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

[EN] 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 detachedThis research has been fund by the European Agricultural Fund for Rural Development and cofounded by the Ministerio de Agricultura, Pesca y Alimentacion (project GO "Avances tecnologicos para la modernizacion y la sostenibilidad en la produccion de citricos CITRUSTECH").Ortiz Sánchez, MC.; Torregrosa, A.; Castro-García, S. (2021). Comparison of a Lightweight Experimental Shaker and an Orchard Tractor Mounted Trunk Shaker for Fresh Market Citrus Harvesting. Agriculture. 11(11):1-10. https://doi.org/10.3390/agriculture11111092110111

Assessment of a Side-Row Continuous Canopy Shaking Harvester and Its Adaptability to the Portuguese Cobrançosa Variety in High-Density Olive Orchards

The olive tree is an important crop in Portugal, where different levels of intensification coexist. The traditional olive orchards present profitability problems, mainly due to harvesting, so there has been a drastic reconversion towards high-density or super-high-density olive orchards. The latter present major constraints due to very specific needs for their use, being practically destined for new orchards. Consequently, the possibility of using systems based on canopy shakers in high-density olive orchards with local varieties is promising. The objective of this work is to evaluate a prototype canopy shaker for the harvesting of high-density olive orchards of the Portuguese variety ‘Cobrançosa’. The evaluation is based on the study of canopy shaking in order to adapt canopy training and the adaptability of the machine. For this purpose, the vibration of 72 points of the tree canopy was recorded and a qualitative assessment of the harvest was carried out. Differences were found between the different zones according to the direction of the forward movement of the harvester and the distance to the trunk. These differences were associated with the values obtained for fruit detachment, and a greater quantity of fruit was harvested in the areas of the canopy in contact with the rods

Mechanical damage characteristics and nondestructive testing techniques of fruits: a review

Abstract Fruits will be subjected inevitably to various external forces in the process of harvesting, transportation, processing, and storage, which will cause mechanical damage. The research on mechanical properties and damage mechanisms of fruit can effectively control its loss. In this study, fruits are divided into different types according to their morphology and structure. The impact, vibration, static pressure, and other mechanical damage on fruits are studied. It is important to identify the damaged parts of fruit after damage quickly and accurately. Therefore, this study analyzes the application of nondestructive testing technologies such as spectral detection technology, NMR (nuclear magnetic resonance) detection technology, and acoustic and electrical characteristics detection technology in fruit damage detection

VIBRATION TRANSMISSIBILITY OF THE COFFEE FRUIT-PEDUNCLE SYSTEM: A FORCED VIBRATION STUDY OF HIGH FREQUENCY AIMING MECHANICAL HARVESTING

ABSTRACT Semi-mechanized and mechanized harvesting use machines that promote the transference of vibrational energy and impact to achieve the detachment of coffee fruits. The aim of this study was to evaluate the vibration transmissibility in coffee fruit-peduncle systems, using high-speed cameras, submitted to high frequency harmonic excitation in different combinations between frequency and amplitude of vibration, identifying working ranges suitable to perform selective harvesting. Vibration transmissibility was determined for the coffee fruit-peduncle systems, for the maturation stages unripe and ripe that were subjected to a sinusoidal harmonic displacement, in which the input parameters were frequency (35, 45 and 55 Hz) and peak-to-peak amplitude (3.5, 5.0 and 6.5 mm). An experiment was used to study the effect of frequency and amplitude on vibration transmissibility in a completely randomized design in a factorial scheme 3 x 3 x 2, with three replications. The frequency of 35 Hz, associated with the amplitudes 3.5-6.5 mm, was the one that most influenced the results of vibration transmissibility. For the frequency of 55 Hz and amplitude of 6.5 mm, in the ripe maturation stage, the vibration transmissibility was higher than 1.0, which could be a suitable combination for selective coffee harvesting

Integral olive harvesting systems: characterization, adjustment and improvements

La presente tesis doctoral aborda el estudio conjunto de la recolección mecanizada y la poda del olivo para mejorar el uso de las cosechadoras, actuales y en desarrollo, por medio de la adaptación del árbol y el diseño de la plantación. Se han considerado tres de las principales tipologías de cultivo del olivo presentes en España: tradicional, intensivo y superintensivo. Las adaptaciones del árbol a la máquina se han centrado en el olivar tradicional, ya que apenas se realizan nuevas plantaciones de esta tipología de cultivo, mientras que, el diseño de plantación se ha estudiado para el olivar superintensivo, En caso del olivar intensivo se han tenido en cuenta ambos factores. Para determinar la influencia del diseño de plantación sobre el funcionamiento de las cosechadoras de olivar se ha desarrollado un sistema de seguimiento remoto y una metodología de análisis de tiempos, junto con un monitor de rendimiento. Estos desarrollos han permitido la obtención y análisis de un gran volumen de datos para tres cosechadoras comerciales de olivar. En cuanto a la adaptación del árbol a las cosechadoras, se ha estudiado la distribución de la producción de aceite en la copa del árbol, tanto en calidad como en cantidad, para establecer las zonas prioritarias donde debe actuar un sistema de recolección mecanizada. Además, se han establecido tres tratamientos de poda para evaluar la adaptación del olivar tradicional a la recolección con cosechadoras, tanto actuales como en desarrollo. La caracterización de la estructura del árbol se ha completado con una metodología para evaluar la porosidad de copa basada en la radiación transmitida. Finalmente, a nivel de fruto se ha determinado el efecto que genera la aplicación de esfuerzos torsores en el pedúnculo del fruto, de cara a mejorar el porcentaje de derribo que podría obtenerse con una cosechadora en futuros desarrollos. Actualmente, el olivar superintensivo cuenta con un sistema de cosecha muy eficiente y con una alta capacidad de trabajo, aunque sensible a distintos parámetros de diseño de la plantación como son el ancho de calle de servicio o la longitud de línea de árboles. Al igual que el olivar superintensivo, las explotaciones intensivas requieren una adaptación del árbol a la cosechadora, mientras que el sistema de derribo se diseña para obtener una mayor eficiencia en aquellas zonas de la copa de mayor interés, como la zona exterior y superior del árbol. Del mismo modo, el olivar tradicional requiere una adaptación importante de la estructura del árbol para mejorar la eficiencia de la cosechadora. La adaptación de la estructura del árbol no ha influido en la producción de frutos en el periodo estudiado. Sin embargo, en algunos casos se ha producido una reducción de la producción de frutos en zonas de la copa que son difícilmente accesibles para algunos sistemas de derribo, como ocurre con la producción de las ramas interiores. Todo ello, a pesar de que la aplicación de diferentes tratamientos de poda si ha generado diferencias en la porosidad de la copa y, por lo tanto, en la radiación transmitida. Por último, se ha determinado que es recomendable generar giros superiores a 180º en los frutos para facilitar su desprendimiento, variando los resultados en función de la variedad.This doctoral thesis addresses the related studies of mechanised olive harvesting and pruning of olive trees, in order to improve their use by present and developing harvesters, through the adaptation of the tree and the layout of the orchard. In the research, the three main orchard categories currently in use in Spain have been considered: traditional, intensive and super high density olive orchards. On one hand, the adaptation of the tree to the harvester by pruning has been focused in traditional orchards, since very few new orchards are planted in this way. On the other hand, orchard layout was mainly considered for super high density orchards: whilst for intensive orchards, both factors were studied. A remote tracking system, a time elements methodology and a yield monitor were developed for the study of olive harvesters. Using these devices, a large data set from three olive harvesters was gathered and analysed. This data set was used to assess the influence of orchard layout on harvesting performance. Regarding the adaption of the tree to the harvesting system, the distribution of olive oil yield in the tree canopy has been studied – regarding quality as much as quantity – in order to establish a system to increase harvesting efficiency. Furthermore, three pruning treatments were tested, in order to evaluate the adaptation of traditional olive trees to different harvesting systems. A methodology for the measurement of olive tree crown porosity was developed and tested, based on radiation transmittance, in order to describe olive tree structure. Finally, the effects of twisting forces on fruit stalks were assessed in order to improve harvesting efficiency for further harvester developments. Currently, super high density olive orchards have an efficient and highly effective harvesting system, although this is influenced by orchard layout, mainly alley width and row length. The adaptation of trees to the harvester is required by both super high density and intensive olive orchards. Furthermore, the fruit detachment system should be designed to obtain high harvesting efficiency in those canopy areas which are more productive to harvest, such as the outer canopy and upper canopy. In the same way, traditional olive trees require important adaptations in order to increase harvesting efficiency, although it was found that debris production is not related to pruning treatments. Tree pruning did not influence the total fruit yield, although in some cases, fruit distribution has been modified by pruning, reducing yield within the inner canopy, which is more difficult to reach with some harvesting systems. Despite this, crown porosity and thus radiation transmittance were affected by pruning treatment. Finally, it was found that it is advisable to apply stalk twisting angles over 180 º in order to improve fruit detachment process although different cultivar behaviour was observed

Current status and future trends of mechanized fruit thinning devices and sensor technology

This paper reviews the different concepts that have been investigated concerning the mechanization of fruit thinning as well as multiple working principles and solutions that have been developed for feature extraction of horticultural products, both in the field and industrial environments. The research should be committed towards selective methods, which inevitably need to incorporate some kinds of sensor technology. Computer vision often comes out as an obvious solution for unstructured detection problems, although leaves despite the chosen point of view frequently occlude fruits. Further research on non-traditional sensors that are capable of object differentiation is needed. Ultrasonic and Near Infrared (NIR) technologies have been investigated for applications related to horticultural produce and show a potential to satisfy this need while simultaneously providing spatial information as time of flight sensors. Light Detection and Ranging (LIDAR) technology also shows a huge potential but it implies much greater costs and the related equipment is usually much larger, making it less suitable for portable devices, which may serve a purpose on smaller unstructured orchards. Portable devices may serve a purpose on these types of orchards. In what concerns sensor methods, on-tree fruit detection, major challenge is to overcome the problem of fruits’ occlusion by leaves and branches. Hence, nontraditional sensors capable of providing some type of differentiation should be investigated.This work was developed as part of +Pêssego project which purpose is to promote the innovation and development of peach tree culture in the region of Beira Interior, Portugal. This project was financed by a national rural development and support program, PRODER.info:eu-repo/semantics/publishedVersio

Evaluation of Over-The-Row Harvester Damage in a Super-High-Density Olive Orchard Using On-Board Sensing Techniques

New super-high-density (SHD) olive orchards designed for mechanical harvesting using over-the-row harvesters are becoming increasingly common around the world. Some studies regarding olive SHD harvesting have focused on the effective removal of the olive fruits; however, the energy applied to the canopy by the harvesting machine that can result in fruit damage, structural damage or extra stress on the trees has been little studied. Using conventional analyses, this study investigates the effects of different nominal speeds and beating frequencies on the removal efficiency and the potential for fruit damage, and it uses remote sensing to determine changes in the plant structures of two varieties of olive trees (‘Manzanilla Cacereña’ and ‘Manzanilla de Sevilla’) planted in SHD orchards harvested by an over-the-row harvester. ‘Manzanilla de Sevilla’ fruit was the least tolerant to damage, and for this variety, harvesting at the highest nominal speed led to the greatest percentage of fruits with cuts. Different vibration patterns were applied to the olive trees and were evaluated using triaxial accelerometers. The use of two light detection and ranging (LiDAR) sensing devices allowed us to evaluate structural changes in the studied olive trees. Before- and after-harvest measurements revealed significant differences in the LiDAR data analysis, particularly at the highest nominal speed. The results of this work show that the operating conditions of the harvester are key to minimising fruit damage and that a rapid estimate of the damage produced by an over-the-row harvester with contactless sensing could provide useful information for automatically adjusting the machine parameters in individual olive groves in the future.Ministerio de Economía y Competitividad AGL2013-46343-RJunta de Andalucía P12-AGR-122

Vibrations Analysis of the Fruit-Pedicel System of Coffea arabica var. Castillo Using Time-Frequency and Wavelets Techniques

Colombian coffee production is well-known, and selective manual harvesting plays a vital task in guaranteeing high ripe coffee fruit rates in this process, leading to its known worldwide aroma and flavor. To maintain this quality approach, selective harvesting methods based on mechanical vibrations are a promising alternative for developing technologies that could accomplish the challenging Colombian coffee production context. In this study, a vibrations analysis in coffee fruits at three ripening stages was carried out to evaluate the dynamic behavior at two frequency windows: 10 to 100 Hz and 100 to 1000 Hz. Two groups of fruits previously classified in the CIELab color space were chosen for the vibration test study samples. Time and frequency signals were characterized via FFT (fast Fourier transform), and bump wavelets were determined to obtain the frequency-time magnitude scalograms. The measurements were obtained in three degrees of freedom over the fruits: one for measuring the input force (computed in voltage way) and the other two measured by the velocity. The results revealed frequency ranges with specific resonant peaks between 24 and 45 Hz, and close to 700 Hz, where the ripe fruits presented higher magnitudes in the calculated parameters. FFT of the velocity and scaled mechanical impedance were used to estimate these frequency ranges. This work is an important step to identify a "vibrational fingerprint " of each Coffea arabica var. Castillo fruit-ripening stage. However, we consider that more experiments should be performed to reconstruct the modal shape in each resonance. In future studies, fatigue analysis could show which are the most effective frequency ranges to detach the ripe fruits from the perspective of a real selective coffee-harvesting scenario.</p