Publication

Abstract : A harvesting system has a climbing unit with a body driven by traction wheels , a control unit , an articulated arm with a cutting implement at an extremity , a video camera focused on the cutting implement , and a computerized portable control station having a display and a user interface with inputs operable to control driving the traction wheels of the climbing unit , the articulation of the articulated arm , and the cutting implement . Video streamed in real time from the video camera is displayed on the display screen , and a user viewing the video display operates the inputs to position the cutting implement to cut a stem of a fruit or nut in the tree .