基于双源激振的果品自适应振动采收机理及装置研究

项目名称： 基于双源激振的果品自适应振动采收机理及装置研究

项目编号： No.51505431

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 机械、仪表工业

项目作者： 贺磊盈

作者单位： 浙江理工大学

项目金额： 22万元

中文摘要： 机械式果品振动采收已得到广泛的研究，但传统的树干振摇式果品振动采收方式由于其效率低、对树的高损伤率等缺点限制了它的应用。针对这个问题，本项目提出了一种双源激振主枝的果品自适应振动采收方法，研制了相应的振动采收装置。利用高速立体视觉技术重建果枝-果柄-果实子系统的三维运动状态，分析它们的运动规律，估计引起果实脱落的作用力，揭示果实的振动脱落机理。利用传递矩阵法建立相对高效、准确的果树系统动力学模型，并结合果树动力学特性测试试验进行修正。以等功率激振下树枝产生的最大加速度为目标，在满足高效、低损伤的前提下建立多目标优化模型，求解理想的振动采收工作参数。研制双振动头的果实自适应振动采收装置，并把优化后的振动工作参数应用到振动采收试验中。本项目的研究将提升我国在果品振动采收研究领域的理论水平，为智能化果品振动采收装置的研制和应用提供参考和技术储备。

中文关键词： 收获机械；振动采收；自适应；立体视觉；传递矩阵

英文摘要： Vibratory fruit harvesting has been extensive researched. The traditional trunk shaker was limited application due to its inefficiency and high damage to the tree. To address this problem, this project puts forward a method for self-adaptive vibratory fruit harvesting under dual-source excitations, and develops a vibratory harvesting prototype for testing. After reconstructing the 3D motion status of the sub-system, including branch, peduncle and fruit, using high-speed stereo vision, the sub-system’s motion law can be analyzed. Thus, the detachment force causing the fruit to fall off can be estimated, and the mechanism of fruit detachment under vibration can be found eventually. Employing the transfer matrix method, a relatively efficient and accurate dynamics of the whole fruit tree was established, and then was modified by the experimental measurements of tree’s dynamic characteristics. To maximize the accelerations of the whole tree under the same power exciting, the multi-objective optimization model was established on the premise of high efficiency and low damage, and the optimized operating parameters for vibratory harvesting were calculated. Finally, a self-adaptive vibratory fruit harvester with double vibration heads was been developed, and then was applied to a test of vibratory fruit harvesting with the optimized operating parameters. The objective of this research will enhance the level of theory in the vibratory fruit harvesting, and provide some valuable technology for development and application of intelligent vibratory fruit harvester.

英文关键词： harvester;vibratory harvesting;self-adaptive;stereo vision;transfer matrix