AU2019240618B2 - Vehicle for Collecting and Transporting Agricultural Articles Therefor - Google Patents

Abstract

VEHICLE COLLECTING AND TRANSPORTING AGRICULTURAL ARTICLES THEREFOR The present invention relates to a vehicle for article conveyance, more 5 particularly, A self-propelled vehicle for agricultural articles conveyance (1), comprising: a main chassis (20), comprising an arrangement of tracks, half-tracks, or wheels (22) to provide mobility, a series of scissor linkages (23) coupled with a collection bin (25) to provide an elevation, a tilter coupled with the collection bin to provide lateral tilts; a vehicle operation 10 and control circuit system (30), comprising a propulsion means (31), comprising: at least one power plant, control, storage, and distribution channel of at least one type of energy in fluid, chemical, electric, or mechanical form, is configured and operatively connected to a grabbing mechanism. 15 (The most illustrative figure is FIG. 2) 41 1/14 FIG.1 (PRIOR ART) 1 30 20 10 FIG. 2

Description

1/14

FIG.1 (PRIOR ART)

1 20

10

FIG. 2

P/00/011 Regulation 3.2 AUSTRALIA

Patents Act 1990

COMPLETE SPECIFICATION FORASTANDARDPATENT ORIGINAL TO BE COMPLETED BY APPLICANT

Invention Title: Vehicle for Collecting and Transporting Agricultural Articles Therefor

Name of Applicant: LIM Bunnie Sun Heng, YAP Keng Toh

Address for Service: A.P.T. Patent and Trade Mark Attorneys PO Box 833, Blackwood, SA 5051

The following statement is a full description of this invention, including the best method of performing it known to me/us:

VEHICLE COLLECTING AND TRANSPORTING AGRICULTURAL ARTICLES THEREFOR

1. TECHNICAL FIELD OF THE INVENTION

The present invention relates to a vehicle for article conveyance, more

particularly, A self-propelled vehicle for agricultural articles conveyance

(1), comprising: a main chassis (20), comprising an arrangement of tracks,

half-tracks, or wheels (22) to provide mobility, a series of scissor linkages

(23) coupled with a collection bin (25) to provide an elevation, a tilter

coupled with the collection bin to provide lateral tilts; a vehicle operation

and control circuit system (30), comprising a propulsion means (31),

comprising: at least one power plant, control, storage, and distribution

channel of at least one type of energy in fluid, chemical, electric, or

mechanical form, is configured and operatively connected to a grabbing

mechanism.

2. BACKGROUND OF THE INVENTION

Reference is made to Malaysian application P12017704561 to Lim et

al., the document discloses a self-propelled vehicle, comprising a frontal

mounted scooping and sweeping mechanisms to collect ground strewn

agricultural articles, such as but not limited to fresh fruit brunch

(henceforth FFB). At the middle part of the vehicle comprising a collection

bin to store the articles. At the rear part of the vehicle comprising operating system to control movement of the vehicle, bin, and scooping and sweeping mechanisms.

The present invention provides novel improvements by

incorporating opposable buckets, proximity sensors or the likes, pre

programmed movements of grabbing mechanism to provide efficient and

reliability in conveying and collecting ground strewn agriculture articles.

Demonstrated herein are novel methods of article collection from

"single frontal sweeping motion" to "double sideways clasping / clamping"

on the FFBs.

Above-mentioned action performed by two rotary hydraulic motors

in opposite direction; however, can be replaced by electric motors in lieu of

hydraulic power.

Rotary action can also be replaced by linear hydraulic cylinders

acting directly on the buckets or through a series of mechanical linkages.

Single hydraulic cylinder for the "Sweeper" configuration is removed.

Stopper units for limiting downward movement of "Loader" are replaced by

dual adjustable landing pads. Height of the "Loader" or grabbing

mechanisms' (both terms "Loader" and grabbing mechanism are

interchangeable) pivoting point raised up by 150 mm to enable "Loader" or

grabbing mechanism to redirect discharging towards to the center of the

"Collection bin".

An FFB detection system is incorporated into the chassis and

protruding out beneath the "Loader". This function will stop the vehicle from going forward, also providing an optimal stopping positon for the buckets to be directly above the articles to be picked up.

This detecting system also acts as a safety stopping device to inhibit

frontal movement when an obstacle is in the way.

All mechanically toggle hydraulic valves are revised to "Electrically

Driven Solenoid Valves". Introduction of Programmable Logic Control

(henceforth PLC) system that utilizes inputs from proximity sensors and

toggle switches to perform all hydro-mechanical functions of the vehicle.

With this PLC input/output control, the operation of the vehicle will

be restricted to only what it is supposed to perform. Thus, safeguard the

equipment from misuse and provide safety measure to both man and

vehicle.

Accordingly, the need for manually engaging the hydraulic valves to

steer the vehicle is eliminated. Vehicle control is replaced by a handlebar

akin to motorcycle handlebars. With the addition of levers on the left and

right of the handlebars, and an electrical button on the right hand side, this

steering can control the following without letting go of the handlebar as a

safety precaution, such as Left-Right steering movement of the vehicle;

Forward-Reverse movement of the vehicle; and Regular-Fast operation

speed of the vehicle in entirety.

The improved vehicle has incorporated the PLC unit and has certain

failsafe to disable movement, if the proper vehicle conditions are not met.

3. SUMMARY OF THE INVENTION

Accordingly, it is the primary aim of the present invention to provide

an all-terrain vehicle to collect ground strewn agriculture articles such as

FFB, and convey to trailers, bins, trucks, silos, or the likes.

It is yet another objective of the present invention to provide a self

propelled vehicle to collect and convey as compared to conventional

wheelbarrow.

It is yet another objective of the present invention to provide a

grabbing mechanism comprising a pair of opposing buckets which are

pivotable.

It is yet another objective of the present invention to provide an

adjustable landing pad on a swing arm to provide a ground clearance

between the buckets and ground, also providing a damper effect to the

grabbing mechanism when it is being lowered from discharging phase.

It is yet another objective of the present invention to provide an

automatic or semi-automatic pre-programmed movements of the grabbing

mechanism during a step of picking up/grabbing the agricultural articles,

driving phase, and discharging phase. These movements can be pre

programmed in a programmable logic controller (PLC).

It is yet another objective of the present invention to provide a

plurality of proximity sensor, mechanical switch, or a combination thereof, on the vehicle, wherein the sensor can detect a presence of the agriculture articles so that a pre-programmed movement of the vehicle can be initiated.

It is yet another objective of the present invention to provide a self

propelled vehicle capable of elevating and tilting its tray to discharge

agriculture articles such as FFB therein to a high vehicle such as trailers, bins,

trucks, silos, or the likes.

Additional objects of the invention will become apparent with an

understanding of the following detailed description of the invention or

upon employment of the invention in actual practice.

Accordingly to the preferred embodiment of the present invention

the following is provided:

A self-propelled vehicle for agricultural articles conveyance,

comprising:

a main chassis, comprising:

an arrangement of tracks, half-tracks, or wheels to provide

mobility, a series of scissor linkages coupled with a collection bin to

provide an elevation, a tilter coupled with the collection bin to provide

lateral tilts; and

a vehicle operation and control circuit system, comprising: a propulsion means, comprising: at least one power plant, control, storage, and distribution channel of at least one type of energy in fluid, chemical, electric, or mechanical form, is configured and operatively connected to a grabbing mechanism; characterized in that a grabbing mechanism is frontally mounted on the vehicle, comprising: a support frame is mounted on the chassis, comprising at least a swing arm, a bridge arm coupled between the swing arms, a first end of the swing arm is coupled to the support frame, a swing arm driver interposed the swing arm and support frame, a second end of the swing arm comprising an adjustable landing pad wherein the pad can provide variable height or ground clearance to the grabbing mechanism; a stabilizing arm branches forward from the swing arm, defining a structural support to a pair of buckets, wherein the buckets receiving surfaces are opposing each other, a bucket driver is operatively connected to the bucket whereby during an activation of the driver enables the buckets to pivot, during an activation of the arm driver enables the grabbing mechanism to pivot; the vehicle operation and control circuit system, comprising: a programmable logic controller is electrically connected to a plurality of actuators, switches, sensors, or gauges, wherein upon receiving a signal therefrom, triggering a pre-determined movement of the grabbing mechanism; a thumb button switch; a handlebar, comprising dual handles wherein each handle comprising a lever wherein upon triggering of the lever, levers, pedal switch, or a combination thereof, triggering a predetermined movement of the grabbing mechanism and the directional movement of the vehicle; and the main chassis, comprising at least one sensor configured to detect a physical contact of agricultural article, wherein in an event of the physical contact is registered, thereby triggering a predetermined movement of the grabbing mechanism.

4. BRIEF DESCRIPTION OF THE DRAWINGS

Other aspect of the present invention and their advantages will be

discerned after studying the Detailed Description in conjunction with the

accompanying drawings in which:

FIG. 1 illustrates a side view of a prior art of a self-propelled vehicle

comprising a front mounted scooping and sweeping mechanisms to collect

agricultural articles. The middle part of the vehicle comprises a collection

bin to store the articles. The rear part of the vehicle comprises operating

system to control movement of the vehicle, bin, and scooping and

sweeping mechanisms.

FIG. 2 illustrates a side view of the present invention of a self

propelled vehicle comprising a frontally mounted grabbing mechanism to

collect agricultural articles, an agricultural article collection bin, and a

vehicle operating control system.

FIG. 3-A illustrates an enlarged view of FIG. 2 an exemplary

grabbing mechanism whereby the bucket pairs are pivotable by hydraulic

motors.

FIG. 3-B illustrates a front view (plane I-I of FIG. 3-A) of the

grabbing mechanism in a closed state.

FIG. 3-C illustrates a front view (plane I-I of FIG. 3-A) of the

grabbing mechanism in an opened state.

FIG. 4 illustrates a perspective view of a pair of grabbing

mechanisms, each grabbing mechanism comprising a stabilizing arm, a

hydraulic driver is operatively connected to a bucket, wherein the arm is

substantially defined around the bucket.

FIG. 5-A illustrates an enlarged view of FIG. 2 another exemplary

grabbing mechanism, comprising the bucket pairs, wherein the bucket

pairs are pivotable by pneumatic or hydraulic cylinder.

FIG. 5-B illustrates a rear view (plane II-II of FIG. 5-A) of the bucket

pairs are in a closed state.

FIG. 5-C illustrates a rear view (plane II-II of FIG. 5-A) of the bucket

pairs are in an opened state.

FIG. 6-A illustrates an enlarged view of FIG. 2 another exemplary

grabbing mechanism, comprising the bucket pairs, wherein the bucket

pairs are pivotable by tandem cylinder.

FIG. 6-B illustrates a rear view (plane II-II of FIG. 6-A) of the bucket

pairs are in a closed state.

FIG. 6-C illustrates a rear view (plane II-II of FIG. 6-A) of the bucket

pairs are in an opened state.

FIG. 6-D illustrates a partial internal view of an exemplary tandem

hydraulic cylinder, wherein the cylinder comprises a housing with two

equal length of cylinder rods extend in opposable direction.

FIG. 7-A illustrates an enlarged view of FIG. 2 another exemplary

grabbing mechanism, comprising the bucket pairs, wherein the bucket

pairs are pivotable by tandem cylinder and link arrangement.

FIG. 7-B illustrates a rear view (plane II-II of FIG. 7-A) of the bucket

pairs are in a closed state.

FIG. 7-C illustrates a rear view (plane II-II of FIG. 7-A) of the bucket

pairs are in an opened state.

FIG. 8-A illustrates a side view of an exemplary mechanical linkage

mounted on the support frame, the swing arm is positioned away from the

linkage during a driving phase and discharging phase.

FIG. 8-B illustrates a side view of an exemplary mechanical linkage

mounted on the support frame, the swing arm is positioned such a way

that the arm contacts with the linkage during a picking phase.

FIG. 9-A illustrates an enlarged view of the FIG. 8-A of the

mechanical linkage and an exemplary sensing mechanism in the driving

phase, whereby the linkage and sensing mechanism are unactuated.

FIG. 9-B illustrates an enlarged view of the FIG. 8-B of the

mechanical linkage and an exemplary sensing mechanism in the picking

phase, whereby both linkage and sensing mechanism are actuated when a

contact is made on the agriculture article.

FIG. 10-A illustrates an enlarged view of the FIG. 9-A of the

mechanical linkage and an exemplary sensing mechanism in the driving phase, whereby the sensing mechanism are unactuated and positioned at plane g1.

FIG. 10-B illustrates an enlarged view of the FIG. 9-B of the

mechanical linkage and an exemplary sensing mechanism in the picking

phase, whereby the sensing mechanism are actuated and positioned at

plane g2.

FIG. 11-A illustrates a side view of the sensing mechanism.

FIG. 11-B illustrates a front view of the sensing mechanism.

FIG. 11-C illustrates a top view of the sensing mechanism.

FIG. 12 illustrates a side view of a sequence of the vehicle's grabbing

mechanism in picking phase, driving phase, and discharging phase.

FIG. 13 illustrates a side view of an exemplary main chassis,

comprising a chassis base, lifter, tilter, side door releases, and collection

bin. Shown an exemplary vehicle operating control system comprising

drivetrain and transmission to propel and navigate the vehicle. Shown an

exemplary fluid driver circuit operatively connected to the collection bin

and grabbing mechanisms, whereby the circuit energies a predetermined

hydraulic instrument to operate the bin and mechanisms.

FIG. 14 illustrates an exemplary hydraulic circuit diagram which

operatively connected to the collection bin and grabbing mechanism.

FIG. 15-A illustrates an exemplary solenoid and sensor circuit

diagram showing a configuration of activation and energization can be

performed by a hand operated controller.

FIG. 15-B illustrates an exemplary front view of the hand operated

controller and sensor apparatus.

FIG. 15-C illustrates an exemplary side view of the hand operated

controller and sensor apparatus. FIG. 15-D shows top view of the hand

operated controller in neutral position.

FIG. 15-E shows top view of the sensor apparatus comprising a

group of sensors configured around the handlebar, the sensors can be

activated by a protruding member disposed on the handlebar shaft. Here

the protruding member is at neutral position corresponding to FIG. 15-D

of the handlebar.

FIGS. 15-F and 15-H show the handlebar turned at an angle 0.

FIGS. 15-G and 15-I show the sensors (L1 and R1) are activated,

respectively.

FIG. 16 illustrates an exemplary flow diagram of the vehicle

operating methods.

FIG. 17 illustrates an exemplary wiring and power system of the

vehicle.

FIGS. 18-A and 18-B illustrate an exemplary wiring of PLC system

of the vehicle.

5. DETAILED DESCRIPTION OF THE DRAWINGS

In the following detailed description, numerous specific details are

set forth in order to provide a thorough understanding of the invention.

However, it will be understood by the person having ordinary skill in the

art that the invention may be practised without these specific details. In

other instances, well known methods, procedures and/or components have

not been described in detail so as not to obscure the invention.

The invention will be more clearly understood from the following

description of the embodiments thereof, given by way of example only with

reference to the accompanying drawings, which are not drawn to scale.

Referring to FIG. 2 illustrates a side view of the present invention of

a self-propelled vehicle (1), comprising a frontally mounted grabbing

mechanism (10) to collect agricultural articles, a main chassis (20), and a

vehicle operating control system (30).

Referring to FIG. 3-A illustrates an enlarged view of FIG. 2 an

exemplary grabbing mechanism (10). Then referring to FIG. 3-B illustrates

a front view (plane I-I of FIG. 3-A) of the grabbing mechanism (10) in a

closed state. Then referring to FIG. 3-C illustrates a front view (plane I-I of

FIG. 3-A) of the grabbing mechanism (10) in an opened state. The grabbing mechanism (10) is frontally mounted on the vehicle, comprising a support frame (11) substantial vertically mounted on the vehicle's main chassis, comprising at least a swing arm (12), a bridge (12A) coupled between the swing arms, a first end of the swing arm is coupled to the support frame

(11), a swing arm driver (16) interposed the swing arm (12) and support

frame (11), a second end of the swing arm (12) comprising an adjustable

landing pad (15), wherein the pad can provide variable height or ground

clearance to the grabbing mechanism.

A stabilizing arm (13) branches forward from the swing arm (12),

defining a structural support to a pair of buckets (14)(14'), wherein the

buckets receiving surfaces are opposing each other. A bucket driver (18) is

operatively connected to the bucket pairs (14)(14'). The driver (18) can be

hydraulically, pneumatically, or electrically powered, whereby during an

activation of the driver (18) enables any one bucket or both buckets (14)(14')

to pivot either in closed state (enabling to hold agriculture articles therein)

or opened state (during an approach to grab ground strewn agriculture

articles), then during an activation of the swing arm driver (16) enables the

first end of swing arms (12) to pivot about the support frame (11).

Accordingly, the bucket pairs or the opposing bucket pairs (14)(14')

comprising an attachment (14A) and opposable attachment (14A') such as

comb, protruding edge, or other variant. Preferably, the attachment (14A)

and (14A') are gapped at a distance (a).

Referring to FIG. 4 illustrates a perspective view of a partial view of

the grabbing mechanism (10), comprising a pair of stabilizing arms (13)(13')

substantially defined around a bucket pairs (14)(14'), a pair of hydraulic

driver (18)(18') operatively connected to corresponding arms and

corresponding the bucket pairs (14)(14'), whereby during an activation of

the hydraulic driver causing the bucket to pivot within the stabilizing arm.

Referring to FIG. 5-A illustrates an enlarged view of FIG. 2 another

exemplary grabbing mechanism (10), comprising the bucket pairs (14)(14'),

wherein the bucket pairs are pivotable by pneumatic or hydraulic cylinder.

Then referring to FIG. 5-B illustrates a rear view (plane II-II of FIG. 5-A) of

the bucket pairs (14)(14') are in a closed state. Then referring to FIG. 5-C

illustrates a rear view (plane II-II of FIG. 5-A) of the bucket pairs (14)(14')

are in an opened state.

If the speed of opening and closing of the bucket pairs (14)(14') is not

of great concern, a single hydraulic cylinder (181) can be used, as opposed to

the prior example of dual driver (18) configuration.

Accordingly, linear motion from cylinder rod (182) toggles two links

(184)(184') of their first end coupled to a crosshead (183), the links (184)(184')

second end are coupled to each of bucket pairs (14)(14'). During a retracting

actuation, the rod (182) retracts the crosshead (183) and corresponding links

(184)(184') to the corresponding bucket pairs (14)(14') thereby pivotably

closing the bucket pairs. During an extending actuation, the rod (182)

extends the crosshead (183) downward, thereby extending corresponding links (184)(184') to the corresponding bucket pairs (14)(14'), thereby pivotably opening the bucket pairs.

The cylinder (181) is configured in such a way, it is preferably

disposed close to the swing arms (12) that the cylinder and its

corresponding ancillaries such as cylinder rod (182), crosshead (182), and

links (184)(184') do not obstruct or hinder the incoming agriculture articles.

Referring to FIGS. 6-A and 6-D illustrate an enlarged view of FIG. 2

another exemplary grabbing mechanism (10), wherein the bucket pairs

(14)(14') are pivotable by a tandem hydraulic cylinder (185), respectively.

The tandem hydraulic cylinder comprising a cylinder housing of two ends,

and both ends has a cylinder rod (186)(186'). The cylinder rods are

preferably same length (E), thereby during an extension or retraction of the

cylinder rods would result in same stroke distance. It is understood that two

units of conventional hydraulic cylinders (18) can be used; however, for a

quick linear actuation, the tandem hydraulic cylinder rods (186)(186') can be

configured to extend and retract in opposable directions with unison.

Referring to FIG. 6-B illustrates a rear view (plane II-II of FIG. 6-A) of the

grabbing mechanism in a closed state. Then, referring to FIG. 6-C

illustrates a rear view (plane II-II of FIG. 6-A) of the grabbing mechanism

in an opened state. FIG. 6-D illustrates a partial internal view of an

exemplary tandem hydraulic cylinder, wherein the cylinder comprises two

equal lengths of opposable cylinder rods.

The tandem cylinder (185) can be placed either at the lower portion

or middle portion of the swing arm (12). When placed at the lower portion

of the swing arm (12), extending the tandem cylinder (185) exerts a force

sideways - pushing the bucket pairs (14)(14') apart. Likewise when the

cylinder (185) retracts, the cylinder rods (186)(186') pull the bucket pairs

together, closing and clasping the agriculture articles.

Referring to FIG. 7-A illustrates an enlarged view of FIG. 2 another

exemplary grabbing mechanism, comprising the bucket pairs, wherein the

bucket pairs are pivotable by a tandem cylinder and link arrangement.

Then, referring to FIG. 7-B illustrates a rear view (plane II-II of FIG. 7-A) of

the bucket pairs are in a closed state. Then, referring to FIG. 7-C illustrates

a rear view (plane II-II of FIG. 7-A) of the bucket pairs are in an opened

state. In this embodiment, the tandem cylinder (185) is placed at the middle

portion of the swing arm (12). Each of tandem cylinder rod (186)(186') is

operatively connected to a corresponding curved link (189)(189'). During an

extension of the rods, this exerts a force sideways thereby the curved links

push the bucket pairs closer, enabling a clasping force on the FFB. Likewise

when the cylinder rods retract, the cylinder rods pull bucket pairs together,

opening and releasing the fruits.

Referring to FIG. 8-A illustrates a side view of an exemplary

mechanical linkage (50) mounted on the support frame (11); the

mechanical linkage is supported by a linkage base (19A), the swing arm

(12') is positioned away at distance b from the linkage (50) during a driving phase and discharging phase. Here shown the mechanical linkage

(50) is unactuated.

Referring to FIG. 8-B illustrates a side view of an exemplary

mechanical linkage (50) mounted on the support frame (11), the swing arm

(12) is positioned such a way that the swing arm contacts and compresses

with the linkage (50) during a picking phase. Here shown the mechanical

linkage (50) is actuated.

Referring to FIG. 9-A illustrates an enlarged view of the FIG. 8-A of

the mechanical linkage (50) and an exemplary sensing mechanism (60)

during the driving phase, both the linkage and sensing mechanism are

unactuated.

The mechanical linkage (50) comprising a first link (51), a second link

(55), and an intermediary link (53) coupled therebetween. The first link (51)

is operatively connected to the sensing mechanism (60), which to be

described further.

The first link (51) is substantially L shaped link, comprising a pivot

point (52) coupled on the support frame (11) thereby allowing the lower link

(51) to pivot about the support frame (11).

The second link (55) is substantially a bend link, comprising a pivot

point (54) coupled on the (19A). Here shown the pivot points (52)(54) have

an offset plane s1 and s2.

The two links (51)(55) are strategically placed at the front of the

vehicle, beneath the swing arm (12) and are linked together by the intermediary link (53). Moving one of the links will in turn affect the position of the other link.

If no external actions are acted upon the "Upper link" or the second

link (55), it is spring loaded at the pivot point (54) to maintain its position as

shown. The other pivot point (52) can be spring loaded to ensure a

contingency effort is available.

When the swing arm (12) is raised to a defined height, with a distance

that is viable for the vehicle's movement, the "Upper link" or the second link

(55) is at its home position also known as driving phase, wherein the lifter

and tilter are fully down, loader is in driving phase, and the buckets are

opened. This causes the "Sensing mechanism" (60) to be protruded out into

the area of fruit picking. The sensing mechanism is mainly mechanical

apparatus, to ensure that it functions even without power to the vehicle.

Since it does not require hydraulic or electrical actuation to retract, the

mechanism would operate continuously. Anytime when the swing arm

comes down, the links will ensure that the sensing mechanism moves out of

the way and vice versa.

The act of the contact plate (64) stopping the vehicle from going

forward (during fruit detection) is a separate function, even though it is

electrically controlled.

Whenever the "Sensing mechanism" (60) is in contact with the

agriculture article (80), the vehicle will stop (further explanation in FIGS. 11

A to 11-C) and the swing arm (12) will come down, striking the'Upper link" top lever (56). This in turn will move the "Lower link" or the first link (51), retracting the "Sensing mechanism" (60) inwards.

The "Sensing mechanism" will be cleared of the downward

movement of the "Bucket pairs".

As soon as the swing arm (12) is raised to the defined height which

can be detected by a sensor and PLC programming (not shown) mounted on

the support frame (11), or whenever the sensor detects the swing arm at a

particular angular position, it is declared as "swing arm driving position",

thereby releasing any driving inhibition, then the "Sensing mechanism" will

be brought out for the next collection cycle.

Referring to FIG. 9-B illustrates an enlarged view of the FIG. 8-B of

the mechanical linkage (50) and an exemplary sensing mechanism (60) in

the picking phase, whereby both linkage and sensing mechanism are

actuated when a contact is made on the agriculture article (80).

Referring now to FIG. 10-A illustrates an enlarged view of the FIG.

9-A of the mechanical linkage and an exemplary sensing mechanism in the

driving phase, whereby the sensing mechanism are unactuated and

positioned at plane g1 (demarcated by dotted line). The lower link (52)

comprising an aperture or notch (57) to slot in a bush (62) of the sensing

mechanism (60).

Referring to FIG. 10-B illustrates an enlarged view of the FIG. 9-B of

the mechanical linkage and an exemplary sensing mechanism (60) in the

picking phase, whereby the sensing mechanism (60) are actuated by an agriculture article, and the mechanism travelled and positioned at plane g2

(demarcated by dotted line).

Referring to FIG. 11-A illustrates a side view of the sensing

mechanism (60). The mechanism sits on a linear "Guide rail" (68) thateases

the horizontal in/out movement disposed on top of the (19B). At each side

of the housing unit (61) is made of Delrin, a bush (62) is planted to act as a

leverage point for the "Lower link" (51) actions. At the front edge of the

"Sensing mechanism", spring (66) loaded metal rods (63) extend outwards to

meet a "Contact plate" (64) and being fasten by at least one screw (65). When

an object in the vehicle's path is acting on the "Contact plate", it pushes the

spring loaded rods (63) backwards within spring travel distance, K. This

backward movement or reciprocating movement will trigger an inductive

sensor (67) on the "Sensing mechanism". The vehicle (1) will stop. If the

"Pick" button on the "Operator Control Panel" is depressed, the vehicle will

lower the swing arm (12) and this in turn, retracts the sensing mechanism

(60) inwards. Vehicle sequence will continue into the "Fruit picking" phase.

Referring to FIG. 11-B illustrates a front view of the sensing

mechanism (60). Then, referring to FIG. 11-C illustrates a top view of the

sensing mechanism (60).

Referring to FIG. 12 illustrates a side view of a sequence of the

vehicle's grabbing mechanism (10) and its corresponding parts, during a

picking phase (no prime denotation) whereby the mechanism (10) abuts

the ground plane; driving phase (denoted by single prime (')) whereby the grabbing mechanism (10) is lifted off the ground plane; and discharging phase (denoted by double prime (")) whereby the swing arms (12") are fully pivoted, swing arm driver (16") are fully extended, and bucket pairs

(14") drop the agriculture articles (80") therein.

Referring to FIG. 13 illustrates a side view of an exemplary main

chassis (20), comprising chassis base (21) to accommodate a collection bin

(25) thereon. The collection bin (25) can configure to lift upward by a lifter

(23) and tilt laterally by a tilter (not shown). The tilter comprising tilter

latches (24)(26) being operatively connected, wherein engaging each tilter

latch to enable the collection bin (25) to a lateral side tilt. The collection bin

(25) comprising at least one side door releases (27) to allow at least one

side door to open and close.

Here shown a proximity sensor (17A) mounted on the chassis base

(21) emitting electromagnetic wavelength (17B) toward the agriculture

article (80), thereby gauging the distance therebetween to trigger a

predetermined movement of the grabbing mechanism (10); however, it is

contemplated that other types of sensor can be mounted, such as but not

limited to laser, ultrasonic, capacitance, or the likes. Also, it is understood

that the sensors (17)(17A) can be mounted on the main chassis and not

limited to the chassis base (21).

Although this document described hydraulic power dominantly, it

is understood that the vehicle operation and control circuit system (30), comprising a propulsion means (31) comprising at least one drivetrain or powertrain, can be configured to have at least one internal combustion engine, hydraulic power pack, compressor, electric or the likes, or a combination thereof. The propulsion means (31) can be fitted with vibration dampers (35) then mounted on a standing platform (36). It is understood that the standing platform can provide a driver seat.

The output of the powertrain can be transferred or distributed by

transmission axle, hydraulic circuit, compressed air circuit, electric cables,

or the likes, or a combination thereof.

The powertrain also comprises storage of at least one type of energy

in the form of hydraulic, pneumatic, chemical, electric, mechanical, or the

likes, or a combination thereof.

The vehicle operation and control circuit system (30), comprising a

programmable logic controller or any form of microprocessor, is

electrically connected to a plurality of actuators, switches, sensors, or

gauges, wherein upon receiving a signal therefrom, triggering a pre

determined movement of the grabbing mechanism.

To provide better operator's control of the vehicle, the vehicle

operation and control circuit system (30), further comprising a human

vehicle controller, such as but not limiting to, hand operated controller (34)

and pushbutton switch (P).

Referring to FIG. 14 illustrates an exemplary hydraulic circuit (40)

diagram which operatively connected to the main chassis (collection bin

included) and grabbing mechanism. At least one fluid driver circuit

operatively connected to the grabbing mechanisms (10) and main chassis

(20), whereby the circuit energizes a predetermined hydraulic instrument

to operate the bin and mechanisms. Most of the moving parts of the vehicle

are hydraulic powered forward and reverse drive motions; upward and

downward movement of the tilter, lifter, and loader; opening and closing of

the buckets for picking.

A dual hydraulic pump (31B) driven by a diesel engine (31A)

supplies all the hydraulic fluid and hydraulic pressure. Circuit 1 of the

hydraulic pump is dedicated to the right drive, tilter, and loader. Circuit 2 of

the hydraulic pump is dedicated to the left drive, lifter, and buckets.

Both these circuits have peripheral valves providing either a

"Normal/Regular" operating pressure or an "Increased/Fast" - a hydraulic

pressure setting that enables the vehicle to move at a faster rate. Trigger the

"Increased" pressure setting by pressing the electrical button on the right

side of the handlebar. The throttle control cable on the right side of the

handlebar can also increase the diesel engine's running speed which in turn

increases the flow rate of the hydraulic pump and this enables the vehicle to

be faster.

Each of the hydraulic solenoid valves are 12 VDC operated, and the

sequence of operation is controlled by the PLC - either in MANUAL mode or SEMI-AUTO mode. Previously the valves were manually activated by applying a force on the levers to toggle the valves.

Here shown an exemplary hydraulic circuit design, comprising but

not limiting to, engine or powertrain (31A) to drive a hydraulic pump or

powerpack (31B). It is contemplated that a skilled artisan can design

according to the pump's operating pressure and oil volume; the artisan can

design a single or multiple hydraulic circuit to power the hydraulic controls,

such as but not limiting to, 4/3 way solenoid valve (41), check valve (42),

relief valve (43), oil sump (44), and main oil tank (31C).

The hydraulic controls are, thereby, operatively connected to

corresponding specific hydraulic apparatus such as hydraulic cylinders

(16)(28)(29) and hydraulic motor to power the vehicle wheels (22).

Referring to FIG. 15-A illustrates an exemplary solenoid and sensor

circuit diagram showing a configuration of activation and energization can

be performed by a hand operated controller.

The principle of directional movement (or steering) of the vehicle

remains unchanged, but solenoid valves are used instead of manually

triggering the mechanical valves using levers.

The thought process of the operator is reduced for him/her to focus

on other job functions. Steering of the vehicle is just by turning the

motorcycle handlebar to either the left or right and point to the direction of

travel, applies to forward and reverse.

The right lever on the handlebar will result in the vehicle going

forward and the left lever on the handlebar causes the vehicle to reverse.

A push button or PUSH switch "FAST" on the right side of the

handlebar enables a quicker response to the drive system.

In a "Panic" situation where/when both levers are pressed, the

vehicle will stop.

Example of Effect of activation of sensor R1

Accordingly, the activation of sensor R1 works in conjunction with

the levers (Left/Right) and Push switch (P). The outputs from the above

based inputs (Steering position to R1, Left/Right Levers, PUSH switch) will

cause the solenoids to fire, as below:

Forward (Right lever)

• Switches on (Solenoids 1 and 3) Left and Right Motor to go forward

but due to (Solenoids 6) deactivating relief on the Left Motor, the Left

Motor will be faster and the vehicle slowly turns right;

• Relief Valves are normally opened (NO). Firing it will close the valve.

Forward + P (Right Lever + PUSH switch)

• Switches on (Solenoid 1) Left motor only while right motor is not

activate;

• This will cause vehicle to turn to the right more drastically;

• Here the PUSH switch does nothing instead because the Right Motor

has already stopped, no point giving more power to the Left motor.

Other hydraulic controls (Hy) can be configured on the hand

operated controller (34) to safeguard processes and inhibit unsanctioned

actions, such as but not limiting to, i) manual activation of TILTER (only when either left/right latch is released and LOADER in driving phase/Down position and LIFTER is

Down position;

ii) manual activation of LOADER (only when LIFTER is fully down and

TILTER not active);

iii) manual activation of LIFTER (only when TILTER is active and

LOADER in driving phase/Down position;

(iv) manual activation of the BUCKETs (only when LOADER is in driving

phase /Down position).

Referring to FIG. 15-B illustrates an exemplary front view of the

hand operated controller (34) operatively connected to a sensor apparatus

(38). Referring to FIG. 15-C illustrates an exemplary side view of the hand

operated controller (34) and sensor apparatus (38). Referring to FIG. 15-D

shows top view of the hand operated controller in neutral position.

Referring to FIG. 15-E shows top view of the sensor apparatus (38)

comprising a group of sensors (L2)(L1)(C)(R1)(R2) configured around the

handlebar shaft (381), the group of sensors can be activated by a

protruding member (386) disposed on the handlebar shaft (381). Here the

protruding member is at neutral position corresponding to FIG. 15-D of

the handlebar. Referring to FIGS. 15-F and 15-H show the handlebar

turned at an angle (0) of about 300. The handlebar turning angle

corresponds to steering mounting or steering axles (not shown) coupled to

the wheels, thereby the angle of handlebar turning angle (or lock-to-lock)

dictates how much the wheels turn to left side or right side. In this embodiment, it is shown that the lock-to-lock is about 1200 with 600 on each side.

Accordingly, in this embodiment, there are 5 sensors disposed in a

semi-spherically around the shaft, thereby giving about 30 angular

degrees between each sensor.

Referring to FIGS. 15-G and 15-I show the sensors (L1 and R1) are

activated at 300 angular degrees to the left and right, respectively.

Accordingly, each side of the handlebar (34A)(34C) is coupled to a

length of handlebar rod (304) then fitted on or clamped by a pair of

handlebar bases (305). At the base of the handlebar (305), the groups of

sensors (387) representing the sensors (L2)(L1)(C)(R1)(R2) which are not

visible and are enclosed by a casing (380). These sensors disposed on top of

a sensor base (385), are arranged in a semi-circle pattern to detect a metal

plate protruding member (386) from the handlebar shaft (381). Anytime the

handlebar is turned, the shaft (381) which is fitted through a top bearing

(382) and a bottom bearing (383), enabling the shaft to be rotatable, the

metal protrusion will flick between the group of sensors, enabling one or

more of the sensors in the group to activate.

The sensors' activation when referred to the vehicle's programming

logic, will determine the vehicle's directional movement. Activation of the

levers on the handlebar determines forward or reverse drive movement.

Referring to FIG. 16 illustrates an exemplary flow diagram of the

vehicle operating methods. The vehicle's operation may include the

following: Performing necessary safety and operation checks (201); Ensuring

fuel for the diesel engine is sufficient by turning on the fuel valve and choke

is open (202); Ensuring the vehicle surrounding area is clear of people (203);

Switch on vehicle using the 12V battery switch and turn the ignition key for

the engine to start the diesel engine (204); Once the engine has reached

operating temperature, switching on the CONTROL PANEL and press the

START button (205); Noting of the READY lamp indicator, if it is not ready,

press the RESET button: The LIFTER and TILTER should come down fully.

The LOADER unit (the term is interchangeable with Grabbing mechanism)

will be raised to the DRIVING phase with the BUCKET (the term is

interchangeable with Bucket pairs) opened. A READY indicator should be

illuminated. If the READY indicator does not illuminate, check if all the

sensors and mechanical components are in order.

When the hydraulic pressure has reached its desired pressure, the

vehicle can be driven.

There are two modes that the vehicle can operate on, by turning a

selector switch to select: (i) MANUAL mode and (ii) SEMI-AUTO mode.

The main difference between the two modes is that SEMI-AUTO uses an

additional push button PICK to automatically lower the LOADER to the

ground, closes the BUCKETs and raises the LOADER to the Discharging

phase over the BIN Collector (the term is interchangeable with Collection

bin).

By selecting MANUAL (210), there are four Conditions (C prefixes)

must be complied before further Action can be applied (N prefixes), then

further Result can be expected (R prefixes).

Conditions such as:

(C-i) LIFTER and TILTER down, LOADER in DRIVING phase and

BUCKETs are opened, the SENSING mechanism must not be active during

forward movement (220): allows the following actions and corresponding

results:

(N-i) Right or Left handlebar lever pressed (221) then (R-i) Vehicle

moves forward or reverse (222);

(N-i') Right or Left handlebar lever and Power Switch (223) then (R-i')

Vehicle goes forward or reverse at FAST speed (224);

(N-i") Right and Left handlebar lever pressed (225) then (R-i") Vehicle

stops.

(C-ii) Left or Right SIDE LATCH is opened (230), allows the following

actions and corresponding results:

(N-ii) TILTER Up or Down switch is pressed (231) then (R-ii) TILTER

is raised or lowered down (222);

(C-iii) TILTER in Up position (240), allows the following actions and

corresponding results:

(N-iii) LIFTER Up or Down switch is pressed (241) then (R-iii)

LIFTER raised or lowered down (242);

and

(C-iv) LIFTER in Down position (250), allows the following actions and

corresponding results:

(N-iv) LOADER Up or Down switch is pressed (251) then (R-iv)

LOADER is raised or lowered down.

To begin, climb onto the standing platform by holding the handlebar

and slot the shoes under the diesel engine. Steering is done by turning the

handlebar to the direction required and press either one of the handlebar

LEVERs; Right LEVER provides forward motion (221)(222) and Left LEVER

provides reverse motion (221)(222); If both LEVERS are pressed (225), the

vehicle will stop (226).

To increase the speed of the diesel engine, turn the throttle on the

right side of the handlebar. To increase the working pressure, press the

POWER button at the right side of the handlebar. Increasing the engine

speed will also increase the hydraulic pressure.

To run the vehicle manually, turn the SELECTOR switch to

MANUAL, every allowable mechanical action can be performed by using

the switches at the handlebar.

There are some actions that cannot be performed if that action is in

violation to human and vehicle safety. If the SELECTOR is set to SEMI

AUTO (260), the LOADER moves to DRIVING phase with BUCKETs

opened (261), the driving of the vehicle is controlled by the operator but the

picking of the fruits are done automatically. When a fruit is sensed by the

fruit SENSING mechanism (262), forward driving is disabled at this time

but reverse is possible. Operator will have to confirm whether the BUCKETs need to close by pressing the PICK button (263). Then, LOADER goes to

PICKING phase (264). Then, the BUCKETs are closed (265). Grab the fruit

and the raise the LOADER to discharge the fruit into the BIN Collector

(266).

Once the fruit is in the BIN Collector, or after 2 seconds, the LOADER

will return back to the DRIVING phase (267). The operator can then drive

on to the next location once the LOADER/BUCKETs are off the ground.

This means the vehicle can be driven while the LOADER is in the process of

discharging its contents to the BIN Collector. During the above action, the

operator can cancel the automation step by pressing the RESET button (268).

Powering down the vehicle by switching off the Control Panel first.

Compared to a petrol engine, the diesel engine is not governed by the key

switch. Turn off the diesel fuel supply switch/valve or press the choke to

stop the diesel engine.

Referring to FIG. 17 illustrates an exemplary wiring and power

system (3) of the vehicle. The powertrain of the vehicle or a stand-alone

generator which generates alternate current (AC) will be converted to

direct current (DC) via a rectifier cum 12V regulator. This becomes the

power source for the PLC (33), control panel switches, inductive or

mechanical sensors (17)(17A)(60) and solenoid valves (32). This 12VDC

power will also be charging the 12V lead-acid battery for the vehicle.

Referring to FIGS. 18-A and 18-B illustrate an exemplary wiring of

PLC system (70) of the vehicle. The PLC (33) comprising inputs (33A) and

outputs (33B), wherein the inputs are electrically connected devices, but not limiting to, sensors and switches, or the likes; wherein the outputs are electrically connected devices, but not limiting to, solenoid valves, visual

LED indicators, and audible buzzers, or the likes.

In summary of the preferred embodiment of the present invention,

the self-propelled vehicle for agricultural articles conveyance (1),

comprising a main chassis (20), comprising: an arrangement of tracks, half

tracks, or wheels (22) to provide mobility, a series of scissor linkages (23)

coupled with a collection bin (25) to provide an elevation, a tilter coupled

with the collection bin to provide lateral tilts; a push switch (P); a handle

operated controller (34), comprising dual handles (34A)(34C) wherein each

handle comprising a lever (34B)(34D) wherein upon triggering of the lever,

levers, push switch (P), or a combination thereof, triggering a

predetermined movement of the grabbing mechanism and the directional

movement of the vehicle.

The main chassis (20), comprising at least one sensor (17) configured

to detect a physical contact of agricultural article (80), wherein in an event

of the physical contact is registered, thereby triggering a predetermined

movement of the grabbing mechanism.

The adjustable landing pad (15) is a damper configurable to provide

variable ground clearance. The adjustable landing pad (15) is a damper

configurable to provide variable stiffness according to the agricultural

article weight. The sensor (17) is anelectro-mechanical sensor, proximity sensor (17A), ultrasonic sensor, mechanical switch, contact switch, or other variant. The handle operated controller (34) comprising controls operatively connected to the power plant such as hydraulics.

The collection bin (25) comprising a release (27) to engage or

disengage side doors. The collection bin (25) comprising a release (24)(26)

to engage or disengage the tilter, so that the tilter enables the bin (25) to tilt

toward either one of the lateral side of the vehicle.

While the present invention has been shown and described herein in

what are considered to be the preferred embodiments thereof, illustrating

the results and advantages over the prior art obtained through the present

invention, and the invention is not limited to those specific embodiments.

Thus, the forms of the invention shown and described herein are to be taken

as illustrative only and other embodiments may be selected without

departing from the scope of the present invention, as set forth in the claims

appended hereto.

Claims (13)

WHAT IS CLAIMED IS:

1. A self-propelled vehicle for agricultural articles conveyance (1),

comprising:

a main chassis (20), comprising:

an arrangement of tracks, half-tracks, or wheels (22) to

provide mobility, a series of scissor linkages (23) coupled to a collection

bin (25) to provide elevation, a tilter coupled to the collection bin to

provide lateral tilts; and

a vehicle operation and control circuit system (30), comprising:

a propulsion means (31), comprising:

at least one power plant, control, storage, and distribution

channel of at least one type of energy in fluid, chemical, electric, or

mechanical form, is configured and operatively connected to a grabbing

mechanism;

characterized in that

a grabbing mechanism (10) is frontally mounted on the

vehicle, comprising:

a support frame (11) is mounted on the chassis

comprising at least a swing arm (12), a bridge (12A) coupled between the swing arms, a first end of the swing arm is coupled to the support frame

(11), a swing arm driver (16) interposed the swing arm and support frame,

a second end of the swing arm comprising an adjustable landing pad (15),

wherein the pad can provide variable height or ground clearance to the

grabbing mechanism;

a stabilizing arm (13) branches forward from the swing

arm (12), substantially defining a structural support around a pair of

buckets (14)(14'), wherein buckets receiving surfaces are opposing each

other, bucket drivers (18)(18') are operatively connected to the pair of

buckets, whereby during an activation of the bucket drivers enable the

bucket pairs to pivot, during an activation of the swing arm driver (16)

enables the grabbing mechanism to pivot;

the vehicle operation and control circuit system (30),

comprising:

a programmable logic controller is electrically

connected to a plurality of actuators, switches, sensors, or gauges, wherein

upon receiving a signal therefrom, triggering a pre-determined movement

of the grabbing mechanism;

a push switch (P);

a handle operated controller (34) comprising dual

handles (34A)(34C), wherein each handle comprising a lever (34B)(34D), wherein upon triggering of the handlebar, levers, push switch (P), or a combination thereof, triggering a predetermined movement of the grabbing mechanism and directional movement of the vehicle; and the main chassis (20), comprising at least one sensor (17) configured to detect a physical contact of agricultural article (80), wherein in an event of the physical contact is registered, thereby triggering a predetermined movement of the grabbing mechanism.

2. The self-propelled vehicle for agricultural articles conveyance (1) as

claimed in Claim 1, wherein the opposing bucket pairs (14)(14') comprising

an attachment (14A)(14A') such as comb, protruding edge, or other variant.

3. The self-propelled vehicle for agricultural articles conveyance (1) as

claimed in Claim 2, wherein the attachments (14A)(14A') are gapped at a

distance (a).

4. The self-propelled vehicle for agricultural articles conveyance (1) as

claimed in Claim 1, wherein the adjustable landing pad (15) is a damper

configurable to provide variable ground clearance.

5. The self-propelled vehicle for agricultural articles conveyance (1) as

claimed in Claim 4, wherein the adjustable landing pad (15) is a damper

providing variable stiffness configurable to the agriculture article load.

6. The self-propelled vehicle for agricultural articles conveyance (1) as

claimed in Claim 1, wherein the sensor (17) is anelectro-mechanical sensor,

electro-magnetic proximity sensor (17A), ultrasonic sensor, mechanical

switch, contact switch, or other variant.

7. The self-propelled vehicle for agricultural articles conveyance (1) as

claimed in Claim 1, wherein the handle operated controller (34)

comprising controls operatively connected to the power plant such as

hydraulics.

8. The self-propelled vehicle for agricultural article conveyance (1) as

claimed in Claim 7, wherein the handle operated controller (34) is coupled

to a shaft (381) which is fitted through a top bearing (382) and bottom

bearing (383), enabling the shaft to rotatable, wherein the shaft comprising

a protruding member (386) will flick between a group of sensors (387),

enabling one or more of the sensors in the group to activate.

9. The self-propelled vehicle for agricultural articles conveyance (1) as

claimed in Claim 1, wherein the collection bin (25) comprising a release (27)

to engage or disengage side doors.

10. The self-propelled vehicle for agricultural articles conveyance (1) as

claimed in Claim 1, wherein the collection bin (25) comprising a release

(24)(26) to engage or disengage the tilter, so that the tilter enables the bin

(25) to tilt toward either one of the lateral side of the vehicle.

11. The self-propelled vehicle for agricultural articles conveyance (1) as

claimed in Claim 1, wherein the support frame (11) comprising a plurality

of sensor detecting angular position of the swing arm.

12. The self-propelled vehicle for agricultural articles conveyance (1) as

claimed in Claim 1, wherein the support frame (11) comprising a

mechanical linkage (50) comprising a first link (51), a second link (55), and

an intermediary link (53) coupled therebetween.

13. The self-propelled vehicle for agricultural articles conveyance (1) as

claimed in Claim 12, wherein the mechanical linkage operatively connected

to a sensing mechanism (60), comprising spring (66) loaded metal rods (63)

extend outwards to contact plate (64), upon a contact with the agricultural

article enables the sensing mechanism to reciprocate, triggering an inductive

sensor (67) thereon to send a signal to the PLC to instruct the vehicle to halt.