WO2018208142A1

WO2018208142A1 - Harvesting and crop care machine

Info

Publication number: WO2018208142A1
Application number: PCT/MY2018/050026
Authority: WO
Inventors: Amin BIN HALIM RASIP
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-05-08
Filing date: 2018-05-04
Publication date: 2018-11-15
Anticipated expiration: 2019-11-08

Abstract

The invention discloses a single work platform solution for the vast majority of harvesting, crop care and logistic needs of the palm oil plantation industry, that will lead to and yield higher economic return of such plantation land whilst improving its ecological footprint.

Description

HARVESTING AND CROP CARE MACHINE

CROSS REFERENCE TO RELATED APPLICATIONS This application is a continuation-in-part of Malaysian patent application PI2017701637 filed May. 08, 2017, entitled HARVESTING MACHINE.

FIELD OF INVENTION The invention relates to a harvesting and crop care machine. More particularly, the invention relates to a movable single work platform fitted with devices and systems for harvesting and care of crop products and for performing precision agriculture.

BACKGROUND OF THE INVENTION

Traditionally, Fresh Fruit Bunches (FFB) of palm oil trees are manually harvested and collected by-workers. Each worker needs to carry hand held harvesting tools such as poles with sickle attached to firstly cut down the palm fronds to access the FFB and then to cut the FFB free from the tree trunk, with the FFB falling a distance to the ground. When the FFB hits the ground, up to 5% or more of the individual small fruitlets attached to the FFB are detached from the FFB and are spread on the ground. As such, the workers are required to perform Loose Fruit Collection (LFC) process by hand or motorized hand tool, which is time consuming and still results in some loss of fruitlets. The picked up FFB are then transported by hand or in a wheelbarrow to a nearby location where the FFB is placed into a small mobile truck or trailer for further transport to a main collection point and from there further separate larger truck to the Crude Palm Oil (CPO) plant.

Harvesting and crop care activities such as applications of fertilizers, pesticides, and herbicides as well as pollination operations and crop condition monitoring and measurement activities are performed separately at different time with separate sets of equipment, tools and labour. The traditional operation methodology is physically demanding on plantation workers and it is proven to be increasingly more costly and of relatively low efficiency to the plantation owner.

Over the years, there are a few patented technologies in relation to harvesting and crop cares have been developed to address this issue:

Of interest in respect to a motorized cutter is Malaysian Patent Application No. PI2011003335. This patent discloses an apparatus that has a gear and transmission system that converts rotational force to linear force and is driven by an electrical motor that in turn activates a shaft inside the pole. The con-rod in the gear system converts the rotational motion to linear motion of the shaft which in turn will activate the sickle system to move up-down in its longitudinal direction, thus performing the cutting force. The system consists of four main components which are electrical motor, gears system, shaft and sickle system. Although this apparatus has simplified the cutting process, the workers still need to carry the sickle on long poles throughout the cutting process, and they still have to perform the LFC process. Another harvesting tool is disclosed in United State Patent No. 8151548 B l. The patent provides a device which encircles a trunk of a tree for collecting foliage clippings during trimming and subsequently removed and emptied. The device comprises a circular or ovular format comprising two halves, each provided with a lightweight and flexible plastic frame that conforms around the foliage at ground level and to any adjacent obstructions in the vicinity. Each frame half is covered by a flexible and durable mesh platform. The two halves are conjoined at a first side by a flexible hinge and at an opposing second side by a detachable hinge, thereby allowing the halves to swing open when being placed around the foliage and secured in a closed position. Foliage is trimmed using separate trimming tools and when completed, the device along with the clippings, are slid away from the foliage and folded upwardly and closed to contain the clippings for transport and disposal to a suitable location or into a container. This device is capable of encircling the trunk, but does not allow for manned access to perform operations and there are no means for transferring and holding such device at the upper end of the tree and means to convey the collected material for subsequent storage and transport.. As a result, the workers would need to climb the tree and attach this device to the upper end of the tree endangering the worker and also the manual handling of the collected material is laborious.

Furthermore, United State Patent No. 7669398 B l discloses a machine for harvesting produce such as fruit from a pair of adjacent, generally parallel rows of trees. The machine includes a land vehicle for being driven between the adjacent rows of trees. The land vehicle includes a chassis that supports a fruit collection receptacle. There are at least one pair of selectively extendible and retractable lift arms pivotably mounted to the chassis. At the end of each arm is a carrier box that the arm is able to position such that a person in the carrier is able to manually collect fruit from a respective one of the rows of trees. There are plurality conduits, each of which is attached proximate to the upper end adjacent to each the carriers such that an entrance of the conduit is accessible to a person in a respective carrier. Each conduit is attached proximate a lower end thereof to the receptacle such that fruit deposited into the entrance of the conduit by the person in the carrier is transmitted through the conduit and discharged into the receptacle , thereby limiting operation to flat terrain or one sided operation on hilly terrain . Moreover, such machine has small operational footprint and only able to reach 2 to 4 trees from one position and not fully encompassing all sides of the tree, and requires the machine to be driven and repositioned along each adjacent row to enable access to all sides of the trees and the next set of trees, with result that the overall time spent per tree is high and productivity is low. Furthermore, the machine performs only a limited range of crop care functions.

With increasing costs for harvesting and crop care and crop monitoring, solutions that provide for precision agriculture, productivity and yield improvement and sustainability need to be implemented. In future, the palm oil plantation industry essentially has to proactively respond and find the means and mechanisms to achieve social appeals for uplifting plantation labour from poverty through the provision of life chances to expand their skill sets and career paths that will provide for greater remuneration through higher productivity, and migrate away from very physically demanding labour practices currently employed. Additionally, the global and social demand for a green and sustainable environment requires means, mechanisms and new agricultural practices to reduce or eliminate carbon footprints of plantations by means of removal of tree frond biomass left to mulch or rot on the ground and move towards the use of healthier organic fertilizers and reduced chemicals usage for plantation upkeep. Furthermore, the current methodology of the field operation is carried out in a fragmented manner whereby field activity such as crop harvesting, evacuation, and crop care are performed individually by separate teams and machineries Therefore, a need exist for the prior apparatus to be included in a multi-functional harvester which is capable of performing precision agriculture and multiple operations including harvesting, crop care, crop evacuation, crop farming on the plantation land and on the tree trunks, in a sustainable and beneficial manner. SUMMARY OF INVENTION

The invention provides a multi-functional Harvesting and Crop Care Machine (HCCM) which opens the opportunities for emergence of new agricultural practice and concepts that can bring sustainability and higher productivity and monetary value to plantations via effective farming or agricultural practices and management.

The crop includes but is not limited to a palm oil tree, coconut tree, banana tree, durian tree and any tall tree that its products are unreachable by human hands.

The apparatus is a practical, simple, and cost effective machine that can increase the productivity, the industry commercial viability, and sustainability of such plantations. It creates new opportunities and business models by structurally remodelling the traditional methodology of plantation management with respect to economic, humanitarian and ecological concerns and issues.

The apparatus serves as a movable single work platform for:

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

2) the transport and placement of fertilizer and herbicides/pesticides to the trees;

3) elimination of the need of LFC process arising from the current manual agricultural practice of cutting fruits and letting the fruits drop to the ground.

4) mechanical pollination of flowers and fruits;

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

6) the upkeep and monitoring of plantation activities and plantation performance

7) the placement and use of sensors for measurement of fruit, tree and soil conditions, for precision agriculture;

8) the identification of individual trees with GPS, Radio Frequency Identification (RFID) chips , or stamping a sensor readable barcode;

9) an onboard computer system which gathers all sensor data inputs and processes , using such with other base data on precision agriculture software able to run algorithms to achieve higher productivity, recovery and lower costs; 10) planting, crop care and harvesting suitable plants on the tree trunk;

11) deriving greater economic use plantation land and crops;

12) transport direct from tree to Mill process point;

13) provides large footprint coverage of 30-40 trees per operational position cover up to 4 tree rows on either side of the work platform ;

14) less time spent per tree and performs multiple functions

15) reduction in free fatty acid (FFA) build up in fruit after harvesting;

16) 24 hour operational ability during day, night and different kinds of weather conditions; and

17) multiple tools for harvesting and crop care which are provided.

18) being affixed to a vehicle chassis to suit soft, flat and undulating hilly terrain and utilizing either a 4x4 or 6x6 wheel drive or half track or full track drive system or a chassis with 4, 6 or 8 wheel articulated wheel systems with independent wheel drives, or chassis adapted for amphibious duty

The HCCM can be adapted to include one or more of the above capabilities.

Conceptually, the apparatus brings together the deck or working platform elements of a multifunction waterborne or a fishing and aquaculture vessel onto a mobile or moving single moving working platform on land equipped with multiple functions and capabilities for harvesting, crop care, crop farming, precision agriculture and environmental monitoring.

Such deck/working platform is able to be placed on a mechanical chassis, fitted with appropriate engine/motor, gear box, transmission drives, wheels, suspension, steering systems, and etc, which is available in the international chassis market to suit the condition of a targeted terrain.

The HCCM as a working platform can tow a non driven trailer chassis with self- steering axles to supplement requirements such as storage capacity of harvested products and/or liquid or dry fertilisers, herbicides and pesticides. The apparatus can also be mounted onto a non-driven chassis that is pulled along as a trailer or double trailer by another prime mover such as a tractor or tracked vehicle of suitable power and traction to suit targeted terrain. The apparatus is also able to be fitted with a variety of tools and implements along with goods and product carrying capacity for fruit, fertilizer, pesticide, herbicides, and etc on a single platform and/or towed trailer to suit the logistic needs of plantations/fields/orchards and related upstream and downstream process plants and depots.

The invention discloses an apparatus for harvesting and crop care of tree-borne crop products, comprising a vehicle carrying a work platform supporting a container for collecting and preserving the products; and at least one lifting arm mounted on each side of the work platform for omnidirectional movement at one end and supporting an aerial carrier station at the fee end; characterised in that the carrier station is coupled with a mechanical linkage assembly to provide multiple degrees of freedom for the further extensions and movements of the aerial carrier station around the tree.

The arrangement of the containers are with such configuration to: (i) accommodate handling of FFB and tree fronds products for conveyance to a towed trailer for storage (ii)the towed trailer has a single or twin steerable axle to reduce turning radius and fitted with storage and allows for side or bottom discharge of its products provides for bottom and or side discharge of products; (iii) maximise its storage capacity to maintain stability requirements for travel on roads and the target terrain. (iv)The containers can be fitted with heat insulating liner material and heat transfer system to capture and utilize heat from chassis engine and/or a heater to maintain high temperature in container, which slows down free fatty acid (FFA) in palm fresh fruit bunches (FFB). The lifting arm is operated by a single person, whereby one person is seated in the aerial carrier station such that the worker can be positioned to access the fronds and FFB on all sides of the tree for performing the harvesting operations which include cutting, crop care, pollinating, and monitoring. If collection of frond biomass for use as compost, fuel or industrial material and/or trunk farming is undertaken then a second person can be stationed on the work platform to assist the collection of the crop, frond or trunk products.

In one embodiment, the movements of the lifting arm or the mechanical linkage assembly are remotely controlled via at least one wire from single or multiple mast post(s) located on the work platform which wire(s) connect to the lifting arm. In this embodiment, the wire(s) are released or pulled by at least one motor.

In one embodiment, the lifting arm and the mechanical linkage assembly are driven hydraulically or electrically with manual backup capability.

In one embodiment, the lifting arm is telescopically adjustable in length using a hydraulic, mechanical screw system or wire pulled pully system and can be rotated through 180 degrees and elevation is adjustable.

The arrangement used for the support and operation of the lifting arm, vehicle stabilizer and outrigger base on which the lifting arm travels and the restraining mechanism linking the lifting arm post to the container and use of wire mast post is novel. The use of a top and bottom wire pull mechanism for the lifting arm extension is also a novelty.

Preferably, the aerial carrier station has tools, sensors and mechanisms which include a magazine for holding a plurality of ejectable grippers for individually gripping a frond of the crop and a chisel system for cutting a gripped frond, if such frond collection is a desired capability. There is a first triggering means for activating the operation of the gripper followed by ejection of the gripper from the tool, and a second triggering means for activating the operation of the chisel cutting system to cut off the product, each gripper being connected by a line to a means for retrieving the gripper back to the carrier, where after the gripper can be reloaded back into the magazine prior to the work platform moving to the next location. Alternatively, the first and second triggering means are connected to a sensor at the free end. The sensor may activate the triggering means upon detecting object at a predetermined distance. The tools may also include those that can access the ground area from the carrier station for soil and tree sampling and means for application of liquid spray and other cutting tools to access the trunk and tree foliage.

In one aspect of the invention, the aerial carrier station may further comprise a collector for catching the fruit products cut by the sickle or chisel tools and guiding the products to the container, the collector having moveable arms triggered by a third triggering means to allows the collector to be positioned around the trunk of a tree, for feeding the collected products to the container of the vehicle. Also, the aerial carrier station can be fitted with tools for plant and flower pollination, and spraying of liquid herbicides and pesticides.

In another aspect a retractable adjustable access way is fitted to allow greater access around the tree trunk to facilitate operations.

In another aspect of the invention, the carrier station may further comprise an extendable means for application of any variety of sensors (visual, thermal, infrared, smell, audio and etc), injectors, sprays, suctions, cutters, depositors, and samplers for a target part of the tree or proximate ground around the tree. Additionally, GPS, Radio Frequency Identification (RFID) chips or identification barcode markers and readers can be used for each tree indicating their exact location and used in conjunction with computer processor on the work platform for the concurrent processing stage.

Yet in another aspect of the invention, the aerial carrier station can be fitted with foldable overhead umbrella to protect the person from rain or strong sun, and fan blower to keep cool, and also voice and data communication system to other persons and operational base.

Yet in another aspect of the invention, the aerial carrier station has a heads up display with data input and output integrated to the precision agriculture management system with algorithms to optimise all operations and decision making.

Yet in another aspect of the invention, the work platform may include a cutter shredder for shredding and conveyance of the fronds of the crop. Yet in another aspect of the invention, the apparatus may further comprise a guiding means for guiding the products through the chute of the collector and onward to the container of the work platform..

Yet in another aspect of the invention, the apparatus may further comprise tools and fixtures for the planting, care and harvest of suitable plants planted on the tree trunk or areas proximate to the tree.

Yet in another aspect of the invention, the container of the platform and/or towed trailer can be utilised to carry a variety of harvested and crop care materials such as herbicides, pesticide, fertilizer, or even plants or any fruits for cultivation on the trunks or proximity to the tree that suit the needs of plantations, fields, or orchards. In this embodiment, the container and/or towed trailer may have multiple interconnected compartments or multiple isolated compartments. Also, the work platform can be an integrated part of the vehicle such as a single or multiple trailers pulled by a tractor or any suitable type of vehicle or self-powered with sufficient power and traction to suit the terrain. Also the work platform can function to receive harvested FFB and tree fronds and convey such material using conveyance mechanism to a towed trailer for increased storage capacity. The towed trailer has a single or twin steerable axle to reduce turning radius and fitted with storage and allows for side or bottom discharge of its products provides for bottom and or side discharge of products.

The vehicle may further include one or more extendable legs for stabilizing the vehicle, sampling and sensor devices for collecting soil and tree information, cameras, RFIQ chips, electromagnetic sensor for identifying metal strips or barcodes that may be imprinted or attached on each tree or crop, and a GPS system showing the topography of the area and location of the vehicle and tree. The sensors and/or RFID can also be utilised to collect position information of the trees and to provide real time information data on soil, tree and fruit condition to support precision agriculture decision making by the workers or robots using the HCCM. In one embodiment of the invention, the vehicle is equipped with a forestry managing system incorporated with the described sensors and GPS, RFID and computer system for route planning and data controlling purposes in real time. The forestry plantation managing system may include a processor for processing the collected data, a database for storing the data, a display unit for displaying acquired information, a control unit for determining or input of information, software for precision agriculture and a network terminal for connecting to a centralised server.

The invention also provides a method for collecting the tree fond biomass in addition to the harvesting and crop care functions for achieving higher monetary value by further optimising the use of frond biomass. The invention can be alone used for a practice of tree trunk farming where high value decorative, medicinal and food plants with air root system can be planted, crop cared and harvested from the tree trunk without imperilling the tree growth and productivity

In one embodiment of the invention the vehicle and/or towed trailer has the capability to transport fertilizer, pesticides and herbicides for distribution to the trees during and in conjunction with the harvesting operation. Included is the capability of mixing fertilizer with palm residue, and transporting the mixtures directly to the tree for placement so that the time of uptake of nutrients by palm trees is significantly reduced comparing with the conventional practice.

In one embodiment the aerial carrier station of the HCCM is fitted with an access way platform that allows a worker to conduct trunk farming operations including the planting of suitable plants of high value medicinal, decorative, food uses on the tree trunk without detriment to the tree well being and allows for such efficient planting, crop care, harvesting and conveyance of such produce back to the HCCM for storage and subsequent evacuation. This invention provides an opportunity for the plantation industry to undergo a transformation that leads to psychological identification, institutional trust and economical legitimacy with all local and global stakeholders.

This invention serves as a catalyst and provides a means and platform to collect data and to identify and implement new concepts which can be formulated to establish man animal symbiosis schemes and to stop further deforestation, given that the invention helps to achieve and provides for greater productivity, agricultural output and value from existing agricultural land footprints, negating the need to deforest new lands to achieve higher output to feed the growing world population. One skilled in the art will readily appreciate that the 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 as limitations on the scope of the invention.

BRIEF DESCRIPTION OF THE DRAWINGS

For the purpose of facilitating an understanding of the invention, there is illustrated in the accompanying drawing the preferred embodiments from an inspection of which when considered in connection with the following description, the invention, its construction and operation and many of its advantages would be readily understood and appreciated. Fig. 1A is a side view of a harvester in a standby/driving mode with a towed trailer.

Fig. IB is a top view of the harvester in a standby/driving mode with the towed trailer.

Fig. 2 is a cross section view of the harvester in a standby/driving mode.

Fig. 3 is a top view of the harvester with extended outrigger track for operation mode with the towed trailer.

Fig. 3A is a cross section of the harvester with extended outrigger track and stabilizer and with lifting arm and chute in operational mode.

Fig. 4 illustrates the aerial carrier station of the harvester in operational mode. 5B & 5C illustrate positioning adjustment of the aerial carrier station cabin using a mechanical linkage to provide access to all sides of the trunk. illustrates a fruit collector in an opened configuration around the trunk. illustrates the fruit collector in a closed configuration surrounding the trunk. illustrates the folded extension assembly of the fruit collector in an extended mode. illustrates the folded extension assembly of the fruit collector in a retracted mode. illustrates the folded access way platform in retracted mode illustrates the unfolding, extension and opening configuration of the access way platform around the trunk. illustrates the access way platform in a closed configuration surrounding the trunk illustrates the side view of the first and second chain conveyor of the harvest machine.

Fig. 9B illustrates the top view of the harvester with the chute, chaser and first chain conveyor for fruit collection and conveyance to the towed trailer Fig. 9C illustrates the top view of the second chain conveyor for frond retrieval. Fig. 10 illustrates the harvester in operation on a hill terrain.

DETAILED DESCRIPTION OF THE INVENTION

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

As shown in Figs. 1A-3A, the harvester and crop care machine (HCCM) comprises a work platform that is placed on a vehicle chassis adapted the terrain conditions and to be driven between adjacent rows of fruit or produce bearing trees in a plantation, grove or orchard. A container (8) includes storage of crop produce and storage tanks for liquids and/or dry material used in crop care operations and mechanisms for transfer of harvested FFB (Fresh Fruit Branches) and tree fronds to the towed trailer (2) for additional storage. At least one lifting arm (3) is pivotally mounted to a post mounted a carrier base (4A) which is located on an extendable track (4) which is extended outward when in operation for the lifting arm (3) for the carrier base (4 A) to travel along. Each side of the work platform includes an upper deck area (1) which provides spaces for workers to walk and work between a forward section and a rear section of the HCCM. The upper deck area (1) also includes a plurality of reeling stations (5) for retrieving ejected grippers, and supporting rods (6) to support the retrieval of the frond grippers and a means for biomass conveyance to the towed trailer (2) for shredding with a shredder (6A) and storage. The HCCM also comprises a driver's compartment (7) with a capacity for 3 passengers and a multi-compartment container (8) accommodating a plurality of mechanisms, conveyor systems for transporting of the FFB, the tree fronds and cargo products located in the container (8) to the towed trailer (2). The HCCM may further comprise stabilizer legs (9) on both ends of the extendable track (4) for increasing stability of the HCCM during its operation. A fixed or retractable frond deflector (10) can also be mounted at the front and rear end of the HCCM to deflect the tree fronds aside while the workers are stationed on the upper deck and whilst HCCM is travelling along between tree rows.

As shown in Fig. 4, the free end of each lifting arm (3) supports an aerial carrier (11) which accommodates a work cabin (11A), an access way platform (11B) and a fruit collector system (12) that are able to be adjusted to maintain horizontal level position during operation of the lifting arm (3). The lifting arm (3) can couple with electronic system, mechanical system, hydraulic ram system (3A) and/or winch systems (42) and drives or in any combination thereof to move, extend, retract, rotate, raise and lower the lifting arm (3), to position the worker on the work cabin (11 A) or access way platform (11B) at the different levels of the tree or trunk (31) so that the harvesting and crop care operations can be carried out efficiently at a proximate distance. In one embodiment, each lifting arm (3) is connected to at least one supporting mast (13) via wires (13A). The wires in turn are connected to motors that configured to pull or release the wires so that the lifting arm (3) can have a lifting movement, a lowering movement, a sideways movement, or in any combination thereof.

In one embodiment, the lifting arm (3) is attached to a cylindrical post (14) which is rotated by a gear (14A) and driven along the extendable outrigger track (4) by gear driven electrically or hydraulically with manual backup. The cylindrical post is linked to the top of the container via movable folding support (14B) such that the container functions as a counterweight for the extended arm.

Preferably, the work cabin (11 A) includes a receptacle, seat or enclosed structure for supporting the worker and tools for harvesting, crop care, crop farming and precision agriculture. The worker is also able to access the access way platform (11B) for harvesting crop care and trunk farming operations. The tools may include a number of tool systems including a gripper system, a chisel cutting and sickle system (15). The gripper system for retrieving tree fronds may comprise a magazine (16) containing a plurality of sequentially arranged grippers, each gripper is connected to its corresponding reeling station (5) via line or wire and rods (6) allowing it to be retrieved by the reeling station (5), a loading means configured to load grippers from the magazine (16) to the tool (15), which ejects the gripper once the gripper has grasped a frond. Preferably, the closure of the gripper is triggered by a spring. The chisel and sickle system (15) may comprise a cutter connected to a spring or actuator unit that is configured to activate the cutter. The ejectable gripper system and the cutting system can incorporate with sensors or other mechanical device for automating the operations.

Additionally are tool holder actuators (17) which access tools stored at 17(B) that can access the ground area from the carrier station (11) for soil and tree sampling and sensor application and another tool for application of liquid spray and other cutting tools to access the trunk and tree foliage.

Electrical power supply to operate the aerial carrier (11) and its fittings is provided via power cable and its spooling reel (43).

A canopy (18) and (18A) can be provided on top of the work cabin (11A) and on top of the HCCM to protect the workers from hot or rainy weather conditions. The work cabin (11A) can be coupled with a mechanical linkage assembly (19) to provide multiple degrees of freedom for the further extensions and movements of the work cabin (11 A) around the trunk and tree foliage. Examples of the mechanical linkage assembly (19) is shown in Fig. 5A, Fig. 5B & Fig. 5C. In Fig 5A the mechanical linkage (19) is formed by a single tier telescopic bar with rotating mechanism to move the work cabin (11 A) in a generally semicircular manner. As such, not only the work cabin (11 A) can be lifted to a tree (31), but also its can be adjusted to position itself at the sides or the rear of the tree or trunk (31). Referring to Fig. 6A & Fig. 6B, the fruit collector (12) as illustrated therein comprises a pair of arm frames (28) jointed at one end (20) so that the two arm frames (28) can come together and enclose the trunk of the tree. The inner side of the arm frames (28) can be provided with elastomeric members (21) contacting with the tree to act as a support for reducing trembling/shaking of the carrier station when it is in operation. Each arm frame (28) carries a carrier basket (22) made of flexible mesh or canvas that is able to move consistent with the arm frame (28).

The outer perimeter of the fruit collector (12) is fitted with waterproof flexible canvas envelope type containers (26) which stores dry fertilizer which can be released and discharged to the tree base in desired quantities by the person in the work cabin (11A).

The outer perimeter of the collector (12) is also fitted tubes and nozzle system (27) for the spraying of liquids such as liquid fertilizers herbicides and pesticides to the tree base and trunk (31).

Referring to Fig.4 & Fig.3A, the carrier basket (22) has a downwardly sloped bottom that guides the collected fruits to an opening of a chute (23). Subsequently, the chute (23) transfers the collected fruits from the fruit collector (12) to the container (8) with a wire pulled chaser (24). The chute (23) is adjustable in length with a chute retriever (25) to adjust chute length and tension for fruit to flow by gravity through the chute (23) or as the fruit is made to roll upwards along the chute pulled by the chaser (24) which is wire pulled (24 A) and supported by the mast (13).

As shown in Fig. 7A & 7B, the pair of arm frames (28) can be folded together to allow the fruit collector system (12) to be retracted and retained in a slide holder (29) attached to the aerial carrier (11). In this arrangement, the pair of arm frames (28) can be telescopically extended or retracted to push the arms frames (28) out from the slide holder (29) or pull the arm frames (28) into the slide holder (29). The arm frames (28) can expand via spring members which are activated after being pushed out from the slide holder (29). The pair arm frames (28) are open and closed at the hinge point by an actuator (30) that is electrically, mechanically or hydraulically activated. The control of all above is done by the worker on the work cabin (11 A) of the aerial carrier (11).

As shown in Fig. 8A & 8B, the access way platform (11B) as illustrated therein comprises a pair of foldable co-joined access platform sections (11C) that can unfolded and configured to come together and enclose the trunk (31) in such a way to form a pathway for the worker to walk on the access platform sections (11C) around the trunk (31) as shown in the Fig. 8C. The access platform sections (11C) are stored in folded state behind the work cabin (11 A) of the aerial carrier (11) is triggered by the triggering means to be unfolded or collapsed and extended sideways upon the positioning the aerial carrier (11) near the tree. The folding and unfolding of the access way platform (11B) can be performed and controlled by the worker in the work cabin (11A). The platform sections (11C) of the access way platform (11B) is positioned to enclose around the trunk (31) forms the pathway around the trunk (31). This arrangement would allow the worker to walk on the access platform (11B) around the trunk (31) and plant, care and harvest selected plants suitable for trunk farming on the tree trunk. Such plants are high value plants with air roots (eg. orchids) and/or ferns and plants with small root base which are not detrimental to the tree. Further, the access way platform (11B) is served by a conveyor chute (34) whose one end is connected to the top end of the lifting arm(3) near the base of the aerial carrier (11) and another end located at the lower end of the lifting arm(3) , where the trunk farmed plants are fed to collection buckets (35),which in turn can be transferred for storage (35A) in the container (8) by using the lifting arms (36) for the collection buckets. The conveyor chute (34) runs parallel with the lifting arm (3) is extendable and retractable when the lifting arm (3) is extended and retracted. The worker walking on the access platform (11B) around the trunk can harvest the trunk farmed plants and place them into the conveyor chute (34) through an opening near the work cabin (11A) to be deposited into the container (8). The access way platform (11B) is retracted, folded and stored behind the aerial carrier (11) as shown in Fig. 8B. Each of the platform sections (11C) comprises a set of erectable rails and support columns which can be erected on the platform sections (11C) to provide structural support and safety for the worker walking on it. In an exemplary embodiment, the access way platform (11B) can be positioned around the fruit collector (12), where the worker can harvest the FFB from the tree and can throw into the fruit collector (12).

Further, referring to Fig 8A the access way platform (11B) is stored in folded position in a slideway attached on each side the aerial carrier (11). When required for operation the access way platform (11B) is extended out from the slideway and then unfolded.

Referring to Fig. 8B, the access way platform (11B) as illustrated therein comprises a pair of sections (11C) which are hinged so that each section can be extended out from its slide holder, unfolded and placed in open position and be extended on each side of the tree trunk (31) and then come together and enclose the trunk of the tree. The arm frames of the access way platform can be provided with slide bars, hinges, support wires and foldable hand rails. When operation is not required the access way platform (11B) is folded and retracted into its folded position in a slide way attached to the aerial carrier

As shown in Fig. 9A, 9B & 9C, the harvesting machine can further comprises of a fruit chain conveyor (37) and a fronds chain conveyor (38). The fruit chain conveyor (37) transports the fruit collected in the container (8) to the towed trailer (2) for storing in it. The fruit chain conveyor (37) comprises a chain belt powered to rotate at pre-determined speed has slots. The fruits in the container (8) are positioned within the slots to hold the fruit and transported to the towed trailer (2). The fronds chain conveyor (38) comprises a belt powered to rotate at a pre-determined speed. The fronds are arranged on the belt, the belts are provided with a pair of spaced tabs where the space between the tabs narrows down along the path of the moving belt to the towed trailer (2). This mechanism positions the fronds at the centre along the along and delivers the fronds to the towed trailer (2) in an orderly manner where they can be shredded with a shredder (6 A) and/or keep in un- shredded condition.

The towed trailer (2) is fitted with foldable work platforms (2A) to allow for worker access during operations. The towed trailer is also fitted with a compartment for storage of fertilizer and crop care liquids (46) , and separate compartments for storage of FFB (45) and frond biomass (44) which allow for bottom and side discharge of the such cargo produce.

The towed trailer (2) is also fitted with a landing and launching platform for operation of a drone for use in precision agriculture operations.

Referring Fig. 10 illustrates the harvester in an extended outrigger position in a hill terrain region. Where the worker can perform harvesting without any ease covering on both sides thereby reducing time, labour and greater productivity. The methodology, process and technique involved in the operation of the HCCM is where the HCCM functions as a mobile work platform to conduct all physical aspects of harvesting and crop care , which is used in conjunction with precision agriculture software and algorithms to optimize decision making of the harvesting and crop care operations which need to be performed. When the HCCM is positioned at any location it is able to access the 30-40 trees per operating location, its operation can be divided into six stages: The first stage is to cut and collect the fronds until the fruits are revealed, and then begin the second stage which is to cut and collect the fruits. In the first stage, each lifting arm (3) and its corresponding aerial carrier (11) is moved to a proximate position where the worker on the work cabin (11 A) positions the work cabin (11 A) so that the worker can use the gripper system (15) to grasp a frond. Then, the worker activates the chisel system (15) to cut off the frond once the ejected gripper has hold onto the frond. Lastly, workers on the deck retrieve the ejected gripper s together with the frond via the reeling stations (5).

In the second stage, the fruit collector (12) is moved to a position where its arm frames (27) can enclose the trunk (31). The worker then based on his operational needs and preferences has the option to activate, position and utilize the access way platform (11B) and /or the work cabin (11A). The fruit is cut by using the sickle system (15). The cut fruit will drop into the fruit collector (12) and will be guided to the container (8) via the chute (23) and/ or utilizes and positions the access way platform (11B) so that the worker can manually throw into the fruit collector.

In the third stage, the worker performs pollination operations and sensor measuring and sampling and inputs. In the fourth stage, as guided by the precision agriculture system, the worker applies fertilizer, herbicides and pesticides from the collector arm or using separate extendable tool applicator from the aerial carrier station.

In the fifth stage the aerial access platform is deployed to conduct trunk farming operations as and when required.

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

As shown in Fig. 10, not only the harvester is able to operate on a flat ground surface, it is also capable of operating on a slanted inclined landscape terrain. The vehicle chassis suitably adapted for operation on land terrain with flat, hilly, hard and/or soft land conditions and/or chassis adapted for amphibious operations to increase ease of access and evacuation.

The present disclosure includes as contained in the appended claims, as well as that of the foregoing description. Although this invention has been described in its preferred form with a degree of particularity, it is understood that the present disclosure of the preferred form has been made only by way of example and that numerous changes in the details of construction and the combination and arrangements of parts may be resorted to without departing from the scope of the invention.

Claims

1. An apparatus for harvesting and crop care of tree-borne crop products comprising: a vehicle carrying a work platform supporting a container (8) for collecting the products; and

at least one lifting arm (3) mounted on at least one side of the work platform for omnidirectional movement at one end and supporting a carrier station (11) at the fee end;

characterised in that the carrier station (11) is coupled with a mechanical linkage assembly (19) to provide multiple degrees of freedom for the further extensions and movements of the carrier station (11).

2. An apparatus according to claim 1, wherein the movement of the lifting arm (3) or the mechanical linkage assembly (19) are remotely controlled via at least one wire connected to the lifting arm (3).

3. An apparatus according to claim 1 or claim 2, wherein the wire is released or pulled by at least one motor.

4. An apparatus according to any one of claims 1 to 3, wherein the Ufting arm (3) and the mechanical linkage assembly (19) are driven hydrauiicaiiy.

5. An apparatus according to any one of claims 1 to 4, wherein the lifting arm (3) is telescopically adjustable in length.

6. An apparatus according to any one of claims 1 to 5, wherein the carrier station (11) comprises a magazine (16) for holding a plurality of ejectable grippers for individually gripping a frond of the crop, a chisel system for cutting a gripped frond, a first triggering means for activating the operation of the gripper followed by ejection of the gripper , and a second triggering means for activating the operation of the chisel to cut off the gripped frond, each gripper being connected by a line to a means for retrieving the gripper to reload back into the magazine (16).

7. An apparatus according to any one of claims 1 to 6, wherein the carrier station (11) further comprises a collector (12) for catching the products cut by a sickle system (15) and guiding the products to the container (8), the collector (12) having moveable arms (27) triggered by a third triggering means to allows the collector (12) to be positioned around the trunk of a tree (31), for feeding the collected products to the container (8) of the vehicle via a chute (23).

8. An apparatus according to any one of claims 1 to 7, wherein the carrier station (11) further comprises an extendable means for stamping and affixing sensor readable barcodes to each tree indicating its specific identification number.

9. An apparatus according to any one of claims 1 to 8, wherein the work platform further includes a shredder (6A) for shredding the fronds of the crop.

10. An apparatus according to any one of claims 1 to 9, wherein the vehicle further comprises a guiding means (24) for guiding the products through the chute (23) to the container (8).

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

12. An apparatus according to any one of claims 1 to 11, wherein the vehicle is equipped with a GPS based system for showing the topography and tree locations of the area and for showing the location and orientation of the vehicle and real time database recording and analysis of the data input from sensors on soil, tree and fruit condition to facilitate decision making in terms of harvesting and crop care for precision agriculture.

13. An apparatus according to any one of claims 1 to 12, wherein the work platform is an integrated part of the vehicle.

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

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

16. An apparatus according to any one of claims 1 to 15, wherein the aerial carrier station (11) further comprises an access way platform (11B) having a pair of movable arms, when triggered by the third triggering means allows the access way platform (11B) to be positioned around trunk of the tree (31) to provide a pathway for harvesting the products from the tree (31).

17. An apparatus according to any one of claims 1 to 16, wherein the collector (12) is triggered by the third triggering means to be folded and stored near the carrier station (11).

18. An apparatus according to anyone of claims 1 to 17, wherein the collector (12) is triggered to be extended and retracted by the third triggering means.

19. An apparatus according to any one of claims 1 to 18, further comprises a towed trailer (2), connected to the vehicle for additional storage of the products.

20. An apparatus according to any one of claims 1 to 19, further comprises a conveyor chute (34), arranged with the access way platform (11B) to guide the collected products from the tree (31) into the trailer (2).

21. An apparatus according to any one of claims 1 to 20, wherein the conveyor chute (34) is triggered by a fourth triggering means to be extended up to a predetermined height and retracted back to normal position.

22. An apparatus according to any one of claims 1 to 21, further comprises first chain conveyor (37) arranged with the container (8) for transporting the fronds from the container (8) to the trailer (2).

23. An apparatus according to any one of claims 1 to 22, wherein the first chain conveyor (37) comprises a conveyor belt, rotating at a predetermined speed to direct the products into the trailer (2) and a plurality of spring based tab mechanism, arranged on the conveyor belt continuously adjusts the position of the products towards the centre of the conveyor belt along its path.

24. An apparatus according to any one of claims 1 to 23, wherein the access way platform (11B) is provided with a plurality of foldable hand rails to provide support for a person walking on the pathway around the trunk.

25. An apparatus according to any one of claims 1 to 24, wherein the access way platform (11B) is triggered to be folded and stored behind the carrier station (11) by the third triggering means.

26. An apparatus according to any one of claims 1 to 25, further comprises a second chain conveyor (38) connecting the container (8) and the towed trailer (2) to transport the collected products in the container (8) in to the towed trailer (2).