Field testing of the systems in the Lykes citrus orchards in Ft. Basinger to evaluate their performance. Daytona Beach, FL. AUTOMATIC TINE CONTROL SYSTEM: 1. 4 with the lateral conveyor shown disposed generally frontward for moving the harvesting machine to and from an orchard; FIG. Due to the thorns and the difficulty in separating the stem from the laterals, this is a time consuming and costly process for the grower and potentially painful for the laborer. 2. Although the slider support members 158/160 and slider members 162/164 can be made out of a variety of materials, in the preferred embodiment both of these components are made out of steel or other metals. Also, a machine vision algorithm was developed to quantify the amount of trash in the harvested fruit and installed on a citrus mechanical harvesting system. 1 and 4 through 8. The air shaker machine was the most sensitive to changes in fruit abscission force. In 2011, two existing machines; a blueberry harvesting machine from BEI International, LLC and an olive harvester from Oxbo International Corp., were evaluated at an experimental high density citrus grove in Immokalee, FL. Each of the first 54 and second 56 side support frames are made up of one or more side frame members 62, typically a plurality, that connect to and support, as set forth below, a portion of the picking mechanism 32. Citation: In a preferred embodiment of the present invention, front wheel assembly 70 comprises a front frame 78 having a lateral frame member 80 and a pair of leg members 82 and 84 that extend generally downward from the ends of lateral frame member 80 to connect to the front wheel 72 at the bottom of each leg member 82/84. Status: In one embodiment, motor 38 is configured to provide all of the operational requirements harvesting machine 10, including the movement of the picking mechanism 32 in and out of the harvesting area 60 and canopy 22. Appropriate sprockets or other guides are utilized to transfer the rotational motion from oscillation motor 142 to the shafts 136. For instance, U.S. Pat. Shin, J.S., W.S. harvesting and in-field sorting of citrus with a self-propelled machine. If your fruit won’t come off the tree easily when harvesting citrus fruits, the most likely answer is because it isn’t ready yet. Published 2009. 61/190,410 filed Aug. 28, 2008. 2011. Figure A shows a mass removal machine used for harvesting citrus. May/June: pp. Published In the preferred embodiment of the harvesting machine 10 of the present invention, both first 94 and second 96 picking assemblies are configured substantially the same, each having a crop separating mechanism 98 that includes rods 26, a motion inducing mechanism 100 for imparting a snap-like oscillation/whipping motion to rods 26 and a canopy engaging mechanism 102 that moves the crop separating mechanism 98 into and out of engagement with the canopy 22 of tree 12, as best shown in FIG. Type: The next robot development step is to improve learning algorithms. Compare this product Remove from comparison tool. Real-time nondestructive citrus fruit quality monitoring system: development and laboratory testing. Paper No. The rear conveyors 176 carry the fruit generally upward so that it may be transferred to the transfer conveyor 178 for transfer to bin 36. As set forth in more detail below, canopy engaging mechanisms 102 of each of the pair of picking assemblies 94/95 move the crop separating mechanism 98 into the harvesting area 60 to insert the rods 26 into canopy 22 of tree 12 (tree engaging position 104), motion inducing mechanism 100 imparts a very short duration, typically approximately four to six seconds per tree 12, snap-like whipping motion to the rods 26 to separate fruit 14 from the tree 12 and the fruit 14 is received by conveying assembly 34 and conveyed to a storage container, such as bin 36. The lower conveyors 174, rear conveyors 176 and transfer conveyor 178 should be mounted to provide adequate tension so as to maintain a continuous moving surface, which may be generally flat or otherwise configured, for beneficially conveying the fruit 14 to bin 36. Detection and elimination of trash using machine vision and extended de-stemmer for a citrus canopy shake and catch harvester. 2. The performance of 3 (a butt shaker, an experimental limb shaker and a prototype air shaker) on Valencia oranges is discussed. TARGET AUDIENCES: Nothing significant to report during this reporting period. Adding a telescoping output conveyor belt to aid machine-to-site transport. Figure A shows a mass removal machine used for harvesting citrus. The distance sensors measure the citrus volume on the conveyor belt in real time. As best shown in FIGS. 10 showing the rod support frame with a plurality of rods mounted thereto; FIG. Status: Status: 2009. As best shown in FIG. Are you ready to enjoy delicious homegrown fruit? 2010 It consists of wheels made of flexible rubber flaps capable of adjusting to the contour of the ground in conjunction with a new platform. The field of the present invention relates generally to mechanical harvesters for use in harvesting crops. NEW heavy technology machine - Best agricultural farming: Harvesting Cherries _ Technology Harvester. Rods 26 may be uniformly shaped along their length with a flat or rounded distal end 118. The two following paragraphs describe the activities during2008-2009 in these two areas: Developing engineering solutions to reduce trash in mechanically harvested loads of fruit: Two design concepts were developed and tested to reduce non-fruit trash in the harvested load of mechanically harvested citrus. Proceedings of the Symposium on the Applications of Precision Agriculture for Fruits and Vegetables International Conference. Instead of shaking the trunk 20 of tree 12, the harvesting machine 10 of the present invention has a plurality of elongated components that extend into the canopy 22 of the tree 12 to provide a snap-like shaking action that breaks the connection between the fruit 14 and secondary lateral 16 so that the fruit 14 may be harvested from the tree 12. Hebel, and G. C. Bora. Ehsani, R., and Udumala S. 2010. The enclosed figures and drawings are merely illustrative of one or more of the preferred embodiments and, as such, represent one or more ways of configuring the present invention. Issue of Landbauforschung vTI Agriculture and Forestry Research 340:31-43, Type: Status: 9 is an isolated end view of the first picking assembly utilized with the preferred embodiment of the harvesting machine of the present invention; FIG. Ehsania, ... cally harvesting citrus fruit, but they lack a reliable method of fruit counting. A new generation of citrus harvesting shear A new generation of orange-cutting shears. Find the vendor to meet your needs. (2009). wherein each of said first picking assembly and said second picking assembly comprises a crop separating mechanism having a plurality of elongated rods positioned so as to dispose a distal end of each of said rods toward said harvesting area with said distal end of each of said rods of said first picking assembly disposed generally toward said distal end of each of said rods of said second picking assembly, a motion inducing means for imparting a short duration snap-like whipping motion to each of said rods and a canopy engaging mechanism configured to selectively move said harvesting machine between a tree engaging position with said rods of said first picking assembly and said rods of said second picking assembly directed into said harvesting area with said distal ends of said rods of said first picking assembly directed generally toward said distal ends of said rods of said second picking assembly so as to engage the canopy of the tree when the tree is disposed in said harvesting area and an open position with said distal ends of each of said rods of each of said first picking assembly and said second picking assembly retracted from said harvesting area and positioned generally outside of the canopy of the tree so as to substantially disengage said rods from said canopy after the crop is separated from the tree for movement of said harvesting machine along said row of trees. citrus harvester OB50, OB70. As a result of the demand for pomegranate juice and for products having pomegranate as an ingredient, there has been a substantial increase in pomegranate planting and harvesting. Therefore, for all parts of a tree to experience their maximum acceleration, each tree must be shaken through a range of frequencies (variable shaking frequency). 1, 4 through 6 and 8, the transfer conveyor 178 is located at the top side 50 of harvesting machine 10 so the fruit 14 may be transferred to the bin 36 without interfering with the tree 12 being received into the harvesting area 60 or the movement of harvesting machine 10 along the row 24 of trees 12, as best shown in FIG. Despite the foregoing, what is needed is a harvesting machine and method of harvesting that effectively separates pomegranate and citrus fruit from the tree without damaging the tree or the fruit so that the pomegranates and citrus can be harvested in a more commercially acceptable and efficient manner. In apple harvesting robot, the first key part is the machine vision system, which is used to recognize and locate the apples. In one embodiment, front frame 78 can be fixedly attached to main support frame 28. As best shown in FIGS. The project progress was reported quarterly to the mechanical harvesting advisory board of Florida Department of Citrus which consists of representatives from citrus growers and processors. 4 and 5, harvesting machine 10 has at least two push bars 198, one on each side of the harvesting area 60. A method of harvesting crop, such as pomegranates, utilizing the harvesting machine of the present invention comprises the steps of positioning the harvesting area in alignment with the row of trees with the harvesting machine in its open position (the rods retracted from the harvesting area), moving the harvesting machine forward to position the canopy of the tree in the harvesting area, operating the canopy engaging mechanism to move the rods of the crop separating mechanism into the canopy of the tree to place the harvesting machine in its tree engaging position, activating the motion inducing mechanism to impart a short duration, snap-like motion to the rods to cause the rods to oscillate or whip inside the canopy and separate the crop from the tree, collecting the crop on a conveying assembly and moving it toward a storage container, such as a bin, with the conveying assembly, operating the crop engaging mechanism to move the rods of the crop separating mechanism out of the canopy, and then moving the harvesting machine forward along the row of trees while straddling the tree. As best shown in FIGS. Computers and Electronics in Agriculture 65, pp. Attached to main support frame 28 is a front wheel assembly 70 that rotatably connects to front wheels 72 at or near the front end 42 of harvesting machine 10 and a rear wheel assembly 74 that rotatably connects to rear wheels 76 at or near back end 44 of harvesting machine 10. Hebel, and G. C. Bora. As a result, the cost and availability of labor for pomegranate harvesting threatens to limit the ability to grow pomegranates on a large scale, commercially viable manner. Type: g. moving the harvesting machine forward along the row of trees while straddling the tree with the rods of the first picking assembly and the second picking assembly substantially not engaging the canopy of the tree to avoid damage to the tree. In the embodiment shown in the figures, the imbalanced rotation is achieved by offsetting the weight members 140 from their respective shafts 136 by utilizing one or more weight offset members 148 to connect the weight member 140 to the shaft 136, as shown in FIG. Actae Horticulturae 965:209-216. PARTICIPANTS: Nothing significant to report during this reporting period. In addition, software was developed to extract field efficiency information from yield data. The new developed control system designed to address the issues with the system that was designed last year, and will further improve the control and operation of the shaker tines. The operator turns on the conveying assembly 34 to begin movement of the lower conveyors 174, rear conveyors 176 and transfer conveyor 178. This patent application claims priority to U.S. 2009. Nothing Reported 10 taken through line 11-11 of FIG. Placing a fruit catch guards on the output conveyor to make it easier to increase conveyor speeds without worrying about excessive fruit loss. In the embodiment shown in FIG. Published 3. As stated above, rear wheels 76 at the back end 44 of harvesting machine 10 are operatively connected to and driven by motor 38 so as to provide the power to move harvester in a forward or rearward direction, as selected by the operator. Figure 11.9: Citrus hand harvesting. The Oxbo 3220 debris contained larger size branches and dead wood compared to the Oxbo 3210 hand-picked load. Year Published: Valentine, A.L., R. Ehsani, and W.S. Citrus Harvesting in Australia with a Automatic Harvester. Bansal, R., W.S. Ehsani, R. 2009. In other embodiments of harvesting machine 10, particularly depending on the trees 12 from which fruit 14 is being harvested and the material from which rods 26 are manufactured, the rods 26 can be greater or less diameter and length to achieve the desired motion of rods 26 and insertion into canopy 22. Year Published: 11th International Conference on Precision Agriculture (ICPA), July 15-18, 2012, Indianapolis, IN, USA. Simulation study of citrus tree canopy motion during harvesting using a canopy shaker. 4 particularly showing the main support frame and operator area; FIG. Citation: Ehsani, R. and Karimi D. 2010. The operator would operate the first 94 and second 96 picking assemblies as set forth above to direct the rods 26 into the canopy and remove the fruit therefrom. 2012. 2012. Although FIG. 2010 Lee, and R. Ehsani. Even more specifically, the present invention relates to such mechanical harvesters that utilize a plurality of oscillating rods to separate the crop from the tree and are particularly beneficial for harvesting pomegranates, citrus and the like. Year Published: Journal of Precision Agriculture. Transactions of the ASABE. NOTE: This is part 11 in a series of 11 articles. ImpactsWhat was accomplished under these goals? So you can obtain the best quality of your fruits. Type: Dec. 8, 2009. These focus areas are explained in detail below: Developing engineering solutions to reduce debris in mechanically harvested fruit :A debris removal system was redesigned and built to quantify the amount of non-fruit debris in a harvested load. Applied Engineering in Agriculture. In the preferred embodiment of harvesting machine 10 of the present invention, the canopy engaging mechanism 102 is configured to direct the crop separating mechanism 98 sufficiently against tree 12 to at least slightly compress the canopy 22, as shown in FIG. Progress 11/01/08 to 10/31/13OutputsTarget Audience: The target audience for this project was citrus growers and the citrus processing industry. Development of a new load-cell based yield monitor for citrus. That’s an easy answer, but one fraught with seeming debate. 5 is a front view of the harvesting machine of FIG. Yield monitoring is an important technique that allows growers to collects information about yield variability in the field and is commonly considered to be the first step in the process of site-specific crop management. The operator then drives the harvesting machine 10 forward to straddle the first tree 12 in row 24 while the driver of tractor 180, or other vehicle, in the space along row 24 positions bin 36 below the discharge of the transfer conveyor 178. Machine vision based citrus mass estimation during post-harvesting using supervised machine learning algorithms. The canopy 22 of the tree 12 would be positioned inside the harvesting area 60 and then the picking mechanism 32 would stop moving at tree 12 while the remaining components of the harvesting machine 10 continue moving forward. A harvesting machine for separating a crop from a canopy of a tree in a row of trees, the harvesting machine comprising: a main support frame configured to substantially straddle the tree as said harvesting machine moves along said row of trees, said main support frame supporting a primary sub-frame having a first side frame, a second side frame and an overhead frame interconnecting said first side frame and said second side frame to define a harvesting area therebetween, said harvesting area sized and configured to receive the canopy therein when said harvesting machine straddles the tree; a first picking assembly at said first side frame; wherein each of said first picking assembly and said second picking assembly comprises a crop separating mechanism having a plurality of outwardly extending elongated rods flexibly supported by a rod support frame with said rods positioned so as to dispose a distal end of each of said rods toward said harvesting area with said distal end of each of said rods of said first picking assembly disposed generally toward said distal end of each of said rods of said second picking assembly a motion inducing means for imparting a short duration snap-like whipping motion to each of said rods and a canopy engaging mechanism to selectively move said harvesting machine between a tree engaging position with said rods of said first picking assembly and said rods of said second picking assembly directed into said harvesting area with said distal ends of each of said rods of said first picking assembly directed generally toward said distal ends of said second picking assembly so as to engage the canopy of the tree when the tree is disposed in said harvesting area and an open position with said distal ends of each of said rods of each of said first picking assembly and said second picking assembly retracted from said harvesting area and positioned generally outside of the canopy of the tree so as to substantially disengage said rods from said canopy after the crop is separated from the tree for movement of said harvesting machine along said row of trees; a conveying assembly attached to and supported by said main support frame, said conveying assembly configured to receive the crop separated from the tree and transfer the crop to a storage container; and. Also, a graphical user interface (GUI) was developed for the yield monitor. The pomegranate fruit grows directly from the secondary laterals. Agricultural Engineering International: CIGR Journal, 14(3):117-124. PROJECT MODIFICATIONS: Nothing significant to report during this reporting period.ImpactsThe fruit removal system is one of the main components of mechanical harvesting machines. Journal of Precision Agriculture. Over-the-row mechanical harvesting machine for dwarf and young citrus trees. 5,666,795 to Wilkinson describes a citrus harvesting machine having a plurality of outwardly extending picking arms carried on a driver bar that is moved toward and away from the tree so the picking arms may selectively penetrate the tree canopy. Lee. Citation: Khosro Anjom, F. 2011. M18-DI. Meyer Lemon Trees. The configuration shown in the figures and described above is intended to be exemplary of one of the possible configurations for a canopy engaging mechanism 102 that moves crop separating mechanism in and out of the harvesting area 60 and engagement with canopy 22 of tree 12. The primary reason for the upsurge in popularity of pomegranates, generally as a juice or juice extract, has to do with its health benefits. 2009. Theses/Dissertations Status: PROJECT MODIFICATIONS: Nothing significant to report during this reporting period.ImpactsDevelop engineering solutions to reduce debris in mechanically harvest fruit: The fruit debris removal machine provides critical information on the overall performance of the mechanical harvester in quantifying the total amount and type of debris created by the mechanical harvester. In the preferred embodiment, rear wheels 76 are connected by axle 90 and are driven by motor 38. 1, in order to increase the effectiveness of the action of rods 26 in canopy 22. Harvesting/plucking at the right maturity and time of day Unlike other fruits, citrus does not exhibit further ripening after harvest so picking at the right stage of maturity is most important. Ehsani, R. "Machine Enhancement for Mechanical Harvesting of Citrus", Immokalee, FL. In particular, it should be noted that the method of the present invention is subject to modification with regard to any dimensional relationships set forth herein and modifications in assembly, materials, size, shape, and use. Year Published: Ehsani, R. (Presenter) "Current Machinery and Machine Enhancement for Mechanical Harvesting of Citrus ", Immokalee, FL. FIG. Other This configuration has the disadvantage of also requiring workers or another machine to follow behind harvesting machine 10 to collect the fruit 14 from the ground, which adds time and cost to the harvesting process. One or more weight offset members can be utilized to interconnect the weight member and the shaft so as to eccentrically dispose the weight member about the shaft. Study of force distribution in citrus tree canopy during harvesting using a canopy shaker. Carrier frame 150 comprises a plurality of frame members 154 configured to define a support structure that attaches to oscillation support frame 120, which in turn is attached to the rod support frame 108. The crop dislodging mechanism is moveably disposed in an open harvesting area of the harvesting machine. Other studies indicate pomegranate juice may reduce the likelihood of certain cancers and diabetes and that it has potential antiviral and antibacterial benefits. The catch frame de-stemmer concept is a modification of the catch frame that is currently used on the mechanical harvester. 2011 Integrate the machine vision and sensory components with the harvesting gripper, and prototype manipulator under field conditions, employing our visual servo control approaches. As a result of the progress made so far, we are one step closer to produce a commercial quality yield monitoring system for citrus mechanical harvesting machines.Publications, National Institute of Food and Agriculture, 404 - Instrumentation and Control Systems. The catch cloth is then dumped into a truck called a "goat" which then dumps the oranges into an empty semi-truck trailer. The hydraulic system 184 can include one or more hydraulic pumps 186 and one or more hydraulic fluid storage tanks 188 that are hydraulically connected to their associated components with appropriate hydraulic manifolds, lines and connectors, as well known to those skilled in the art. Type: Maja, J. M. and R. Ehsani. In a preferred embodiment, slider support members 158/160 are right angled members that are turned to form a generally v-shaped support for the generally square shaped, in the preferred embodiment, slider members 162/164. Publications, Progress 10/01/11 to 09/30/12OutputsOUTPUTS: The following two specific objectives were pursued for this project: Objective 1: Improve engineering solutions to reduce debris in mechanically harvested fruit: Further improvements were made to the debris removal machine that was redeveloped and modified during previous year. 2009. The preferred harvesting machine is configured with a frame that supports a crop dislodging mechanism which separates the vast majority of the fruit from the tree, thereby reducing the need for follow-up hand removal, without damaging the tree and without damaging the fruit, with regard to pomegranates, or only acceptably damaging citrus (i.e., cap removal). Mechanical harvesting has the potential to reduce the harvesting cost; however, it has created some new challenges for the citrus industry. Published 14, and a forward facing position (FIG. Optimization of citrus harvesting system based on mechanistic tree damage and fruit detachment models. 4. 3.Ehsani, R. and Udumala S. 2010. ISHS, Acta Horticulturae 824: 217-220. If your fruit won’t come off the tree easily when harvesting citrus fruits, the most likely answer is because it isn’t ready yet. Free format text: Other materials can be used for rods 26, including various metals, composites or polymers that provide sufficient flexibility and are able to withstand repeated contact against the canopy 22 of tree 12. Citrus harvesting: Citrus fruit like orange, kinnow, malta and similar such fruits can be harvested by using inertia type limb shakers. Applied Engineering in Agriculture 27(5): 673-685. Our fruit harvester machines are suitable for picking up of apples,pears,plums,walnuts and other fallen fruit. Proceedings of the Symposium on the Applications of Precision Agriculture for Fruits and Vegetables International Conference. Transactions of the ASABE, 53(5): 1373-1381. MS thesis. 2012 The pomegranate tree, which is in the form of a large, generally rounded shrub-like small tree, typically grows twelve to sixteen feet in height with one or more trunks that produce limbs from which extend secondary laterals that are generally stiff and very spiny. In addition, allowing the fruit 14 to drop to the ground can damage the fruit 14 by contact with the ground or by being run over by the rear wheels 76 of harvesting machine 10. Pickupmachines,likeanyother … The system consisted of a CCD color camera with a high frame rate, two lamps, an incremental encoder and a data acquisition card. 11(5):475-287. This may result in extended machine use by the operator without getting exhausted, thereby improving overall efficiency.Publications, Progress 10/01/09 to 09/30/10OutputsOUTPUTS: The following three main projects were conducted under this project in 2009-2010. Kind of Fruits: Apples, pears, citrus fruits, plums, cherries, almonds, walnuts, hazelnuts, ... Our machines achieves efficiently pick up fruit (nearly 100%), there are able to harvest also fruits with small dimensions, without damaging the fruit. Transaction of Citrus Engineering Conference, V. LV. We are seeking to develop a new technological approach to managing and harvesting citrus in High Density Groves, which is an emerging production system that offers solutions to the Florida citrus industries battles with pest, diseases, and high cost of labor. The harvesting machine 10 of the present invention has one or more power sources, such as the motor 38. 2012. Attached to and extending outwardly from opposite sides of the carrier frame 150 are a pair of slider members 162 and 164 that are configured to be slidably supported by slider support members 158 and 160, respectively, as best shown in FIG. To accomplish the above, harvesting machine 10 generally comprises an inverted u-shaped main support frame 28 that straddles the tree 12, a primary sub-frame 30 connected to and supported by the main support frame 28, a picking mechanism 32 supported by the primary sub-frame and configured to selectively oscillate the rods 26 to separate the fruit 14 from tree 12, a conveying assembly 34 configured to convey the dislodged fruit 14 to a storage container, such as bin 36, one or more power sources, including motor 38, to provide power to propel the harvesting machine 10 to and along row 24 and operate the various moving and shaking components of harvesting machine 10, and an operator area 40 that is configured to allow a single operator to operate harvesting machine 10, as best shown in FIGS. Other 2012. Motion inducing mechanism 100 is connected to the rod support frame 108 of crop separation mechanism 98 and moved therewith by canopy engaging mechanism 102. An automated tine control system for tractor drawn citrus canopy shakers. 2009 An economic evaluation of robotic harvesting in Florida determined that robotic harvesting would be approximately 50 percent more expensive than … Using machine vision and motion planning algorithms, the robot recognizes and locates the ripe fruit to be picked. Although all mechanical harvesters are able to enhance the citrus harvesting efficiency rate, they lack the ability to differentiate the size and quality of the fruits. Preferably, the size and shape of rod support frame 108 is selected such that it will be sufficient to support a pattern of rods 26 that will extend substantially the full width and height of the typical tree 12 to be harvested by the harvesting machine 10 of the present invention. Gainesville, Florida: University of Florida, Agricultural and Biological Engineering Department. Resource. The major findings of the machine enhancement for citrus mechanical harvesting project are summarized as follows: (i) development of the yield monitoring system for citrus mechanical harvester machines including the development of software and hardware components (ii) development of a low-cost tine movement controller to control the movement of the tines of the tractor drawn canopy shaker (iii) development of an analytical model with a simulation framework based on finite element methods and determination of the optimal shaking frequency of the tree canopy (iv) development an in-field mobile trash removal system (v) development of a machine vision system for quantifying fruit quality and detecting fruits which do not meet the required standards (vi) design and development of a catch frame to aid in the collection of fruits harvested by pull-behind mechanical harvesters (vii) development of an alternative design for harvesting technologies that can be used by small growers (viii) development of a fruit pick-up head for an Oxbo fruit pick-up machine (ix) improvement of the design of fruit removal tines by determining the mechanical and physical properties of citrus wood, statistical modeling of tree limbs, formulation of mechanistic tree damage and a fruit detachment model which performs optimization based on numerical techniques (x) enhancement of the application efficiency of an abscission compound using a smart sprayer. 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In its open position without the tree project.ImpactsTo stay competitive in the market through.., July 15-18, 2012, Indianapolis, in order to increase the effectiveness the. They worked with Barron Collier Co. in Immokalee & formed Coe-Collier citrus harvesting system with costs comparable to that human! Citrus harvester Specifications, Oxbo citrus harvester Specifications, Oxbo citrus harvester Specifications, Oxbo citrus Specifications... Being used recently by some growers to harvest between August and February and are safe to pick once they yellow! Different frequencies February and are safe to pick once they turn yellow 142 directly and equally both... Oxbo 's innovative continuous travel canopy shake and catch harvesting system with costs comparable to that of human.... Citrus production manager 's association winter Meeting, Lake Alfred, FL planning algorithms, the method. 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Harvesting: citrus fruit mass during post harvesting using a canopy shaker mechanical &! Micro-Metrological conditions pomegranate is primarily grown for its fruit in the preferred,! Pi: R. Ehsani of freedom each for aiming and one degree of freedom each for citrus harvesting machine!
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