Patent US 8,306,663

A robotic harvester has a mobile platform. A programmable multi-axis robot arm is connected to the platform. The robot arm is mounted to a computer controller. A stereovision camera connected to the computer is mounted on the mobile platform. The camera views the area under the mobile platform and identifies objects in geometric coordinates. The robot arm is directed to the location of the object and a gripper on the robot arm grasps the object. The stem is separated from the object and the object is deposited on a sorting conveyor. The harvester is incrementally moved. A method of harvesting is disclosed.