CN115486272B - Method for harvesting mature walnut fruits hung on branches by using air vibration waves - Google Patents
Method for harvesting mature walnut fruits hung on branches by using air vibration waves Download PDFInfo
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- CN115486272B CN115486272B CN202211118035.6A CN202211118035A CN115486272B CN 115486272 B CN115486272 B CN 115486272B CN 202211118035 A CN202211118035 A CN 202211118035A CN 115486272 B CN115486272 B CN 115486272B
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- air vibration
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- 235000009496 Juglans regia Nutrition 0.000 title claims abstract description 64
- 235000020234 walnut Nutrition 0.000 title claims abstract description 38
- 240000007049 Juglans regia Species 0.000 title claims abstract description 29
- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 22
- 238000003306 harvesting Methods 0.000 title claims abstract description 15
- 238000000034 method Methods 0.000 title claims abstract description 15
- 241000758789 Juglans Species 0.000 claims abstract description 35
- 235000006667 Aleurites moluccana Nutrition 0.000 claims abstract description 28
- 239000002699 waste material Substances 0.000 claims description 3
- 241000758791 Juglandaceae Species 0.000 description 2
- 241000305527 Juglans cathayensis Species 0.000 description 1
- 235000014075 Juglans mandschurica Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D91/00—Methods for harvesting agricultural products
- A01D91/04—Products growing above the soil
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The invention discloses a method for harvesting mature walnut fruits hung on branches by utilizing air vibration waves, belongs to the technical field of agricultural harvesting methods, and realizes efficient and low-cost harvesting of the mature walnut fruits hung on branches according to optimal air vibration wave emission points, emission pressure and emission frequency calculated according to the fruit bearing area and the fruit bearing height of a single walnut tree. The energy loss is reduced, and the picking efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of agricultural picking methods, and particularly relates to a method for picking mature walnut fruits hung on branches by using air vibration waves.
Background
The Chinese walnut is mainly cultivated to obtain improved variety including northern Xinjiang walnut and southern mountain deep-grain walnut. Among 4380 mu of walnuts planted in Yunnan, the mountain deep-grain walnuts account for more than 70%. The existing picking machine is not applicable due to the characteristics of high and large mountain deep-grain walnut tree shape and complex planting environment. The height of the deep-grain walnut tree planted in the mountain land is 8-25 meters, and the deep-grain walnut tree is positioned at sloping field ditches, so that the traffic condition is inconvenient. In recent years, a manual portable small-sized electric drive vibration harvesting machine has been developed, but the height of the machine is limited, the tall trees still need to be harvested, the personnel safety problem is not guaranteed, the harvesting efficiency is low, and the machine is not suitable for mountain deep-grain walnut harvesting. Therefore, the walnut is picked by air vibration wave vibration.
The mountain deep-grain walnut fruits have different fruit bearing heights and fruit bearing densities, so that the setting of the emission point positions, the wave forms, the wave lengths, the wave peaks and the emission pressure of the air vibration waves is required, the energy loss is reduced, and the picking efficiency is improved. The existing air vibration wave setting method cannot meet the requirements of mountain deep-grain walnut fruit tree collection.
Disclosure of Invention
In order to overcome the problems in the background art, the invention provides a method for harvesting mature walnut fruits hung on the branches by using air vibration waves, which solves the optimal air vibration wave emission points, emission pressure and emission frequency and realizes the efficient and low-cost harvesting of the mature walnut fruits hung on the branches.
In order to achieve the above purpose, the present invention is realized by the following technical scheme: step 1: determining an emission point position according to the fruiting area of the single walnut tree and the fruiting height of the walnut tree;
step 2: setting default air vibration wave emission pressure, vibration wave emission frequency and vibration wave waveform;
step 3: performing air vibration wave multiple emission based on default air vibration wave parameters, and counting the dropping quantity of the ripe walnut on the hanging branch;
step 4: judging and counting the dropping quantity of the mature walnut on the hanging branch, if the dropping quantity of the mature walnut on the hanging branch after the first air vibration wave emission is larger than a standard value, considering that energy waste exists in the default air vibration wave parameters, and sequentially reducing the air vibration wave emission pressure and the vibration wave emission frequency; if the drop number of the mature walnut on the branch after the two times of air vibration wave emission is smaller than the standard value, the default air vibration wave parameters are considered to have insufficient energy, and the air vibration wave emission pressure and the vibration wave emission frequency are sequentially increased;
step 5: searching walnut trees with the same fruiting area and the same fruiting height, and performing a test again until the dropping quantity of mature walnut branches reaches a standard value after 2 times of air vibration wave emission;
step 6: recording the air vibration wave parameters after the standard values are reached, and if the fruit bearing area and the fruit bearing height of the single walnut tree are the same as the acquired data, selecting the air vibration wave parameters as default vibration wave parameters.
Further, the step 1: the method for calculating the transmitting point position comprises the following steps:
(1) Wherein n is a set coefficient, ρ is the area of a single walnut tree, and θ is the action range of air vibration waves;
the initial interval d is 1.0m when n is 0-6, 1.5m when n is 6-8, 2.0m when n is 8-20, and 3.0m when n is more than or equal to 20;
d′＝d-(h 1 -h 2 ) (2)
(2) Wherein d' is the distance between the emitting point and the picked walnut tree, h 1 Is walnutTree fruit bearing height, h 2 The height is set for the vibration wave.
Further, the air vibration wave emission pressure in the step 2 is 15MPa, the vibration wave emission frequency is 15Hz, and the vibration wave waveform is rectangular wave.
Furthermore, in the step 4, the standard value of the dropping quantity of the mature walnut is 80%, and the emission pressure of the air vibration wave and the emission frequency of the vibration wave are increased and reduced by 10%.
The invention has the beneficial effects that: according to the fruiting area of the single walnut tree and the fruiting height of the walnut tree, the optimal air vibration wave emission point position, emission pressure and emission frequency are calculated, so that the high-efficiency and low-cost harvesting of the mature walnut tree with the branches is realized. The energy loss is reduced, and the picking efficiency is improved.
Drawings
FIG. 1 is a schematic flow chart of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantageous effects of the present invention more apparent, preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, so as to facilitate understanding of the skilled person.
As shown in fig. 1, step 1: and determining the emitting point positions according to the fruiting area of the single walnut tree and the fruiting height of the walnut tree.
In a specific embodiment, the step 1: the method for calculating the transmitting point position comprises the following steps:
(1) Wherein n is a set coefficient, ρ is the area of a single walnut tree, and θ is the action range of air vibration waves;
| setting a coefficient n | Initial interval d |
| 0-6 | 1.0 |
| 6-8 | 1.5 |
| 8-20 | 2.0 |
| ≥20 | 3.0 |
The initial interval d is 1.0m when n is 0-6, 1.5m when n is 6-8, 2.0m when n is 8-20, and 3.0m when n is more than or equal to 20;
d′＝d-(h 1 -h 2 ) (2)
(2) Wherein d' is the distance between the emitting point and the picked walnut tree, h 1 Height of walnut tree fruiting, h 2 The height is set for the vibration wave.
Step 2: setting default air vibration wave emission pressure and vibration wave emission frequency;
in a specific embodiment, the air vibration wave emission pressure in the step 2 is 15MPa, the vibration wave emission frequency is 15Hz, and the vibration wave waveform is rectangular wave.
Step 3: performing air vibration wave multiple emission based on default air vibration wave parameters, and counting the dropping quantity of the ripe walnut on the hanging branch;
in a specific embodiment, the drop number of the mature walnut on the hanging branch is counted as the drop number accounting for the total number percentage.
Step 4, judging and counting the dropping quantity of the mature walnut on the hanging branch, if the dropping quantity of the mature walnut on the hanging branch is larger than a standard value after the first air vibration wave is transmitted, considering that energy waste exists in the default air vibration wave parameters, and sequentially reducing the air vibration wave transmitting pressure and the vibration wave transmitting frequency; if the drop number of the mature walnut on the branch after the two times of air vibration wave emission is smaller than the standard value, the default air vibration wave parameters are considered to have insufficient energy, and the air vibration wave emission pressure and the vibration wave emission frequency are sequentially increased;
in a specific embodiment, the standard value of the dropping quantity of the mature walnut in the step 4 is 80%, and the emission pressure of the air vibration wave and the emission frequency of the vibration wave are increased and reduced by 10%.
Step 5, searching walnut trees with the same fruiting area and the same fruiting height, and performing a test again until the number of dropped mature walnut branches reaches a standard value after 2 times of air vibration wave emission;
and 6, recording the air vibration wave parameters after the standard values are reached, and if the fruiting area and the fruiting height of the single walnut tree are the same as the acquired data, selecting the air vibration wave parameters as default vibration wave parameters.
It is finally noted that the above-mentioned preferred embodiments are merely for illustrating the technical solution of the invention, and not for limiting the invention, which has been described in detail by means of the above-mentioned preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the scope of the invention.
Claims (4)
1. The method for harvesting the mature walnut fruits hung on the branches by utilizing the air vibration waves is characterized by comprising the following steps of: step 1: determining an emission point position according to the fruiting area of the single walnut tree and the fruiting height of the walnut tree;
step 2: setting default air vibration wave emission pressure and vibration wave emission frequency;
step 3: performing air vibration wave multiple emission based on default air vibration wave parameters, and counting the dropping quantity of the ripe walnut on the hanging branch;
step 4: judging and counting the dropping quantity of the mature walnut on the hanging branch, if the dropping quantity of the mature walnut on the hanging branch after the first air vibration wave emission is larger than a standard value, considering that energy waste exists in the default air vibration wave parameters, and sequentially reducing the air vibration wave emission pressure and the vibration wave emission frequency; if the drop number of the mature walnut on the branch after the two times of air vibration wave emission is smaller than the standard value, the default air vibration wave parameters are considered to have insufficient energy, and the air vibration wave emission pressure and the vibration wave emission frequency are sequentially increased;
step 5: searching walnut trees with the same fruiting area and the same fruiting height, and performing a test again until the dropping quantity of mature walnut branches reaches a standard value after 2 times of air vibration wave emission;
step 6: and recording the air vibration wave parameters after the standard values are reached, and if the fruit bearing area and the fruit bearing height of the single walnut tree are the same as the acquired data, selecting the air vibration wave parameters as default vibration wave parameters.
2. The method for harvesting the ripe walnut fruits hanging on branches by using air vibration waves according to claim 1, wherein the following step 1: the method for calculating the transmitting point position comprises the following steps:
(1) Wherein n is a set coefficient, ρ is the area of a single walnut tree, and η is the action range of air vibration waves;
the initial horizontal interval d is 1.0m when n is 0-6, 1.5m when n is 6-8, 2.0m when n is 8-20, and 3.0m when n is more than or equal to 20;
d′＝d-(h 1 -h 2 ) (2)
(2) Wherein d' is the horizontal interval distance between the emitting point and the walnut tree, h 1 Height of walnut tree fruiting, h 2 The height is set for the vibration wave.
3. The method for harvesting the ripe walnut fruits hung on branches by using air vibration waves according to claim 1, which is characterized in that: and 2, the air vibration wave emission pressure is 15MPa, the vibration wave emission frequency is 15Hz, and the vibration wave waveform is rectangular wave.
4. The method for harvesting the ripe walnut fruits hung on branches by using air vibration waves according to claim 1, which is characterized in that: the standard value of the drop quantity of the mature walnut on the branch in the step 4 is 80%, and the emission pressure of the air vibration wave and the emission frequency of the vibration wave are increased and the reduction amplitude is 10%.
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| CN115486272B true CN115486272B (en) | 2024-01-26 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2174298C1 (en) * | 2000-06-02 | 2001-10-10 | Всероссийский научно-исследовательский институт агролесомелиорации | Pneumatic apparatus for tearing off fruits from trees |
| CN102113434A (en) * | 2011-01-14 | 2011-07-06 | 江苏大学 | Picking method of picking robot under fruit oscillation condition |
| CN206932690U (en) * | 2017-03-21 | 2018-01-30 | 中国农业大学 | A kind of matrimony vine vibration aspiration mechanical characteristic detection experimental rig |
| CN107960204A (en) * | 2017-12-04 | 2018-04-27 | 宁夏大学 | Matrimony vine picking control method, device and matrimony vine picking controller |
| CN207560805U (en) * | 2017-12-04 | 2018-07-03 | 宁夏大学 | Medlar picker and matrimony vine picker system |
-
2022
- 2022-09-14 CN CN202211118035.6A patent/CN115486272B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2174298C1 (en) * | 2000-06-02 | 2001-10-10 | Всероссийский научно-исследовательский институт агролесомелиорации | Pneumatic apparatus for tearing off fruits from trees |
| CN102113434A (en) * | 2011-01-14 | 2011-07-06 | 江苏大学 | Picking method of picking robot under fruit oscillation condition |
| CN206932690U (en) * | 2017-03-21 | 2018-01-30 | 中国农业大学 | A kind of matrimony vine vibration aspiration mechanical characteristic detection experimental rig |
| CN107960204A (en) * | 2017-12-04 | 2018-04-27 | 宁夏大学 | Matrimony vine picking control method, device and matrimony vine picking controller |
| CN207560805U (en) * | 2017-12-04 | 2018-07-03 | 宁夏大学 | Medlar picker and matrimony vine picker system |
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| CN115486272A (en) | 2022-12-20 |
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