Authors

Abstract

In most parts of China, pruned branches in orchards are still treated manually. In order to reduce the intensity and labor cost, this paper provides a mechanical solution for branches collection, which mainly includes the gathering device, picking device, and smashing device. A simulation platform with a human-computer interaction was developed in Matlab. It can set optimization goals based on human practical experience and optimize the main influencing parameters, and both the gathering device and the picking device achieve the design simulation on this platform. Furthermore, this method helps to quickly obtain the data of key components in the core device. Firstly, the shape of the Slide-way shell of the gathering device can be obtained quickly through different gathering ranges. Secondly, a group of angle and motion trajectory of the picking device with lower height was obtained from the simulation design. Furthermore, the performance of the improved picking device under four different laying conditions was tested. The results showed that, under R=38-42 r/min and V=0.80-0.95 m/s, the success rate of the picking device was 94.2%, 92.5%, 61.0% and 30.8%, respectively. The field test demonstrated that there are no significant differences between the simulated test results and practice test results.

Abstract in Chinese

在中国的大部分地区，果园里修剪过的树枝仍然是主要依靠人工处理的。为了降低劳动强度和管理成本，本文提出了一种机械化处理枝条的方案，主要包括聚拢装置、捡拾装置和粉碎装置。在Matlab中开发了具有人机交互功能的仿真平台。它可以根据人类的实践经验设定优化目标，对主要影响参数进行优化。聚拢装置和捡拾装置均在此平台上实现了模拟仿真运动。该方法有助于快速获取核心设备中关键部件的数据。首先，通过聚拢范围的不同，能够快速获得聚拢装置滑道壳体上滑道的形状。其次，能够得到了一组合理的捡拾装置的角度和运动轨迹。此外，还对改进后的拾取装置在四种不同铺设条件下的性能进行了试验。结果表明，在R=38~42r/min、V=0.80~0.95m/s条件下，采摘装置的成功率分别为94.2%、92.5%、61.0%和30.8%。场地试验结果表明，模拟试验结果与实际试验结果无显著差异。