Selective Harvesting of a Land Parcel by a Fruit Harvesting Machine

Abstract

Selective harvesting of a parcel of land by a harvesting machine including a motorised support structure on which are mounted a harvesting assembly adapted to deliver a harvested stream, at least two receptacles ( 1 ) for storage of the stream and a system for respectively feeding a receptacle ( 1 ) with the stream as a function of the location of the machine in the parcel. The parcel is divided into distinct geographical areas and each receptacle is dedicated to an area. The machine comprises upper conveyor means ( 3 ) for feeding the receptables ( 1 ) along respective feed paths, a lower conveyor ( 6 ) and a device for guiding the harvested stream by opening and closing the feed paths and varying the conveying direction of the lower conveyor, as a function of the receptable to be fed with the harvested stream.

1 - 10 . (canceled) 
     
     
         11 . A method of selective fruit harvesting of a parcel of land by means of a harvesting machine according to any of the preceding claims, said method comprising:
 dividing the parcel of land into geographical areas as a function of at least one harvesting criterion of said area;   dedicating each of the receptacles ( 1 ) to storage of the harvest coming from at least one distinct area;   said method including the iterative harvesting steps of:   determining the location of the harvesting machine in the parcel of land;   determining the area corresponding to said location;   as a function of said area, automatically controlling the feeding system to store the harvested stream coming from said area in the receptacle ( 1 ) that is dedicated to it.   
     
     
         12 . A method of selective harvesting according to  claim 11 , wherein the parcel of land is divided into a number of areas that is equal to the number of receptacles ( 1 ), the harvest from each area being stored in a respective receptacle ( 1 ). 
     
     
         13 . A method of selective harvesting according to  claim 11 , wherein the parcel of land is divided into areas before carrying out the iterative harvesting steps. 
     
     
         14 . A method of selective harvesting according to  claim 13 , wherein the division of the parcel of land is realized in the form of a map of the areas in said parcel of land. 
     
     
         15 . A method of selective harvesting according to  claim 14 , wherein the harvesting area is iteratively determined by comparing data regarding the location of the harvesting machine and the geographical coordinates of the mapped areas. 
     
     
         16 . A method of selective harvesting according to  claim 11 , wherein the harvesting criterion is a function of the value of at least one harvest parameter. 
     
     
         17 . A method of selective harvesting according to  claim 16 , wherein the method further comprises an iterative harvesting step for determining at least one harvest parameter. 
     
     
         18 . A method of selective harvesting according to  claim 17 , wherein the determined parameter is stored in relation to the location of the harvesting machine. 
     
     
         19 . A method of selective harvesting according to  claim 18 , wherein the parcel of land is subdivided using at least one parameter stored during earlier harvesting of said parcel of land. 
     
     
         20 . A method of selective harvesting according to  claim 17 , wherein the iterative determination of the harvesting area comprises comparing the determined parameter and the criterion corresponding to the areas.