In a number of embodiments, robotics system  5702  can at least partially perform blocks  4701 - 4705  ( FIG. 47 ), blocks  4708 - 4711  ( FIG. 47 ), block  4903  ( FIG. 49 ), and/or block  5301  ( FIG. 53 ). 
     In many embodiments, communications system  5703  can provide for communication with harvester processing system  5800  ( FIG. 58 , described below). In some embodiments, the harvesting robots (e.g.,  100  ( FIG. 1 ),  2000  ( FIG. 20 )) can communicate with the harvester processing system  5800  ( FIG. 58 , described below) through a compact communication system that uses MQTT (Message Queue Telemetry Transport) or other suitable protocols for fast network communications. 
     In many embodiments, foliage displacement control system  5704  can control leaf displacement system  2800  ( FIGS. 28-31 ). In several embodiments, foliage displacement control system  5704  can receive input from harvester processing system  5800  ( FIG. 58 , described below) and/or robotics system  5702 , when foliage displacement system  2800  ( FIGS. 28-31 ) should transition from the open configuration (as shown in  FIG. 28 ) to the closed configuration (as shown in  FIG. 31 ), and when foliage displacement system  2800  ( FIGS. 28-31 ) should transition from the closed configuration (as shown in  FIG. 31 ) to the open configuration (as shown in  FIG. 28 ). 
     In a number of embodiments, foliage displacement control system  5704  can at least partially perform blocks  4901 - 4902  ( FIG. 49 ). 
     Turning ahead in the drawings,  FIG. 58  illustrates a block diagram of a harvester processing system  5800  that can be employed for at least partially performing embodiments of various methods relating to the vehicles described herein, such as harvesting vehicle  3200  ( FIGS. 32-34 ), vehicle  4001  ( FIGS. 40-42 ), and/or vehicle  4500  ( FIGS. 45-46 ). Harvester processing system  5800  is merely exemplary and embodiments of the system are not limited to harvester processing system presented herein. The harvester processing system can be employed in many different embodiments or examples not specifically depicted or described herein. In some embodiments, certain elements or modules of harvester processing system  5800  can perform various procedures, processes, and/or activities. In other embodiments, the procedures, processes, and/or activities can be performed by other suitable elements or modules of harvester processing system  5800 . In some embodiments, harvester processing system  5800  can be perform by one or more of a processing unit, which can be as processing unit  1273  ( FIGS. 12-13 ) and/or processing unit  2173  ( FIG. 21 ), and/or a control unit, which can be similar to control unit  1272  and/or control unit  2072  ( FIGS. 20-21 ). The processing unit and/or the control unit can be disposed on a suitable position of the vehicle (e.g., harvesting vehicle  3200  ( FIGS. 32-34 ), vehicle  4001  ( FIGS. 40-42 ), and/or vehicle  4500  ( FIGS. 45-46 )). 
     In some embodiments, robotics processing system  5800  can include a guidance control system  5801 , an RPC drive system  5802 , a suspension control system  5803 , and/or a communications system  5804 . In some embodiments, each of the systems ( 5801 - 5804 ) can be implemented in software and/or hardware in the processing unit, such as processing unit  1273  ( FIGS. 12-13 ) and/or processing unit  2173  ( FIG. 21 ), and/or the control unit, such as control unit  1272  and/or control unit  2072  ( FIGS. 20-21 ). 
     In many embodiments, guidance control system  5801  can receive input from the GPS receivers (e.g.,  3215  or  3216  ( FIGS. 32-34 )), the IMU, and/or the height information from the robots, as described above in connection with  FIGS. 45-46 . In a number of embodiments, guidance control system  5801  can process the input to determine how to guide the vehicle such as harvesting vehicle  3200  ( FIGS. 32-34 ), vehicle  4001  ( FIGS. 40-42 ), and/or vehicle  4500  ( FIGS. 45-46 ), and/or to determine the location of the RPCs (e.g.,  3240 ,  3250 ,  3260 ,  3270  ( FIGS. 32-24 )), the robots carried by the RPCs, and/or the plant locations. 
     In a number of embodiments, guidance control system  5801  can at least partially perform blocks  5301  ( FIG. 53 ) and/or blocks  5501 - 5503  ( FIG. 55 ). 
     In many embodiments, RPC drive system  5802  can use input from guidance control system  5801  to control the positioning of the RPCs (e.g.,  3240 ,  3250 ,  3260 ,  3270  ( FIGS. 32-24 )). For example, RPC drive system can control RPC motor  3231  ( FIGS. 32-34 ) to drive RPC drive shaft  3230  in either rotational direction, as appropriate, to position the RPC (e.g.,  3240 ,  3250 ,  3260 ,  3270  ( FIGS. 32-24 )) as described above. In many embodiments, once the RPC (e.g.,  3240 ,  3250 ,  3260 ,  3270  ( FIGS. 32-24 )) is positioned in a station-keeping position, as described above, RPC drive system  5802  can communicate with each robotics processing system  5700  ( FIG. 57 ) of the robots to initiate a task, such as picking. In some embodiments, RPC drive system  5802  can receive a response from robotic processing system  5700  ( FIG. 57 ) when the task is complete. 
     In a number of embodiments, RPC drive system  5802  can at least partially perform blocks  5302 ,  5304 ,  5305 - 5309  ( FIG. 53 ),  5503  ( FIG. 55 ). 
     In many embodiments, suspension control system  5803  can control actuator  4408  ( FIG. 44 ) in the suspension components (e.g.,  4400  ( FIG. 44 )), which can control the vertical position of one or more wheels (e.g.,  4501 - 4504  ( FIGS. 45-46 )) with respect to body  4520  ( FIGS. 45-46 ). In many embodiments, suspension control system  5803  can receive input from imaging sensors (e.g., imaging sensors  1290 - 1291  ( FIGS. 12-13 ) and/or images sensors  2190 - 2191  ( FIG. 21 )), such as height information, as described above, to determine how to adjust the wheels (e.g.,  4501 - 4504  (e.g.,  45 - 46 )) to control actuator  4408  ( FIG. 44 ). 
     In a number of embodiments, suspension control system  5803  can at least partially perform blocks  5101 - 5103  ( FIG. 51 ). 
     In many embodiments, communications system  5804  can provide for communication with each robotic processing system  5700  ( FIG. 57 ), as described above. In some embodiments, communications system  5804  can provide for communications external to the vehicle (e.g., harvesting vehicle  3200  ( FIGS. 32-34 ), vehicle  4001  ( FIGS. 40-42 ), and/or vehicle  4500  ( FIGS. 45-46 )), such as wireless communications with external systems, such as through a wireless local area network, mobile telecommunications data systems, or other suitable communications system. 
     In a number of embodiments, communications system  5804  can at least partially perform blocks  5101  ( FIG. 51 ). 
     Although the systems and methods herein have been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes may be made without departing from the spirit or scope of the disclosure. Accordingly, the disclosure of embodiments is intended to be illustrative of the scope of the disclosure and is not intended to be limiting. It is intended that the scope of the disclosure shall be limited only to the extent required by the appended claims. For example, to one of ordinary skill in the art, it will be readily apparent that any element of  FIGS. 1-58  may be modified, and that the foregoing discussion of certain of these embodiments does not necessarily represent a complete description of all possible embodiments. For example, one or more of the procedures, processes, or activities of  FIGS. 19 and 47-56  may include different procedures, processes, and/or activities and be performed by many different modules, in many different orders, and/or one or more of the procedures, processes, or activities of  FIGS. 19 and 47-56  may include one or more of the procedures, processes, or activities of another different one of  FIGS. 19 and 47-56 . 
     All elements claimed in any particular claim are essential to the embodiment claimed in that particular claim. Consequently, replacement of one or more claimed elements constitutes reconstruction and not repair. Additionally, benefits, other advantages, and solutions to problems have been described with regard to specific embodiments. The benefits, advantages, solutions to problems, and any element or elements that may cause any benefit, advantage, or solution to occur or become more pronounced, however, are not to be construed as critical, required, or essential features or elements of any or all of the claims, unless such benefits, advantages, solutions, or elements are stated in such claim. 
     Moreover, embodiments and limitations disclosed herein are not dedicated to the public under the doctrine of dedication if the embodiments and/or limitations: (1) are not expressly claimed in the claims; and (2) are or are potentially equivalents of express elements and/or limitations in the claims under the doctrine of equivalents.