Development of Autonomous Arm Control System of Mechanical Buffalo Grabber for Fresh Fruit Bunch Collection

Malaysia is the world's second largest producer and consumer of palm oil, so efficient collection of Fresh Fruit Bunches (FFBs) is critical to producing high-quality oil. This paper discusses the challenges of FFB collection, specifically labour issues and the need for skilled workers to operate the Mechanical Buffalo Grabber (MBG). To address these challenges, we propose advances in automation and artificial intelligence. The study focuses on upgrading the MBG to allow for autonomous operation through three key components: convert the existing machine with automation features, developing an electronic control system, and developing an FFB detection system. The MBG was modified to include a feedback mechanism, hydraulic control upgrades, and an electronic control system that manages arm movements in response to sensor inputs. To accurately identify and measure FFBs, an FFB detection system was implemented, which included a camera mounted on the MBG arm. Field tests in an oil palm plantation demonstrated that the MBG arm was capable of collecting approximately 90% of FFBs on its own. This work is a significant step towards increasing automation in palm oil production, with the goal of improving efficiency and reducing reliance on manual labour.