The Design And Research Of The Electronic Fruit For Forest Fruit Harvesting In The Vibration

China is the world’s superpower fruit planting,there are many different kinds of fruits and huge output.But supply of fresh fruit in the fruit market are mainly composed of manual picking.Recovery efficiency and the high proportion of fruit injury always in hampering recovery equipment development.To improve the performance of the existing recovery harvesting equipment,the main purpose of this dissertation is the whole process of developing a flat ball type sensor in vibration simulation of fruit during harvest,record the dynamic information,and comprehensive evaluation of mechanical harvesting and fruit harvest performance impact.1.The basic principle of the dynamic information acquisition technology of "electronic fruit" is analyzed,and the vibration dynamic equation of the "fruit-tree" of sessile fruit is established on the basis of the research on the dynamic model of the fruit trees,establish a Lagrange vibration differential equation and solving the motion equation of simple pendulum model for fruit.The study on the separation conditions of fruit and tree shows that the normal inertia force is the main parameter that affects the fruit falling off when the gravity and tangential inertia force of small fruit is ignored,that is,the normal inertial force is greater than the binding force between the fruit and tree.The actual conditions of fruit abscission were obtained by brought it into the dynamic equation of the "fruit-tree",which not only analyzed the influence factors of fruit removal from the theoretical point of view,but also provided the basis for the verification of the model.2.The system of electronic fruit was designed.The hardware part is mainly composed of a Atmega-328 p MCU,a 1G SD memory module,a 7.4V power module,a ADXL345 acceleration detection unit and a 3.3V voltage regulator circuit;The main functions of the control system include the I/O port initialization resistance state control,sensor initialization settings,vibration signal detection,data storage;Matlab based host computer analysis software can load data,using Fourier algorithm to process the acquisition signal,output waveform.3.The verification test of electronic fruit was carried out.The experimental results show that that the error of X-axis of electronic fruit is between 5.6%and 6.4%,the error of Y-axis of electronic fruit is between 4.4%and 4.9%,the error of Z-axis of electronic fruit is between3.3%and 3.6%,which can meet the requirements of agricultural use.The fruit tree dynamicmodel was validated by experiments,through four groups of tests found that the swing of electronic fruit in the effect of inertia force is 25.5 mm,the separation force is 11.32 N,the calculated value of the theoretical model is 17.25 N,which is stronger than that of fruit-fruit handle.It is proved that the inertia force is the main force in the process of fruit abscission.According to the calculated acceleration of electronic fruit collection,the separation force is11.4N,so it can meet the actual fruit abscission condition according to the force value of the theoretical model.