THEREOF

This invention relates to an apparatus for harvesting at least one fruit bunch from at least one tree, more especially, from oil palm trees.

BACKGROUND OF THE INVENTION

Harvesting fresh fruit bunches, particularly those in an oil palm plantation, is a physically demanding job. To ease the labour of harvesting, various tools are employed, a harvesting machine being one of them. An existing harvesting machine generally comprises a mover which has a telescopic handler, and a harvesting device attached to the handler. Examples of the harvesting machines are disclosed in WO201904726A1 which provides a fruit harvesting device, DE3509159A1 which provides a harvesting appliance for harvesting fruits growing on trees, and JP6450146B2 which provides a machine for harvest operation. These harvesting machines suffer drawbacks in many aspects which are described in ensuing paragraphs. In terms of adaptability, the machine is an integration of the mover and the harvesting device which cannot be separated conveniently. The harvesting device cannot be replaced by another device to suit the need of a task other than harvesting. In terms of ease of use, an operator needs to reposition the mover for each fruit bunch that he/she intends to harvest. For a tree which has more than one bunch, multiple times of repositioning is required to complete the operation, which is time-consuming and putting lots of strain on the operator.

In terms of ripeness of the bunch, the operator relies heavily on his/her gut-feeling in selecting the bunch to be harvested. There is a lack of consistency in succeeding to harvest bunches which are ripe enough to be of any practical use. In terms of operation hour, the machines are designed to operate during daylight. Harvesting after daylight is not possible due to the lack of lighting.

In terms of intactness of the bunch, the machines drop the bunch to ground after cutting the bunch from the tree. Impact of the ground causes damage to the bunch and its seeds are scattered all over. Additional manpower is required to collect the seeds. In terms of adoptability, many harvesting operators choose not to use the machines due to its difficulty of operating and its lack of efficiency. Many of these operators opt for a more primitive tool of an elongate pole which has a cutter connected to its distal end.

In terms of remote operation, the machines are not prepared for remote operation. Neither can they be adapted for remote monitoring or automated operation. In terms of data logging, the machines are not equipped with data logging capability. The operator works without the knowledge of the harvestable bunches, which results in a longer operation time.

SUMMARY OF THE INVENTION

The above-mentioned drawbacks are overcome, and improvements are achieved, by the invention elaborated in the paragraphs that follow.

One aspect of the invention provides an apparatus for harvesting at least one fruit bunch from at least one tree, which comprises: means for holding the tree trunk, including two members which are capable of moving toward each other to hold the trunk, and moving apart from each other to release the trunk; a pair of curved guides connected to said holding means in a way such that when said holding means holds onto the trunk, said guides are capable of moving toward each other and abutting each other to form a loop; and means for gathering the fruit bunch, including means for cutting the fruit bunch and at least one receptacle for receiving cut fruit bunch, connected to said guides in a way such that said gathering means is capable of sliding on said guides. Preferably, each of said guides is semi-circular and the loop is circular.

Advantageously, said gathering means is also capable of angling toward the fruit bunch.

Preferably, the apparatus also comprises: a weighing means disposed adjacent said guides such that said gathering means can slide to said weighing means and release the fruit bunch onto said weighing means for measuring weight of the fruit bunch; and at least one holding vessel and a movable member disposed adjacent said weighing means, configured in a way such that said movable member is capable of moving the fruit bunch from said weighing means to said vessel.

Advantageously, the apparatus also comprises: at least one camera for recording at least one image of the fruit bunch; and at least one illumination means.

Preferably, said receptacle includes: a guard rail, edge of which is connected to said cutting means; a rigid frame, both ends of which are open, wherein one end of said frame is connected to said rail such that the bunch can be confined in the frame; a flexible netting, both ends of which are open, wherein one end of said netting is connected to the other end of said frame such that the bunch can be confined in the netting; and a base panel enclosing the other end of said netting for holding the bunch, wherein said panel is openable to release the bunch.

Advantageously, the apparatus also comprises a control unit for facilitating remote control of the apparatus, wherein said unit includes a wireless communication device for facilitating data transmission.

Another aspect of the invention provides a machine for harvesting at least one fruit bunch from at least one tree, which comprises: the apparatus as described above; and a vehicle which includes: an arm capable of extending and retracting, wherein end of said arm can be removably connected to said apparatus; and a control station connected to said control unit for the operator to control the apparatus. Another aspect of the invention provides a method for harvesting at least one fruit bunch from at least one tree using the machine as described above, which comprises steps of: connecting the apparatus to the end of said arm; extending said arm to elevate the apparatus to a height where the bunch locates; positioning the apparatus in a way such that each of said holding members locates on one opposing side of the trunk; moving said two holding members towards each other to hold the apparatus onto the trunk; moving said pair of curved guides towards each other and abutting each other to form a loop; and sliding said gathering means on said guides such that said gathering means is positioned adjacent the bunch.

Preferably, the method also comprises steps of: fastening said gathering means onto said guides; angling said gathering means toward the bunch such that said cutting means is capable of touching the peduncle of the bunch, and the opening of said receptacle is positioned beneath the bunch; gripping the peduncle; and cutting the peduncle such that the bunch is released into said receptacle.

Advantageously, the method also comprises steps of: sliding said gatherer means on said guides such that said gathering means is positioned adjacent said weighing means; releasing the bunch onto said weighing means; measuring the weight of the bunch; moving the bunch from said weighing means to said vessel; retracting said arm to descend the apparatus; and releasing the bunch from said vessel.

Preferably, the method also comprises steps of: illuminating the bunch; and recording at least one image of the bunch.

DESCRIPTION OF THE PREFERRED EMBODIMENT

The invention will now be described in greater detail, by way of example, with reference to the accompanying drawings, in which:

Fig. 1 and 2 are perspective views of one form of harvesting apparatus, according to the invention;

Fig. 3 and 4 are perspective views of one form of gathering means, according to the invention;

Fig. 5 is a perspective view of said gathering means, according to the invention, with its receptacle removed; Fig. 6 is a schematic diagram of one form of harvesting machine during operation, according to the invention; and

Fig. 7 is a schematic diagram of said machine, in which said apparatus is zoomed.

These drawings show embodiments of the invention and are not to be taken as limitations of the invention.

As shown in Fig. 1 and 2, the harvesting apparatus comprises: a support member 1 which includes a track 2; a tree trunk holder which includes two members 3, 4, each of which is guided by said track 2 in a way such that said two members 3, 4 are capable of moving toward each other to hold the trunk, and moving apart from each other to release the trunk; a pair of semi-circular saddles 5, 6 connected to said holder in a way such that when said holder holds onto the trunk, said saddles 5, 6 are capable of moving toward each other and abutting each other to form a circular loop; and a fruit bunch gatherer 7 which includes a fruit bunch reaper 8 and a receptacle 9 for receiving the fruit bunch which is cut, wherein said gatherer 7 is connected to said saddles 5, 6 in a way such that said gatherer 7 is capable of sliding on said saddles 5, 6.

Referring to Fig. 2, two actuators 10, 11 are employed to move said holder members 3, 4. Each of the actuators 10, 11 is connected to a holder member in an opposing direction. The actuator, one end of which is fastened to said support member, has an arm 12, 13 which is extendable and retractable. The distal end of said arm is connected to said holder member such that when said arm retracts, said holder members move toward each other to hold the trunk, and when said arm extends, said holder members move apart from each other to release the trunk. Said holder member includes a pair of elongate members 14, 15, 16, 17, wherein each elongate member has a stopper pad 18, 19, 20, 21 at its distal end. When said arm retracts and said holder members move toward each other, said stopper pads touch the trunk and send a signal to stop said arms from retracting further.

Referring to Fig. 1 and 2, two actuators 22, 23, 24, 25 and two elongate guides 26, 27, 28, 29 are employed to move each semi-circular saddle. Said two guides are spaced on said holder in a parallel manner. Each of said two guides has a stationary member 30, 31 , 32, 33 fastened to said holder and a movable member 34, 35, 36, 37 which are extendable and retractable. Said movable members are connected to the convex side of said saddle. The actuator, one end of which is fastened to said holder, has an arm 38, 39, 40, 41 which is extendable and retractable. The distal end of said arm is connected to said movable member such that when said arm extends, said saddles move toward each other and abut each other to form the circular loop, and when said arm retracts, said saddles move apart from each other to open the loop.

Referring to Fig. 1 and 2, the harvesting apparatus also comprises: a guiding slope 42 and a weighing scale 43 disposed adjacent said saddles such that when said saddles have abutted each other to form a loop, said gatherer can slide to said slope and release the bunch onto said slope, wherein edge of said scale has a stopper tab 44 by which the bunch is stopped from rolling further, such that the bunch will roll along said slope and stop on said scale where the weight of said bunch is measured; and a holding vessel 45 and a movable panel 46 disposed adjacent said scale, wherein said panel is configured on said scale in a way such that said panel can glide on said scale to move said bunch from said scale to said vessel, and said vessel can hold at least two bunches and the bottom of said vessel is openable to release the bunches. Operator may arrange a container on the ground to receive the bunches.

Referring to Fig. 1 and 2, the apparatus also comprises: a pair of cameras 47, 48, disposed adjacent two opposing sides of said support member, for taking photos or videos of the fruit bunch and its surrounding; and a pair of lights 49, 50, each disposed adjacent said cameras. Said cameras and lights, preferably weather-proof, facilitate the operation of the apparatus even after daylight and during rainy days when condition permits.

Referring to Fig. 1 and 2, the apparatus also comprises a control unit 51 disposed on said support member for facilitating remote control of the apparatus. Said unit includes a wireless communication device for facilitating data transmission.

Referring to Fig. 1 and 2, the apparatus also comprises an electric generator 52 for powering the operation of the apparatus. The generator is weather-proof to enable the apparatus to operate during harsh weather.

As shown in Fig. 3, 4 and 5, said reaper comprises: a pair of fingers 53, 54, each being hinged in a manner such that said fingers can move toward each other to grip the peduncle of the fruit bunch, and move apart from each other to release the grip, wherein said fingers have facing edges which are toothed to provide a firmer grip; a single-edged blade 55, one end of which is hinged in a manner such that when said fingers grip the peduncle, said blade can swing on the hinge to cut the peduncle; and an elevation means 56 for ascending and descending said reaper.

Referring to Fig. 3 and 4, said receptacle comprises: a guard rail 57 which forms the opening of said receptacle, wherein edge of said rail is connected to said reaper such that when said blade cut the fruit bunch, the bunch will drop into said receptacle; a rigid frame 58 which can be woven from steel wires, wherein both ends of said frame are open, one end of which is tied to said rail such that the fruit bunch can be confined in the frame when it drops; a flexible and stretchable netting 59 which can be woven from nylon strings or similar materials, wherein both ends of said netting are open, one end of which is tied to the other end of said frame such that the fruit bunch can be confined in the netting when it drops; and a base panel 60 enclosing the other end of said netting for holding the fruit bunch, wherein said panel is openable to release the fruit bunch.

Referring to Fig. 3, 4 and 5, said gatherer also comprises: a mounting platform which includes a curved upper member 61 and a curved lower member 62; a tilting means which includes a hinge 63 disposed on said upper member and an extendable and retractable actuator 64 disposed on said lower member, wherein said reaper is connected to said hinge, and said base panel is connected to said actuator in a way such that when said actuator extends or retracts, said receptacle and said reaper will rotate on said hinge, and tilt toward, or away from, the fruit bunch; means 65 for elevating said reaper and receptacle; and means 66 for sliding said gatherer on said saddles.

Referring to Fig. 3, 4 and 5, said gatherer also comprises: a scanning unit 67, disposed adjacent one end of said upper member, which includes a camera for taking photos of the fruit bunch to determine ripeness of the bunch; a global positioning system (GPS) device 68 for providing location, direction, time and date information; a pair of cameras 69, 70, one of which is disposed on said unit 67 and the other one on said device 68, for taking photos and videos of the fruit bunch to assist the operator during operation; and a pair of lights 71, 72 disposed adjacent said cameras. Similar to said cameras and lights on said support member, these cameras and lights on said upper member, preferably weather-proof, facilitate the operation of the gatherer even after daylight and during rainy days when condition permits. Said unit 67 and said device 68 can be replaced by other means for serving a different purpose, e.g. research and development on the growth of fresh fruit bunches.

Referring to Fig. 3, 4 and 5, said elevating means includes: two vertical guides 73, 74, lower end of each guide is connected to said lower member, wherein said vertical guide has an extendable and retractable arm 77, 78, distal end of which is fastened to said upper member; two actuators 79, 80, each of which is extendable and retractable, one end of which is fastened to the lower end of said vertical guide, and the other end of which is connected to the distal end of said arm such that when said actuator extends, said upper member, and therefore said reaper and receptacle, will ascend, and when said actuator retracts, said upper member, and therefore said reaper and receptacle, will descend.

Referring to Fig. 3, 4 and 5, said sliding means includes: two generally C- shaped members 81 , 82, each of which is contoured to accommodate the outer forms of said saddles, and fastened beneath two opposing ends of said lower member; two rotating motors 83, 84 for moving said C-shaped members along said saddles; and a plurality of rollers 85, 86 disposed between said C-shaped members and said saddles for facilitating the movement of said C-shaped members along said saddles.

Referring to Fig. 1 , 2 and 3, the outer perimeter of said saddle has teeth 87, and said C-shaped member has at least one tooth 88, 89 of the form, and at the position, corresponding to the teeth of said saddle, such that the degree of movement of said C-shaped member along said saddles is controllable.

Referring to Fig. 3, said gatherer also comprises a pair of clamps 75, 76, each connected to said curved lower member 62, adjacent said C-shaped member, for fastening said curved lower member onto said saddle to provide a firmer ground for said fingers to grip and said blade to cut the peduncle.

Referring Fig. 6, the harvesting machine comprises: the apparatus as described in preceding paragraphs; and a vehicle 90 which includes an arm 91 capable of extending and retracting. Referring to Fig. 1 and 2, the apparatus also comprises a mounting bracket 92 which is connected to said support member 1. Said bracket includes: a rod 93 on which end of said arm 91 can be removably fastened; and a pair of holes 97, 98 by which end of said arm 91 can be locked to said mounting bracket 92 for safety. Said vehicle also includes a body 94, cavity of which can accommodate at least one operator. Said body includes an in-vehicle control station 95 wirelessly connected to said control unit 51 for the operator to control the apparatus. Said in-vehicle control station may include: a joystick for manoeuvring the apparatus; a monitor on which images taken by any of said cameras are shown; buttons or a keyboard for controlling said cameras and lights, more especially for controlling direction, zooming, and photo/video-taking of said cameras; and a plurality of LED lights for indicating status of any one of said devices. The harvesting machine also comprises a control terminal 96 disposed distant from said apparatus and vehicle. Said control terminal is wirelessly connected to said in-vehicle control station for sending or receiving data, logging and analysing the data, generating harvesting plan, forecasting harvest, and determining tree yield.

The apparatus, said gatherer, and said reaper are of modular design such that any one of them can be replaced by another module of different features to suit the purpose of operation.

As shown in Fig. 6 and 7, during operation, operator of the harvesting machine fastens said harvesting apparatus to the end of said vehicle arm. The operator drives said vehicle to a position near the tree from which the fruit bunches are to be harvested and extends said arm to elevate the apparatus to a height where the bunch locates. He/she positions the apparatus in a way such that each of said holder members locates on one opposing side of the trunk and moves said two holder members towards each other to hold the apparatus onto the trunk. He/she moves said pair of semi-circular saddles towards each other and abuts each other to form a circular loop. He/she slides said gatherer on said saddles such that said gatherer is positioned adjacent the bunch and fastens said gatherer onto said saddles. He/she angles said gatherer toward the bunch such that said blade is capable of touching the peduncle of the bunch and the opening of said receptacle is positioned beneath the bunch. He/she grips the peduncle and cuts the peduncle such that the bunch is released into said receptacle. He/she slides the gatherer on said guide such that said gatherer is positioned adjacent said weighing scale and releases the bunch onto said weighing scale. He/she measures the weight of the bunch and moves the bunch from said weighing scale to said vessel. He/she slides said gatherer on said saddles such that said gatherer is positioned adjacent another bunch and repeats preceding steps until all the ripe fruit bunches of the tree are gathered. He/she retracts said arm to descend the apparatus and releases the bunches from the vessel to the ground or a container. He/she aligns the arm and apparatus to another tree in the vicinity and repeat the same steps for harvesting the fruit bunches. The operator operates the apparatus from the vehicle through remote control, wherein commands and data are transmitted via wireless communication between said control station and said control unit.

The embodiments described in preceding paragraphs are to be taken as illustrative and not restrictive. The invention may be embodied in other forms without departing from the characteristics provided by ensuing claims. Any changes made to the invention are to be taken to fall within the scope of the invention provided said changes come within the realm of the claims.