油茶果机械采摘花苞损伤机理及低损伤花苞采摘技术研究

Camellia fruit and bud in the same period during Camellia fruit harvesting,which always led to bud damage seriously by machine,while bud damage will greatly influence the output of the camellia fruit.Through domestic and foreign related research,the mechanism of bud damage in Camellia fruit picking by machine is not yet clear.In order to explore the mechanism of bud damage by machine,this project using machine vision and high speed camera technical analysis the process of camellia fruit picking,include form,organization change and law of bud damage.Through the mechanics test and finite element analysis, the biomechanical characteristcs of Camellia bud and branch,Camellia fruit and branch, the physical and mechanical properties of picking element and Camellia bud, the mechanism damage degree of Camellia bud and the relationship between the three are studied.By means of Camellia oleifera fruit picking test and automatic data acquisition system, the force size, position and nature of bud damage,the rule of camellia fruit picking by machine and bud damage are studied for establishing evaluation index of bud damage,so as to provide reference for the study of Camellia fruit picking machine.Through camellia fruit picking device test research, this ptoject reveals bud damage mechanism during Camellia harvesting by machine, as well as the factors between the way that camellia fruit picking by machine and the picking parts, looking for new camellia fruit picking principle, then designed low damage bud camellia fruit picking device. This research to promote the camellia fruit mechanical recovery device core technology development is of great significance.

油茶果采摘时花果同期导致在机械采摘过程中花苞损伤严重，而花苞的损伤会极大影响油茶果来年的产量，目前尚未研究清楚油茶果机械采摘中花苞损伤的机理。本项目采用机器视觉和高速摄像技术分析油茶果机械采摘中花苞损伤形式、组织变化及其规律。通过力学试验和有限元分析，研究油茶花苞与果枝、油茶果与果枝间的生物力学特性、采摘元件与花苞作用的物理机械特性、采摘中花苞机械损伤程度及其三者之间的联系；借助油茶果机械采摘试验和数据自动采集系统，研究油茶果机械采摘中花苞受力大小、部位与性质、油茶果机械采摘与花苞损伤之间的规律，建立油茶果机械采摘花苞损伤度评价指标，为油茶果机械采摘研究提供参考。通过油茶果采摘装置试验研究，揭示机械采果中花苞损伤机理，以及低损伤花苞油茶果机械采摘方式与采摘部件之间的关系、寻找新的油茶果采摘原理、进而研制低损伤花苞油茶果采摘装置。本研究对促进油茶果机械采收装置核心技术发展具有重要意义。

油茶果机械采摘中花苞损伤问题易影响油茶树来年的产量和油茶果采摘机械的研发。本项目对油茶果及花苞的生物力学特性进行了测量，开发了油茶果生物力学在线测量系统，结果表明油茶果纵向拉力和横向扭断力均大于油茶花苞，单纯依靠拉力纵向或横向采摘油茶果易损伤花苞。建立了齿梳拨刀式油茶果采摘机械模型，对不同拨刀加速度和初速度交互影响下的油茶果、油茶花苞与拨刀装置相互作用情况进行了仿真分析，得到了油茶果、油茶花苞脱落的临界参数，揭示了齿梳拨刀式装置采摘油茶果的花苞损伤机理。开展了低损伤花苞采摘技术研究，搭建基于嵌入式控制器的工业机器人柔性抓取和采摘力控制试验平台，研制了齿梳拨刀式和胶辊式两种油茶果机械采摘装置并进行了相关试验。试验结果表明齿梳拨刀式和胶辊式油茶果采摘装置在采果时能减少对花苞的损伤，但采摘效率有待提高，两种油茶果机械采摘装置可为低损伤花苞油茶果机械的研发提供技术参考。