An automatic trunk-detection system for intensive olive harvesting with trunk shaker.
Autor
Colmenero‐Martínez, José T.
Blanco Roldán, Gregorio L.
Bayano Tejero, Sergio
Castillo-Ruiz, Francisco J.
Sola Guirado, Rafael Rubén
Gil Ribes, Jesús
Editor
ElsevierFecha
2018Materia
VibrationHarvesting automation
Trunk grabbing
Trunk gripping
Effective field capacity
Debarking
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Trunk shakers are widely used for olive harvesting, being the main detachment system for
fruit harvesting. In recent decades, the components of trunk shakers have evolved at
mechanical, hydraulic and control levels. However, machine accuracy depends on the
operator, whose expertise is a key factor for issues such as trunk debarking caused by
grabbing systems, shaking parameters, or on-foot operator safety. The objective of this
work was to develop an automatic trunk-detection system to reduce operator influence on
the process. Thus, the automatic system via infrared sensor was implemented on a trunk
shaker head hitched to a tractor. A control algorithm, control logic and display for trunk
grabbing automation were developed. The automatic system was tested under laboratory
and field conditions to assess the influence of some variables on trunk detection. The
evaluated variables were colour, material, diameter, and target location within the sensor
field of vision. The success rate of the automatic system was 91% for trunk grabbing. In the
field phase, the efficacy of the automatic system was compared to an operator performing
the tasks manually, obtaining times of 16.05 ± 2.8 s/tree and 21.54 ± 5.29 s/tree
respectively, and a percentage of success in trunk grabbing of 92.9%. Automatic mode
improved manual mode by saving 27.3% of time, improving effective field capacity. The
automatic mode developed here provided a high ratio of success and it showed highly
reliable and efficient performance compared with manual mode.