阅读说明：本技术 收割和作物护理机器 (Harvesting and crop care machine ) 是由 宾哈利姆拉希普·阿明 于 2018-05-04 设计创作，主要内容包括：本发明提供了一种单一工作平台解决方案,用于满足棕榈油种植业的绝大多数收获,作物护理和后勤需求,使这种种植园土地获得更高的经济回报,同时改善其生态足迹。(The present invention provides a single working platform solution for meeting most of the harvest, crop care and logistics requirements of the palm oil planting industry, resulting in higher economic return of the plantation land while improving its ecological footprint.)

1. An apparatus for harvesting and crop care of tree crop products, comprising:

a vehicle carrying a work platform on which there is a container (8) for collecting the product; and

at least one lifting arm (3) mounted on at least one side of the work platform, moving omnidirectionally at one end of the lifting arm (3) and supporting a load-bearing station (11) at a free end;

characterized in that the carrier station (11) is connected to a mechanical linkage assembly (19) to provide a plurality of degrees of freedom for further extension and movement of the carrier station (11).

2. An arrangement according to claim 1, characterized in that the movement of the lifting arm (3) or the mechanical linkage assembly (19) is controlled remotely by means of at least one wire connected to the lifting arm (3).

3. The device of claim 1 or 2, wherein the wire is released or pulled by at least one motor.

4. The arrangement according to any of claims 1-3, wherein the lifting arm (3) and the mechanical linkage assembly (19) are hydraulically driven.

5. The device according to any of claims 1 to 4, wherein the length of the lifting arm (3) is telescopically adjustable.

6. Device according to any one of claims 1 to 5, wherein the carrier station (11) comprises a tool magazine (16) for holding a plurality of ejectable grippers for individually gripping the blades of the crop, and a chisel system for cutting the gripped blades, and further comprises first triggering means for initiating the operation of the grippers and then ejecting the grippers; and second trigger means for initiating operation of the chisel to sever the clamped blades, each clamp being connected by wires to means for retrieving the clamp and reloading it into the tool magazine (16).

7. Device according to any one of claims 1 to 6, wherein the carrier station (11) further comprises a collector (12) to collect the products cut by the sickle system (15) and to guide them to the containers (8), the collector (12) having a movable arm (27) triggered by a third triggering device to enable the collector (12) to be positioned around the trunk of the tree (31) feeding the collected products through a chute (23) to the containers (8) on the vehicle.

8. The device according to any one of claims 1 to 7, wherein said carrier station (11) further comprises expandable means for imprinting and affixing a sensor-readable bar code onto each tree to indicate its specific identification number.

9. The device according to any one of claims 1 to 8, wherein the work platform further comprises a chopper (6A) for chopping the blades of the crop.

10. Device according to any one of claims 1 to 9, wherein the vehicle further comprises guide means (24) for guiding the product to the container (8) through the chute (23).

11. The device according to any one of claims 1-10, wherein the vehicle further comprises one or more extendable legs (9) for stabilizing the vehicle when lifting the lifting arm (3).

12. The apparatus of any one of claims 1 to 11, wherein the vehicle is equipped with a GPS-based system to display the terrain and tree location of an area, and to display the location and orientation of the vehicle and real-time database recording and analysis of input data from sensors of soil, tree and fruit conditions to facilitate making accurate agricultural harvest and crop care decisions.

13. The apparatus of any one of claims 1 to 12, wherein the work platform is an integrated component of the vehicle.

14. The device according to any one of claims 1 to 13, wherein the crop is a palm oil tree.

15. The apparatus of any one of claims 1 to 14, wherein the vehicle is a motor vehicle.

16. The device according to any one of claims 1 to 15, wherein the carrier station (11) further comprises a passage platform (11B) having a pair of movable arms, the passage platform (11B) being positionable around the trunk of the tree (31) when triggered by the third triggering device to provide a passage for harvesting product from the tree (31).

17. Device according to any one of claims 1 to 16, wherein said collector (12) is triggered by said third triggering means to be folded and stored in proximity of said carrying station (11).

18. The device according to any one of claims 1 to 17, wherein the collector (12) is triggered by the third triggering device to extend and retract.

19. The device according to any one of claims 1 to 18, further comprising a tractor trailer (2), the tractor trailer (2) being connected to the vehicle for additional storage of the product.

20. The device according to any one of claims 1 to 19, further comprising a transfer chute (34) arranged with said entryway platform (11B) to guide the products collected from said tree (31) into said trailer (2).

21. Device according to any one of claims 1 to 20, wherein the transfer slot (34) is triggered by a fourth triggering means to extend to a predetermined height and retract to a normal position.

22. The device according to any one of claims 1 to 21, further comprising a first chain conveyor (37) arranged with the container (8) for conveying the blades from the container (8) to the trailer (2).

23. Apparatus according to any one of claims 1 to 22, wherein said first chain conveyor (37) comprises a conveyor belt rotating at a predetermined speed to convey said products to said trailer (2) and a plurality of cam mechanisms having a spring base, arranged on the conveyor belt, continuously adjusting the position of the products along its path towards the centre of the conveyor belt.

24. The device according to any one of claims 1 to 23, wherein the walkway platform (11B) is provided with a plurality of foldable handrails to provide support for a person walking on a path around the trunk.

25. The device according to any one of claims 1 to 24, wherein said aisle platform (11B) is triggered by said third triggering device, folded and stored behind said load station (11).

26. The apparatus according to any one of claims 1 to 25, further comprising a second chain conveyor (38) connecting the container (8) and the tractor-trailer (2) to convey the product collected in the container (8) to the tractor-trailer (2).

Technical Field

The present invention relates to a harvesting and crop care machine. More specifically, the present invention relates to a single mobile work platform equipped with devices and systems for harvesting and caring for crop products and for precision agriculture.

Background

Traditionally, Fresh Fruit Bunches (FFBs) of palm oil trees are manually harvested and collected by workers. Each worker is required to carry a hand-held harvesting tool, such as a sickle bar, first to cut off the palm foliage to access the FFB, which then is cut off from the trunk, and falls from a height above the ground. When the FFB hits the ground, up to 5% or more of the individual small fruits on the FFB fall off the FFB and spread on the ground. Therefore, workers need to collect Loose Fruits (LFCs) with manual or power-driven hand tools, which is time consuming and still loses some of the fruit. The collected FFB is then transported by hand or by hand to a nearby location where it is placed in a small mobile truck or trailer for further transport to the main collection point and from there further distribution to a Palm Oil production (CPO) plant using a larger truck.

Harvesting of crops and the nursing activities of fertilizing, insecticide and herbicide spraying, as well as pollination operation and crop condition monitoring and measuring activities are generally carried out at different times using different equipment, tools and labour respectively. The traditional operation method has high physical requirements on plantation workers, and facts prove that the cost of a plantation owner is higher and higher, and the efficiency is relatively low.

For many years, to solve this problem, there have been several patented techniques related to harvesting and crop care:

malaysia patent application No. pi2011003335 relates to an electric cutting machine. This patent discloses a device having a gear and transmission system driven by a motor to convert rotational force into linear force, thereby driving a shaft in a rod. The links in the gear system convert the rotational motion into linear motion of the shaft, driving the sickle system up and down in its longitudinal direction for cutting. The system consists of four main components, namely a motor, a gear system, a shaft and a sickle system. Although this device simplifies the cutting process, workers still need to carry the sickle on a long pole throughout the cutting process and they still have to perform the LFC process.

Another harvesting tool is disclosed in us patent No. 8151548B 1. This patent relates to a device which encircles the trunk of the tree and which is used to collect the pruned branches and leaves during pruning and then to transport them away and empty. The device is circular or oblong and comprises two parts, each provided with a lightweight and flexible plastic frame that can surround the plants at the ground and any adjacent obstacles nearby. Each frame is covered by a flexible and durable mesh. The two parts are connected by a flexible hinge on a first side and by a detachable hinge on an opposite second side, so that the two parts can be swung open when placed around a plant and fixed in a closed position. The plant is trimmed using a separate trimming tool, and after trimming is complete, the device is slid down from the plant along with the fallen leaves and the closure device is folded upwardly to enclose the trimmed fallen leaves therein for transport and placement into a suitable location or container. The device is able to encircle the trunk of a tree but is not manned and has no means for transferring and securing such a device at the upper end of the tree and no means for transporting the collected material for subsequent storage and transport. As a result, workers need to climb the tree to attach the device to the upper end of the tree, which is dangerous and laborious to handle the collected material manually.

Further, U.S. patent No.7669398B1 discloses a machine for harvesting produce, such as fruit, from two adjacent rows of substantially parallel trees. The machine includes a land vehicle for traveling between adjacent rows of trees. The land vehicle comprises a chassis carrying a fruit collection container. At least one pair of telescopic lift arms is pivotally mounted to the chassis. At the end of each arm is a carrier box, the arms being positionable so that a person in the carrier box can manually collect fruit from a tree in the tree row. There are also a plurality of conduits, each attached adjacent the upper end of each carrier box, such that the person in the respective carrier box can access the inlet of the conduit. Each duct is connected to the container near its lower end so that fruits placed into the duct entrance by a person in the carrier box are transported through the duct and discharged into the container, which operation is limited to only one-sided operation on flat terrain or hilly terrain. Furthermore, such machines have a small operating footprint, one operating location can only go as far as 2 to 4 trees and cannot fully encompass all sides of the trees, and the need to run and reposition the machine along each adjacent row of trees to access all sides of the trees results in a long total time spent per tree and low productivity. Furthermore, the machine performs only a limited range of crop care functions.

As the costs of harvesting and crop protection and crop monitoring increase, solutions need to be implemented to provide for precision farming, productivity and yield improvements, and sustainable development. In the future, the palm oil plantation industry must actively deal with and find means and mechanisms, and improve productivity by providing life opportunities to expand skills and occupation roads of plantation labor force, provide higher reward, and keep away from the current demand pattern of physical labor force, so as to encourage plantation labor force to get rid of poor social appeal. Furthermore, global and social demands for green and sustainable environments require means, mechanisms and new agricultural practices to reduce or eliminate carbon emissions from plantations, such as removing leaves left on the ground covering or rotting and turning to the use of healthier organic fertilizers and reducing the amount of chemicals used for plantation maintenance. Furthermore, current field operations are performed in a decentralized manner, so that the field activities of crop harvesting, evacuation and crop care are performed individually by different teams and machines.

Therefore, there is a need to integrate existing devices into a multi-function harvester that is capable of precision farming and various operations including harvesting, crop care, crop evacuation, crop planting on plantation farms and trunks in a sustainable and beneficial manner.

Disclosure of Invention

The present invention provides a multifunctional Harvesting and Crop Care Machine (HCCM) that provides opportunities for the development of new agricultural practices and concepts that can lead to plantation sustainability, higher productivity and monetary value through efficient farming or agricultural practices and management.

Such crops include, but are not limited to, palm oil trees, coconut trees, banana trees, durian trees and other tall trees whose fruits are inaccessible to the human hand.

The apparatus is a practical, simple and cost effective machine that can improve the productivity, industrial commercial viability and sustainability of these plantations. The method creates new opportunities and business modes in the aspects of economy, humanitarian and ecological problems by structurally modifying the traditional plantation management method.

The device is used as a single movable work platform for:

1) harvesting, crop care and collection, storage and evacuation of fruit from the field to the main transportation base or CPO plant;

2) transporting and applying fertilizer and herbicide/pesticide to trees;

3) eliminating the need for the LFC process that is currently created in manual agricultural practice by cutting the fruit and letting it fall to the ground.

4) Mechanically pollinating flowers and fruits;

5) collection and shredding of leaf biomass for use as compost, building material or fuel;

6) maintaining and monitoring the activities and performance of the plantation;

7) placing and using sensors for measuring fruit, tree and soil conditions to achieve precision farming;

8) identifying individual trees using a bar code readable by a GPS, Radio Frequency Identification (RFID) chip or tag sensor;

9) an on-board computer system that collects data input and progress of all sensors, using other basic data of precision agricultural software, is able to run algorithms to achieve higher productivity, recovery and lower cost;

10) planting, crop nursing and picking crops on the trunk;

11) the plantation land and crops can play a greater economic value;

12) transporting the picked crop directly from the tree to a processing point;

13) the operation space of each operation position can cover 30-40 trees, and the coverage area reaches 4 tree rows on each side of the working platform;

14) reducing the time spent per tree and performing multiple functions;

15) reducing the accumulation of Free Fatty Acids (FFA) in harvested fruits;

16) the solar energy water heater can be used in various weather conditions of 24 hours in the day and at night; and

17) various harvesting and crop care tools are provided.

18) Fixed to a vehicle chassis to accommodate soft, flat and undulating hilly terrain using a 4x4 or 6x6 wheel drive or a half track or full track drive system or using a 4, 6 or 8 wheel articulated wheel system with independent wheel drives or using a chassis suitable for amphibious tasks.

The HCCM may be adapted to perform one or more of the above-described functions.

Conceptually, the apparatus concentrates the deck or work platform elements of a multi-functional waterborne or fisheries and aquaculture vessel onto a mobile or individually movable work platform on land that has multiple functions and functions for harvesting, crop care, crop planting, precision agriculture and environmental monitoring.

Such a deck/work platform may be placed on a machine chassis, equipped with appropriate motors, gearboxes, transmissions, wheels, suspensions, steering systems etc., which are commercially available on the international chassis market to suit the target terrain.

The HCCM as a work platform may tow a non-driven trailer chassis with an automatic steering axle to add functionality to the platform such as storing harvested produce and/or liquid or dry fertilizer, herbicides and pesticides.

The apparatus may also be mounted on a non-driven chassis which is pulled by another prime mover, such as a tractor or tracked vehicle with appropriate power and traction, as a trailer or double trailer, to suit the target terrain.

The apparatus can also be equipped with various tools and implements on a single platform and/or tractor-trailer and can hold goods and products of fruit, fertilizer, insecticide, herbicide, etc. to meet the logistical needs of the plantation/field/orchard and related upstream and downstream processing plants and warehouses.

The invention discloses a device for harvesting tree crop products and crop care, comprising a vehicle carrying a working platform, the working platform supporting a container for collecting and storing the products, at least one lifting arm mounted on each side of the working platform for omnidirectional movement at one end and supporting an aerial carrier station at a free end; the carrier station is connected to a mechanical linkage assembly to provide multiple degrees of freedom for further extension and movement of the aerial carrier station about the tree.

The container has the following configuration: (i) handling of the FFB and leaf products for transport to a trailer for storage (ii) trailers with single or dual steerable axles to reduce turning radius, trailers that have storage capability and can discharge their storage from the side or bottom; (iii) maximizing its storage capacity to maintain stability requirements while operating on roads and target terrain. (iv) The vessel may be equipped with a thermal lining material and a heat transfer system to capture and utilize the heat of the chassis motor and/or heater to maintain high temperatures within the vessel to mitigate the production of Free Fatty Acids (FFA) in the fresh palm fruit bunches (FFBs).

The lifting arm is operated by one person sitting in the aerial carrier station so that the worker can access the foliage and FFB on all sides of the tree for cutting, crop care, pollination, monitoring and the like. If the leaf biomass is collected for use as compost, fuel or industrial material and/or for tree-trunk planting, a second person may be stationed on the work platform to assist in the collection of crop, leaf or tree-trunk products.

In one embodiment, the movement of the lift arm or mechanical linkage assembly is remotely controlled by at least one wire connected to the lift arm of a single or multiple mast columns located on the work platform. In this embodiment, the wire is released or pulled by at least one motor.

In one embodiment, the lift arm and mechanical linkage assembly are driven hydraulically or electrically, and, alternatively, may be driven manually.

In one embodiment, the lift arm may be telescopically adjustable in length and rotatable 180 degrees and adjustable in height using hydraulic, mechanical screw systems or wire pulling systems.

The support and operating system of the lift arm, the vehicle stabilizer and leg base on which the lift arm travels, and the restraining mechanism that connects the lift arm bar to the container, and the use of wires and mast posts are novel. The use of top and bottom wire pulling mechanisms to extend the lift arms is also novel.

Preferably, the aerial carrier station has a plurality of tools, sensors and mechanisms including a tool magazine for placing a plurality of ejectable grippers for individually gripping the foliage of the crop and a chisel system for cutting the gripped foliage to be collected. There is a first triggering device for activating the operation of the gripper and then ejecting the gripper from the magazine; and second triggering means for activating operation of the chisel cutting system to sever the product, each clamp being connected by a wire to a means for retrieving the clamp to the carriage so that the clamp can be reloaded back into the tool box before the work platform is moved to the next position. Alternatively, the first and second triggering devices are connected to a sensor at the free end. The sensor may activate the triggering means when an object at a predetermined distance is detected. These tools may also include tools that can access the ground area from a carrier station for soil and tree sampling, as well as tools for spraying liquids and other cutting tools to access the trunk and foliage.

In one aspect of the invention, the aerial carrier station may further comprise a collector for collecting fruit products cut by the sickle or chisel tool and directing the products to the container, the collector having a movable arm triggered by a third trigger device to position the collector around the trunk to feed the collected products into the container of the vehicle. In addition, aerial carrier stations may be equipped with plant and flower pollination tools, as well as spraying tools for liquid herbicides and insecticides.

In another aspect, a telescopically adjustable access channel is mounted for greater range of access around the trunk of the tree for ease of operation.

In another aspect of the invention, the carrier station may also include expansion means to apply various types of sensors (visual, thermal, infrared, odor, audio, etc.), syringes, sprayers, pipettes, cutters, reservoirs and samplers for taking a target portion of the tree or a sample of the immediate vicinity around the tree. In addition, a GPS, Radio Frequency Identification (RFID) chip or identification barcode tag and reader can be used for each tree, indicating its exact location, and in parallel processing stages with a computer processor on the work platform.

However, in another aspect of the invention, the aerial carrier may be equipped with a collapsible overhead umbrella to protect people from rain or intense sunlight, with fan blowers to keep cool, and may also be equipped with voice and data communication systems to communicate with other people and operating bases.

However, in another aspect of the invention, the aerial carrier station has a heads-up display showing input and output data integrated into a precision agriculture management system with algorithms to optimize all operations and decisions.

However, in another aspect of the invention, the work platform may include a shredder for shredding and transporting the leaves of the crop.

In another aspect of the invention, the apparatus may further include a guide for guiding the product through the chute of the collector and onwards to the container of the work platform.

In another aspect of the invention, the apparatus may further comprise means and apparatus for growing, caring for and harvesting plants suitable for growing on the trunk or in the vicinity of the tree.

However, in another aspect of the invention, the container of the platform and/or tractor trailer may be used to carry various harvest and crop care materials, such as herbicides, insecticides, fertilizers, and even plants or fruits grown on the trunk or in the vicinity of the tree that are suitable for the requirements of the plantation, field or orchard. In this embodiment, the container and/or the tractor-trailer may have a plurality of interconnected compartments or a plurality of isolated compartments.

Moreover, the work platform may be an integral part of a vehicle, such as a single or multiple trailers pulled by a tractor or any suitable type of vehicle, or a self-powered platform with sufficient power and traction to accommodate terrain.

In addition, the work platform may function to receive the harvested FFBs and leaves and transfer such material to a tractor-trailer using a transfer mechanism to increase storage capacity. The tractor-trailer has single or double steerable axles to reduce the turning radius and is equipped with storage means and allows the product therein to be discharged from the side or bottom.

The vehicle may also include one or more extendable legs for stabilizing the vehicle, a sampling and sensor device for collecting soil and tree information, a camera, an RFIQ chip, an electromagnetic sensor for identifying metal bars or barcodes that may be printed or attached to each tree or crop, and a GPS system to display the terrain of the area and the location of the vehicle and trees. Sensors and/or RFID may also be used to collect location information of trees and provide real-time information data about soil, tree and fruit conditions to support accurate agricultural decisions for workers or robots using HCCMs.

In one embodiment of the invention, the vehicle is equipped with a forestry management system that combines the described sensors and GPS, RFID and computer systems for real-time route planning and data control. The forestry plantation management system may comprise a processor for processing the collected data, a database for storing the data, a display unit for displaying the acquired information, a control unit for determining or inputting the information, software for precision farming and a network terminal for connecting to a central server.

The present invention also provides a method of collecting tree foliage that achieves higher economic value by further optimizing the use of foliage biomass in addition to harvest and crop care functions. The present invention can be used alone in tree trunk planting practices, can plant high decorative, medicinal and edible value plants with air root system, and can be used for crop care and harvest in tree trunks without compromising tree growth and productivity.

In one embodiment of the invention, the vehicle and/or tractor-trailer has the ability to transport fertilizer, insecticide and herbicide while applying these materials to the trees while performing the harvesting operation. The vehicle and/or tractor trailer can mix the fertilizer with the palm residue and transport the mixture directly to the trees for application, significantly reducing the time for the palm trees to absorb nutrients compared to conventional practice.

In one embodiment, the aerial carrier station of the HCCM is equipped with an access platform that enables workers to perform trunk planting operations, including planting appropriate plants of high medicinal, decorative, and edible value on the trunk without compromising tree health, and to perform efficient planting, crop care, harvesting, and transporting these products back to the HCCM for storage and subsequent evacuation.

The present invention provides the opportunity for the growing industry to go through a transition with all local and global stakeholders to gain psychological acceptance, institutional trust and economic legitimacy.

The present invention can serve as a facilitator and provide a means and platform to collect data and identify and implement new concepts to establish human-animal symbiotic programs and prevent further deforestation, as the present invention helps to achieve and improve the productivity, agricultural yield and value of existing agricultural lands, eliminating the need to cut new lands to achieve higher yields to meet the needs of the growing world population.

Those skilled in the art will readily appreciate that the present invention is well adapted to carry out the objects and obtain the ends and advantages mentioned, as well as those inherent therein. The embodiments described herein are not intended to limit the scope of the present invention.

Drawings

For the purpose of promoting an understanding of the invention, there is shown in the drawings embodiments which are presently preferred, it being understood and appreciated that, in conjunction with the following description, the construction and operation of the invention, and many of its advantages, will be readily understood and appreciated.

Fig. 1A is a side view of a harvester in a stand-by/drive mode with a tractor-trailer.

Fig. 1B is a top view of the harvester in a stand-by/drive mode with a tractor-trailer.

Fig. 2 is a cross-sectional view of the harvester in a standby/drive mode.

Fig. 3 is a top view of a harvester with a tractor-trailer in an operating mode with a cradle track extended.

Fig. 3A is a cross-sectional view of the harvester in an operating mode with the cradle track and stabilizer extended, and the lift arms and chute.

Fig. 4 shows the aerial carrier station of the harvester in the operating mode.

Fig. 5A, 5B and 5C illustrate adjustment of the positioning of the aerial carrier station using mechanical linkages so that it can access all sides of the trunk.

Fig. 6A shows the fruit collector in an open configuration around the trunk.

Fig. 6B shows the fruit collector in a closed configuration around the trunk.

Fig. 7A shows the folded extension assembly of the fruit collector in the extended mode.

Fig. 7B shows the folded extension assembly of the fruit collector in the retracted mode.

Fig. 8A shows the folded aisle platform in a retracted mode.

Figure 8B shows the access platform in a deployed, extended and open position around the trunk.

Fig. 8C shows the channel platform in a closed state around the trunk.

Fig. 9A shows a side view of the first and second chain conveyors of the harvester.

Fig. 9B shows a top view of a harvester with a chute to collect and deliver fruit to a trailer, a tracker, and a first chain conveyor.

Fig. 9C shows a top view of the second chain conveyor for recovering the leaves.

Fig. 10 shows a harvester operating on hilly terrain.

Detailed Description

The invention will be described in more detail below by way of example with reference to the accompanying drawings.

As shown in fig. 1A-3A, a Harvesting and Crop Care Machine (HCCM) includes a work platform that is placed on a vehicle chassis suitable for terrain conditions and travels between two adjacent rows of fruit or other crop trees in a plantation, forest or orchard. The container (8) can store crop products, and also a storage tank for storing liquid and/or dry materials used in crop care operations, and a mechanism for transferring the harvested FFB (fresh fruit bunch) and leaves to the trailer (2) for additional storage. At least one lifting arm (3) is pivotally mounted to a column having a carriage base (4A), the carriage base (4A) being located on an outwardly extendable rail (4), the carriage base (4A) being movable along the rail when the lifting arm (3) is operated. Each side of the work platform includes an upper deck area (1) that provides space for workers to walk and work between the front and rear of the HCCM. The upper deck area (1) also includes a plurality of reeling stations (5) for retrieving the ejected clips, as well as support bars (6) for supporting the retrieval of the leaf clips and means for transporting the biomass to a tractor trailer (2) where the leaves are shredded with a shredder (6A) and stored. The HCCM further comprises a cab (7) housing 3 passengers and a multi-compartment container (8) housing a plurality of mechanisms, a transport system for transporting the FFB to the trailer (2) together with leaves and cargo products located in the container (8). The HCCM may further comprise stabilizing legs (9) on both ends of the extendable rail (4) to increase the stability of the HCCM during its operation. Fixed or retractable leaf deflectors (10) may also be mounted at the front and rear ends of the HCCM to pull leaves aside as workers reside on the upper deck and the HCCM travels between tree rows.

As shown in fig. 4, the free end of each lifting arm (3) supports an aerial carrier station (11) housing a work bay (11A), a walkway platform (11B) and a fruit collection system (12), which can be adjusted to maintain a horizontal position during operation of the lifting arm (3). The lifting arm (3) may be connected to electronic, mechanical, hydraulic ram (3A) and/or winch systems (42) and drives or any combination thereof to move, extend, retract, rotate, raise and lower the lifting arm (3) in order to position workers on the workcell (11A) or access platform (11B) at different heights of the tree or trunk (31) so that harvesting and crop care operations may be efficiently performed in close proximity. In one embodiment, each lifting arm (3) is connected to at least one support bar (13) by a wire (13A). The wire is in turn connected to an electric motor which can pull or release the wire so that the lifting arm (3) can perform a lifting movement, a lowering movement, a sideways movement or any combination thereof.

In one embodiment, the lifting arm (3) is connected to a cylindrical column (14), the column (14) being rotated by a gear (14A) and running along the extendable leg rail (4) by a gear drive driven by electric or hydraulic pressure or backup manual drive. The cylindrical column is connected to the top of the container by a movably folded support (14B) so that the container acts as a counterweight to the extended lifting arm.

Preferably, the work compartment (11A) comprises a container, seat or enclosure for supporting workers and housing tools for harvesting, crop care, crop planting and precision agriculture use. Workers can also enter the access platform (11B) for harvesting, crop care and tree trunk planting. The tool may include a plurality of tool systems (15), including a gripper system, a chisel cutting and sickle system. The gripper system for retrieving the leaves can comprise a magazine (16), the magazine (16) housing a plurality of grippers arranged in sequence, each gripper being connected to its respective winding-up station (5) by a line or a line and a rod (6), which can be retrieved by the winding-up station (5), and a loading device for loading the grippers from the magazine (16) to the tool system (15), ejecting the grippers once they grasp the blade tool system. Preferably, the closing of the clamp is triggered by a spring. The chisel and sickle system (15) may include a cutter connected to a spring or actuator unit for actuating the cutter. The pop-up clamp system and cutting system may be combined with sensors or other mechanical devices to automate the operation.

There is also an actuator (17) of the tool fixture which controls the tools stored at 17(B) which can be accessed from the carrier station (11) to the ground area for soil and tree sampling, sensor application, and liquid spraying and cutting adjacent the tree trunk and leaves.

Power for operating the aerial carrier station (11) and its accessories is provided by means of cables and their winding reels (43).

Canopies (18) and (18A) may be provided on top of the workroom (11A) and on top of the HCCM to protect workers from hot or rainy weather.

The work pod (11A) may be connected to a mechanical linkage assembly (19) to provide multiple degrees of freedom for further extension and movement of the work pod (11A) around the trunk and foliage. An example of a mechanical linkage assembly (19) is shown in fig. 5A, 5B and 5C. In fig. 5A, the mechanical linkage (19) is formed by a single-layer telescopic rod with a rotation mechanism to move the working cabin (11A) in a substantially semicircular manner. In this way, not only can the workcell (11A) be lifted to the height of the tree (31), but the workcell (11A) can be adjusted to position itself to the side or behind the tree or trunk (31).

Referring to fig. 6A and 6B, the fruit collector (12) as shown includes a pair of arm frames (28) connected at one end (20) such that the two arm frames (28) can be brought together and surround the trunk of the tree. The inner side of the arm frame (28) may be provided with a resilient member (21) in contact with the tree, acting as a support to reduce vibration/shaking of the carrier workstation when it is in operation. Each arm frame (28) carries a carrier basket (22) made of flexible mesh or canvas, which is movable in unison with the arm frame (28).

The outer periphery of the fruit collector (12) is fitted with an envelope-type container (26) made of waterproof flexible canvas, which stores dry manure that can be released and discharged by the person in the working compartment (11A) in the desired amount onto the tree base.

The outer periphery of the fruit collector (12) is also fitted with a pipe and nozzle system (27) for spraying liquids such as liquid fertiliser, herbicides and pesticides onto the base and trunk (31).

Referring to fig. 4 and 3A, the carrying basket (22) has a downwardly sloping bottom which guides the collected fruit to the opening of the chute (23). Subsequently, the chute (23) transfers the collected fruit from the fruit collector (12) to the container (8) using a pull-wire tracker (24). The chute (23) is adjustable in length and is provided with a chute retriever (25) for adjusting the chute length and tension to enable the fruit to roll down the chute (23) under the action of gravity or to enable the fruit to roll up the chute pulled by a tracker (24), and the tracker (24) is pulled by a pull line (24A) and supported by a mast (13).

As shown in fig. 7A and 7B, a pair of arm frames (28) can be folded together to retract the fruit collection system (12) and remain in the sliding rack (29) connected to the aerial carrier (11). In this arrangement, a pair of arm frames (28) are telescopically extended or retracted to push the arm frames (28) out of the sliding brackets (29) or pull the arm frames (28) into the sliding brackets (29). The arm frame (28) may be deployed by a spring member which is activated after the arm frame (28) is pushed out of the sliding bracket (29). The pair of arm frames (28) are opened and closed at the hinge points by electrically, mechanically or hydraulically actuated actuators (30). All the operations are completed by workers on a working cabin (11A) of the aerial bearing body (11).

As shown in fig. 8A and 8B, the access platform (11B) shown therein comprises a pair of foldably interconnected access platform members (11C) that can be unfolded and connected together and enclose a trunk (31) therein to form a passageway for a worker to walk on the access platform members (11C) around the trunk (31) as shown in fig. 8C. The walkway platform part (11C) is stored in a folded state behind the working cabin (11A) of the aerial carrier (11) and is triggered by a triggering device to unfold or fold so as to extend alongside the aerial carrier (11) and in the vicinity of the tree. The folding and unfolding of the access platform (11B) may be performed and controlled by workers in the work cell (11A). The channel platform part (11C) of the channel platform (11B) is positioned around the trunk (31) to form a channel around the trunk (31). Such an arrangement would allow workers to walk on the access platform (11B) around the trunk (31) and plant, care and harvest plants suitable for planting on the trunk. These plants are high-value plants with air roots (e.g. orchids) and/or ferns and plants with small root base and which are not harmful to trees. Furthermore, the shaft platform (11B) is provided with a conveyor chute (34), one end of the conveyor chute (34) being connected to the top end of the lifting arm (3) near the base of the aerial carrier (11) and the other end being connected to the lower end of the lifting arm (3), the plants grown by the trunks being conveyed via the conveyor chute (34) to a collecting bucket (35), which collecting bucket (35) in turn can be transferred via the lifting arm (36) into the container (8) for storage (35A). When the lifting arm (3) is extended and retracted, the delivery chute (34) parallel to the lifting arm (3) can be extended and retracted. Workers walking on the walkway platform (11B) around the trunk can harvest the trunk planted plants and deposit them through an opening near the working cabin (11A) into a delivery chute (34) for storage into the container (8). As shown in fig. 8B, the aisle platform (11B) is retracted, folded and stored behind the aerial carrier station (11). Each walkway platform part (11C) includes a set of erectable rails and support posts which can be erected on the walkway platform part (11C) to provide structural support and safety for workers walking thereon. In an exemplary embodiment, the walkway platforms (11B) may be positioned around the fruit collectors (12), where workers may harvest the FFBs from the trees and may throw them into the fruit collectors (12).

Further, referring to fig. 8A, aisle platforms (11B) are folded to be stored in slides attached to each side of the aerial carrier station (11). When operation is required, the access platform (11B) is extended from the slide and then deployed.

Referring to fig. 8B, the channel platform (11B) as shown includes a pair of hinged sections (11C) such that each section can be extended from its sliding channel, unfolded, opened to extend across the trunk (31), and then joined together and wrapped around the trunk. The arm support of the channel platform can be provided with a sliding rod, a hinge, a supporting line and a foldable handrail. When not required, the access platform (11B) is folded in a sliding manner and retracted into a slide connected to the aerial carrier station.

As shown in fig. 9A, 9B and 9C, the harvester may further include a fruit chain conveyor (37) and a leaf chain conveyor (38). A fruit chain conveyor (37) conveys the fruit collected in the container (8) to a tractor trailer (2) for storage therein. The fruit chain conveyor (37) includes a chain belt having a groove and driven to rotate at a predetermined speed. The fruit in the container (8) is placed in a tank for fixing and transport to a tractor-trailer (2). The leaf chain conveyor (38) includes a belt for rotation at a predetermined speed on which the leaves are placed, the belt having a pair of spaced apart lugs, the spacing between the lugs being progressively narrower in a direction moving the belt down to the tractor trailer (2). The mechanism positions the leaves centrally and delivers them in an orderly manner to the tractor trailer (2) where they can be shredded with a shredder (6A) and/or held in an uncut state.

The tractor-trailer (2) is equipped with a collapsible working platform (2A) to allow workers to enter during operation. The tractor-trailer is also equipped with compartments for storing manure and crop care liquids (46), and separate compartments for storing FFB (45) and foliar biomass (44), which are capable of discharging these products from the bottom and sides.

The tractor-trailer (2) is also equipped with a landing and launch platform for unmanned aerial vehicles for precision agriculture.

Referring to fig. 10, the legs of the harvester are shown in an extended condition in a mountainous terrain area. Workers can harvest without reducing covering objects on two sides, so that the time and labor input are reduced, and higher production efficiency is achieved.

The methods, processes and techniques involved in HCCM operation make HCCM a mobile work platform that can be used to develop all physical aspects of harvesting and crop care and used in conjunction with precision agricultural software and algorithms to optimize decisions that need to be made during harvesting and crop protection operations.

Wherever 30-40 trees can be accessed at each operational location of the HCCM, the operation can be divided into six stages:

the first stage is to cut and collect the leaves until the fruit is exposed, and then the second stage, cutting and collecting the fruit, is started. In a first phase, each lifting arm (3) and its respective aerial load station (11) are moved into a suitable proximity for workers on the working cabin (11A) to position the working cabin (11A) and grasp the leaves using the gripper system (15). The worker then activates the chisel system (15) to cut the leaf once the ejected clamp has grasped the leaf. Finally, the workers on the deck retrieve the ejected clips together with the blade by means of a take-up station (5).

In a second stage, the fruit collector (12) is moved to a position where its arm frame (27) can enclose the trunk (31). The crew then selects to activate, position or utilize the access platform (11B) and/or the work bay (11A) based on their operational needs and preferences. The fruit is cut by using a sickle system (15). The cut fruit falls into a fruit collector (12) and is guided to the container (8) by means of a chute (23) and/or the access platform (11B) is utilized and adjusted so that the worker can throw the fruit into the fruit collection device.

In the third stage, the worker performs pollination operations, sensor measurements, sampling, and data entry.

In the fourth stage, workers apply fertilizer, herbicide and insecticide from a collection arm under the direction of a precision agricultural system, or with separate extendable implements from a carrying station.

In the fifth stage, aerial access platforms are deployed for tree trunk planting operations as needed.

In the sixth stage, after all the target trees at that location are completed, the fruit collector is retracted and the aerial delivery station and lifting arm are returned to the standby position and the HCCM is driven to the next operating position.

As shown in fig. 10, the harvester can operate not only on flat ground, but also on sloping terrain. The vehicle chassis is adapted for operation on flat, hilly, land terrain with hard and/or soft land conditions, and/or is provided with a chassis adapted for amphibious operation to facilitate ingress and egress.

The embodiments described above include what is contained in the claims which follow and in the foregoing description. Although the invention has been described in its preferred form with a certain degree of particularity, it is understood that the present invention in its preferred form has been made only by way of example and that numerous changes in the details of construction and the combination and arrangement of parts have been made. These changes may be employed without departing from the scope of the invention.