适用棚架树形的鲜苹果局部对靶振动收获方法研究  

Targeted Shake-and-catch Harvesting for Fresh Market Apples in Trellis-trained Trees

作　　者：付函[1] 段洁利 陈度[1,3] 王新 ZHANG Qin 王书茂 

机构地区：[1]中国农业大学工学院,北京100083 [2]华南农业大学工程基础教学与训练中心,广州510642 [3]现代农业装备优化设计北京市重点实验室,北京100083 [4]华盛顿州立大学精细与自动化农业系统中心,普罗瑟99350

出　　处：《农业机械学报》2017年第S1期1-7,共7页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学青年基金项目(51305445);美国农业部基金支撑项目(1005756;1001246)

摘　　要：目前,苹果最新的栽培模式是将果树整形为树枝水平生长的多层棚架结构,这种结构可以将机械收获控制在局部化的树枝水平,以实现鲜苹果的机械化采收。为此,提出一种实用的局部对靶振动收获方法,激振树枝并采用尽量接近方式收集果实。基于单自由度粘弹性阻尼系统,设计了树枝激振器,并设计了一套计算机测控系统,用于实时监控树枝的受迫振动频率。设计了与激振树枝方式相对应的水平型和倾斜型果实收集平台。最后,在美国华盛顿州普罗瑟附近的商业果园,以"墙形"结构的"爵士"苹果为例,开展了局部对靶振动收获试验,对比分析了4种收集方式(有无缓冲隔离带、水平或倾斜接收)对果实质量的影响。依据美国农业部鲜苹果质量等级标准,利用满足市场分级要求的果实所占的百分率对收获的果实质量进行评估。结果显示,满足市场分级要求的果实所占的百分率为89.5%~96.3%,且在这4种方式中并无显著差异。这表明,针对苹果最新的栽培模式,采用局部对靶振动收获方法是可行的。Currently,fresh market apples are picked manually around the world,which requires a huge seasonal labor force to complete the job within the narrow harvest window.In addition,the shortage of skilled labor and high labor cost are increasing every year,which have threatened the sustainability of apple production.To address these issues,it is essential to develop mechanical harvest solutions for fresh market apples and other tree fruits.Shake-and-catch harvesting system offers an alternative solution to potentially obtain high harvest efficiency.Research on shake-and-catch harvesting for fresh market apples has been conducted for several decades.However,commercial machine is still unavailable.The crucial problem is that the damage rate and degree induced during harvesting is too high.Apple orchards in USA are being planted in modern trellis trained architecture,including formally trained horizontal limbs.The ready access to the limbs and fruit in formally trained orchard creates the potential for controlled localized fruit removal at the limb level.To verify the hypothesis that the newest apple tree canopies provide opportunities for targeted shaking and catching with minimal fruit damage,a new targeted shake-andcatch method was proposed.To realize this method,we developed a set of limb shaking device and corresponding capturing platform.A set of data acquisition system based on computer was also integrated to the shaking device to monitor and control the forced vibration frequency of a targeted limb.According to the capturing platform with/without separation buffer strips and horizontal/tilted capturing,fourcapturing patterns were tested in a commercial-grade ‘Jazz'apple orchard(Prosser,Washington State,USA),in which trees were trained to a vertical fruiting wall architecture with seven layers.The harvesting test was conducted by shaking a tree limb and capturing the removal fruit right underneath the targeted limb.Each capturing pattern was involved in 20 samples,each of which including two adjacent limbs growin

关 键 词：鲜苹果 机械收获 振动采收 棚架树形 

分 类 号：S6[农业科学—园艺学]