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Mechanical Harvesting Technology in Orchards

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A special issue of Agriculture (ISSN 2077-0472). This special issue belongs to the section "Agricultural Technology".

Deadline for manuscript submissions: closed (20 October 2022) | Viewed by 36108

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Dr. Rafael-Ruben Sola-Guirado

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Guest Editor

Department of Mechanics, University of Cordoba, 14014 Cordoba, Spain
Interests: machinery; agricultural mechanization; dynamic; autonomous vehicles
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

Harvesting is one of the most important operations in a crop. Part of this is due to the fact that this operation has traditionally had a high manual component. In some countries, the concept of mechanisation of this operation has been strongly introduced, and in others, it has been tackled to a lesser degree. This paradigm shift began with the introduction of the tractor, which led to the development of specific implements or equipment for the operation. Subsequently, a variety of devices and machinery were developed for harvesting and logistics. In parallel, numerous studies have been carried out to characterise the behaviour of machines and plants, and the phenomena resulting from their interaction. At present, new advances are being made in the field of robotisation of this operation—all this with a development that is linked to new emerging technologies and new techniques that can be adapted to improve mechanisation. In any case, research applied to the study and improvement of mechanised harvesting is key to the competitiveness and survival of many crops, and this must be carried out taking into account the machinery–orchards binomial. In this Special Issue, we hope to bring together those advances and research that deal with mechanised orchard harvesting.

Dr. Rafael-Ruben Sola-Guirado
Guest Editor

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Keywords

machine
robotics
harvester
automation
precision agriculture
mechanization
vibration detachment
damage
field capacity
sensor

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Published Papers (11 papers)

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Research

15 pages, 4832 KiB

Open AccessArticle

Computational Model for the Dynamic Characterisation of a Trunk Shaker

by Pedro Sanchez-Cachinero, Rafael Luque-Mohedano and Rafael R. Sola-Guirado

Agriculture 2022, 12(12), 2158; https://doi.org/10.3390/agriculture12122158 - 15 Dec 2022

Cited by 5 | Viewed by 2539

Abstract

The development of trunk shaker machines over the years has been based on test-error methods in field. Mathematical or computational models have been studied with great simplifications. This paper presents a method for modelling the dynamic behaviour of a trunk shaker with a test bench. Two mass configurations were used on the test bench as well as two different vibration frequencies on the trunk shaker. Acceleration values were recorded at different points of the system. The binomial shaker-post was computationally modelled, and its dynamic response was analysed based on a modal and transient study with a series of proposed simplifications. The results of the simulations were compared with experimentally recorded acceleration values. In both cases, a linear response to mass and frequency variation was observed in the acceleration that the shaker performed. There was a high correlation in the effective accelerations (error < 4%) between experimental and computational studies measured in the trunk shaker. However, there were higher errors when the post was used in the test in the post structure points. The greatest uncertainty in the model may lie in the assumption of contact between the attachment pad and the post, but if this is not carried out, it makes convergence in the computational calculations very difficult. The method has proved its worth in determining the dynamic behaviour of these machines. Full article

(This article belongs to the Special Issue Mechanical Harvesting Technology in Orchards)

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30 pages, 9285 KiB

Open AccessArticle

Analysis and Testing of Rigid–Flexible Coupling Collision Harvesting Processes in Blueberry Plants

by Haibin Wang, Xiaomeng Lv, Feng Xiao and Liangliang Sun

Agriculture 2022, 12(11), 1900; https://doi.org/10.3390/agriculture12111900 - 11 Nov 2022

Cited by 4 | Viewed by 1911

Abstract

China possesses a vast territory, and the manual harvesting of blueberries is time-consuming and labor-intensive. Due to the planting agronomy differences in other countries, China needs to develop a domestic blueberry harvester to realize mechanical blueberry harvesting. In the harvesting process, “collision” is the core problem. Most of the literature has studied rigid body–rigid body collision, while few authors have studied rigid–flexible coupling collision mechanisms in the field of berry harvesting. In this paper, a rigid–flexible coupling collision model between the harvester and the blueberry plant was established based on the L-N nonlinear spring damping model (describing the collision force model between two colliding objects, consisting of the nonlinear spring and the damper) and improved the Coulomb model (the tangential collision force model), and the collision mechanism of blueberry harvesting was analyzed. The harvesting collision process was analyzed using both MATLAB and ADAMS software and the same conclusions were obtained: the collision force and fruit harvesting force were inversely proportional to the machine velocity but positively proportional to the rotational velocity of the hydraulic motor of the harvesting device. The following machine parameters were required to meet harvesting conditions: a harvesting device output rotational velocity of 120–150 r/min and a machine velocity of 40–50 m/min. A harvesting field test using a self-propelled blueberry harvester was conducted, which showed that the test results were consistent with the software simulation conclusions. When the machine velocity of the harvester and the output rotational velocity of the hydraulic motor were 45 m/min and 130 r/min, respectively, the machine provided optimum harvesting efficiency and fruit quality with the following optimum parameters: a harvesting efficiency of 5.1 kg/min, a raw fruit harvesting rate of 2.9%, and a damaged fruit harvesting rate of 3.6%. This research can lay the preliminary theoretical foundation for the analysis of a blueberry harvesting mechanism, and the research results can provide a theoretical reference for the harvesting of other similar berry shrubs. Full article

(This article belongs to the Special Issue Mechanical Harvesting Technology in Orchards)

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17 pages, 4429 KiB

Open AccessArticle

Design and Research of a Harvesting Actuator for Camellia oleifera Flowers during the Budding Period

by Zechao Wu, Lijun Li, Qing Zhao, Xin Guo and Jun Li

Agriculture 2022, 12(10), 1698; https://doi.org/10.3390/agriculture12101698 - 15 Oct 2022

Cited by 2 | Viewed by 2139

Abstract

The collection of Camellia oleifera flowers is a key foundation of Camellia oleifera flower pollen extraction. Due to the current problems of low efficiency, high labor intensity and the high cost of manual collection of Camellia oleifera flowers, a harvesting actuator was designed. By analyzing the inherent characteristics of the Camellia oleifera flower and the harvesting method, a harvesting structure using a combination of friction roller twisting harvesting and pipeline pneumatic conveying was designed. The geometric model of the Camellia oleifera flower was established and the motion analysis of the flower was carried out, which indicated that the Camellia oleifera flower would tend to a stable state for easy picking after entering the actuator. Using Automatic Dynamic Analysis of Mechanical Systems 2015 software (ADAMS, MSC. Software Corporation, Santa Ana, CA, USA) to simulate the process of Camellia oleifera flower picking, a mechanical analysis was performed in the contact plane to prove the theoretical feasibility of friction roller picking these flowers, and the main influencing factor was obtained as the speed of the friction roller. The test prototype for Camellia oleifera flower picking was built, and the picking experiment was implemented to study the effect of motor speed on the picking time of single Camellia oleifera flowers and the effect of the success rate of the flower picking. The test results show that when the motor speed is 400 r/min, the picking success rate is 96%, the picking time of a single flower is 1.2 s, and the speed of the machine collection of Camellia oleifera flowers is 2.3 times that of manual collection, which proves the realistic feasibility of this picking actuator. This paper provides an important reference and basis for the research and development of a flower harvesting actuator. Full article

(This article belongs to the Special Issue Mechanical Harvesting Technology in Orchards)

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19 pages, 9206 KiB

Open AccessArticle

A Multi-Flexible-Fingered Roller Pineapple Harvesting Mechanism

by Tianhu Liu, Wei Liu, Tingjun Zeng, Yifeng Cheng, Yan Zheng and Jian Qiu

Agriculture 2022, 12(8), 1175; https://doi.org/10.3390/agriculture12081175 - 7 Aug 2022

Cited by 6 | Viewed by 4092

Abstract

Research on the mechanical harvesting of pineapples is currently in its early stages. The purpose of this study is to provide a design and configure a method for multi-flexible-fingered roller pineapple harvester. Depending on the physical and mechanical characteristics of pineapples, the evaluation function for the critical damage condition of the fruit was established. Our experimental results revealed the optimal parameters for pineapple harvesting were as follows: the rollers of the harvesting mechanism should be inclined at 35°, the left flexible fingers should be 120 mm long, the gap between each of the left flexible fingers should be 30 mm, the length of the right flexible fingers should be 150 mm long, and the gap between each of the right flexible fingers should be 10 mm. The harvesting rate was 85% and the damage rate was 5% in the laboratory; in the natural environment, harvesting rate and damage rate were 78% and 8% respectively, and the harvesting speed was about 1 s per fruit, which demonstrated the harvesting machinery could sufficiently meet the usage demand of pineapple harvesting. In the cases of unsuccessful harvesting, failure resulted from mismatched flexible finger length, fruit size, and harvesting posture and position. Full article

(This article belongs to the Special Issue Mechanical Harvesting Technology in Orchards)

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16 pages, 4213 KiB

Open AccessArticle

Design and Parameters Optimization of a Provoke-Suction Type Harvester for Ground Jujube Fruit

by Gaokun Shi, Jingbin Li, Za Kan, Longpeng Ding, Huizhe Ding, Lun Zhou and Lihong Wang

Agriculture 2022, 12(3), 409; https://doi.org/10.3390/agriculture12030409 - 15 Mar 2022

Cited by 11 | Viewed by 2762

Abstract

Low working efficiency is an important reason for the limited application of the traditional aspirated-air type jujube fruit pickup machine. In this study, a provoke-suction type harvester for ground jujube fruit (PSH) was designed, based on the principle of negative pressure suction after shoveling the jujube fruit mechanically. The main working parameters were analyzed and the structures of the key devices were designed. Then, a three-factor and three-level Box–Behnken method was used to evaluate the performance of the PSH. The results showed that the pickup rate, impurity rate, and working efficiency were 99.36%, 5.63%, and 1672.3 kg∙h⁻¹, respectively; as the forward speed, provoke teeth buried depth, and airflow velocity were 0.21 kg∙h⁻¹, 74 mm, and 26.4 kg∙h⁻¹, respectively. Furthermore, the verification results showed that the pickup rate, impurity rate, and working efficiency were 98.05%, 5.97%, and 1591.2 kg∙h⁻¹, respectively, moreover, the relative errors were 1.32%, 6.04%, and 4.85%, respectively, indicating that the parameter optimization model can accurately predict the test results. The working efficiency of the PSH was significantly improved compared with the traditional aspirated-air type jujube fruit pickup machine. This research can provide a reference for the development of the jujube fruit pickup machine. Full article

(This article belongs to the Special Issue Mechanical Harvesting Technology in Orchards)

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11 pages, 2098 KiB

Open AccessArticle

Data-Driven Simulator: Redesign of Chickpea Harvester Reels

by Hiwa Golpira and Rafael R. Sola-Guirado

Agriculture 2022, 12(2), 264; https://doi.org/10.3390/agriculture12020264 - 13 Feb 2022

Cited by 5 | Viewed by 2755

Abstract

Conventional redesign methodologies applied on the grain harvester headers for the mechanical harvesting of chickpeas cause its progress to not be as rapid and technological. This paper presents a hybrid modeling-optimization methodology to design harvester reels for efficient chickpea harvesting. The five fabricated headers were tested in both real and virtual modeling environments to optimize the operational parameters of the reel for minimum losses. Harvesting losses data gathered from chickpea fields over ten years of trials were fed into a fuzzy logic model, which in turn was merged with simulated annealing to develop a simulator. To this end, simulated annealing was used to produce combinations of reel diameter and number of bats, to be fed into the fuzzy model until achieving a minimum harvesting loss. The proposed model predicts the reel structure measured in-field evaluation, which fits well with the previously established mathematical model. A significant improvement in harvesting performance, 71% pod harvesting, validates the benefits of the proposed fuzzy-simulated annealing approach to optimize the design of grain harvester headers. Full article

(This article belongs to the Special Issue Mechanical Harvesting Technology in Orchards)

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18 pages, 2973 KiB

Open AccessArticle

Design and Test of a Tangential-Axial Flow Picking Device for Peanut Combine Harvesting

by Hongguang Yang, Mingzhu Cao, Bing Wang, Zhichao Hu, Hongbo Xu, Shenying Wang and Zhaoyang Yu

Agriculture 2022, 12(2), 179; https://doi.org/10.3390/agriculture12020179 - 27 Jan 2022

Cited by 14 | Viewed by 4128

Abstract

This study presents a tangential-axial flow picking device for peanut combine harvesting. The device was designed with reference to the tangential-axial flow threshing mechanism of the grain combine harvesters. The main purpose of this study was to solve the problem of the high rate of loss and damage in the picking operation of the peanut combine harvesters in China. Through the theoretical analysis and design calculation of the key components of the peanut picking device, the structural and working parameters were determined. The orthogonal test was carried out by taking the feeding amount of the peanut plant, the picking clearance, the speed of the tangential cylinder, and the speed of the axial cylinder as the test factors. Additionally, the non-picking loss rate, entrainment loss rate, and damage rate of the peanut pods were used as the test indexes. The test results were analyzed by range analysis and analysis of variance, and the test parameters were optimized by fuzzy comprehensive evaluation method. The optimal parameter combination for the tangential-axial flow picking device was determined as follows. The feeding amount of the peanut plant was 2 kg/s, the picking clearance was 35 mm, the speed of the tangential cylinder was 360 r/min, the speed of the axial cylinder was 425 r/min. At this time, the non-picking loss rate was 0.52%, the entrainment loss rate was 0.54%, and the damage rate was 0.75%. The test results fully met the standard requirements of the peanut picking operation. This research provides a technical basis for the application of the tangential-axial flow picking device in peanut combine harvesters. Full article

(This article belongs to the Special Issue Mechanical Harvesting Technology in Orchards)

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15 pages, 4606 KiB

Open AccessArticle

Design and Parameter Optimization of Fruit–Soil Separation Device of Lily Harvester

by Zhenwei Dai, Mingliang Wu, Zhichao Fang and Yongbo Qu

Agriculture 2022, 12(2), 175; https://doi.org/10.3390/agriculture12020175 - 26 Jan 2022

Cited by 5 | Viewed by 2596

Abstract

The mechanized harvesting of lily fruit in Southern China is affected by a high damage rate of lily fruit and low rate of soil breakage. The existing fruit–soil separation device is not suitable for heavy soil in Southern China. This study aimed to design a flexible fruit–soil separation device that can effectively reduce the damage rate of lily and improve the crushing rate of the soil. Thus, it would meet the requirements of southern lily fruit harvesting. In this study, the soil breaking rate and lily damage rate in the fruit–soil separation were taken as the assessment indexes, and the linear speed of the front conveyor belt, the inclination angle and the rotating speed of the fruit–soil separation device were recognized as the test factors. By performing the Box–Behnken test, three-factor and three-level experimental research on the fruit–soil separation device of the lily harvester was conducted. On this basis, a multiple regression model of the assessment indexes to the respective was built, the effect of various factors on the operation quality was analyzed and optimal operation parameters were determined. When the optimal parameter was adopted in the test (e.g., the linear speed of the front conveyor belt, the inclination angle and the speed of the fruit–soil separation device reaching 1.2 m·s⁻¹, 36° and 98 r·min⁻¹, respectively), the soil crushing rate was 92.8% and the lily damage rate reached 8.9%, and the fruit–soil separation effect satisfied the requirements of lily fruit harvest. The results could be referenced for other subsoil fruit harvesters and fruit–soil separation devices under heavy clay soil in Southern China. Full article

(This article belongs to the Special Issue Mechanical Harvesting Technology in Orchards)

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14 pages, 8384 KiB

Open AccessArticle

Mechanized Blueberry Harvesting: Preliminary Results in the Italian Context

by Luca Brondino, Danielle Borra, Nicole Roberta Giuggioli and Stefano Massaglia

Agriculture 2021, 11(12), 1197; https://doi.org/10.3390/agriculture11121197 - 27 Nov 2021

Cited by 12 | Viewed by 4873

Abstract

This study reports some preliminary results on mechanical blueberry harvesting for the fresh market of cv. Cargo^® in the Piedmont region (northwest Italy). The investigated area is one of the most productive areas of Italy, which specializes in fresh blueberry production. The automatization of harvesting operations could represent a competitive advantage for the area’s blueberry supply chain but could limit the quality of fresh-picked berries. A prototype machine and a commercial harvester (Easy Harvester^®) were compared with manual picking, considering the harvesting efficiency, labor productivity, harvesting cost and farm rentability. In this context, the labor cost for manual harvesting exceeds EUR 2.00 per kg of saleable product. The prototype allowed a 39% cost reduction, and the Easy Harvester^® reduced it by about half. Nevertheless, these positive performances do not consider the reduction in the net sale price of EUR 0.40 due to the selection costs in the warehouse. In this study, we highlight that the transition to mechanical harvesting requires the transformation of several farming and packhouse operations, such as new crop varieties, field configurations and cultivation techniques. However, a possible technical improvement of the Easy Harvester^® could represent an opportunity for Italian farms in the planning of berry production and marketing, involving all of the supply chain actors. Further research on the use of mechanization in the sector must continue and be supported. Full article

(This article belongs to the Special Issue Mechanical Harvesting Technology in Orchards)

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13 pages, 5236 KiB

Open AccessArticle

Sugar Beet Damage Detection during Harvesting Using Different Convolutional Neural Network Models

by Abozar Nasirahmadi, Ulrike Wilczek and Oliver Hensel

Agriculture 2021, 11(11), 1111; https://doi.org/10.3390/agriculture11111111 - 9 Nov 2021

Cited by 17 | Viewed by 3453

Abstract

Mechanical damages of sugar beet during harvesting affects the quality of the final products and sugar yield. The mechanical damage of sugar beet is assessed randomly by operators of harvesters and can depend on the subjective opinion and experience of the operator due to the complexity of the harvester machines. Thus, the main aim of this study was to determine whether a digital two-dimensional imaging system coupled with convolutional neural network (CNN) techniques could be utilized to detect visible mechanical damage in sugar beet during harvesting in a harvester machine. In this research, various detector models based on the CNN, including You Only Look Once (YOLO) v4, region-based fully convolutional network (R-FCN) and faster regions with convolutional neural network features (Faster R-CNN) were developed. Sugar beet image data during harvesting from a harvester in different farming conditions were used for training and validation of the proposed models. The experimental results showed that the YOLO v4 CSPDarknet53 method was able to detect damage in sugar beet with better performance (recall, precision and F1-score of about 92, 94 and 93%, respectively) and higher speed (around 29 frames per second) compared to the other developed CNNs. By means of a CNN-based vision system, it was possible to automatically detect sugar beet damage within the sugar beet harvester machine. Full article

(This article belongs to the Special Issue Mechanical Harvesting Technology in Orchards)

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10 pages, 7116 KiB

Open AccessArticle

Comparison of a Lightweight Experimental Shaker and an Orchard Tractor Mounted Trunk Shaker for Fresh Market Citrus Harvesting

by Coral Ortiz, Antonio Torregrosa and Sergio Castro-García

Agriculture 2021, 11(11), 1092; https://doi.org/10.3390/agriculture11111092 - 4 Nov 2021

Cited by 7 | Viewed by 2568

Abstract

A designed lightweight experimental shaker successfully used to collect ornamental oranges has been tested to harvest fresh market citrus. The aim of this study was to evaluate the removal efficiency and operational times of this experimental device compared to an orchard trunk shaker. Three different collecting systems were studied. ‘Caracara’ citrus trees were tested. Removal efficiency, vibration parameters, fruit and tree damages, and fruit quality were measured. A high-speed camera was used to record operational times and determine cumulative removal percentage over vibration time. The canvases on the ground reduced the severe fruit damages but were not useful to protect against light damages. The experimental shaker produced a higher percentage of slightly damaged oranges. No significant differences in removal efficiency were found between the two harvesting systems. However, removal efficiency using the experimental device could be reduced by 40 percent and working time increase by more than 50 percent when access to the main branches was difficult. In agreement with previous results, the curve representing the branch cumulative removal percentage in time followed a sigmoidal pattern. A model was built showing that during the first 5 s more than 50 percent of the fruits were detached. Full article

(This article belongs to the Special Issue Mechanical Harvesting Technology in Orchards)

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