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Deep-grain walnut fruit harvesting method based on unmanned aerial vehicle

A technology for fruit harvesting and deep-grained walnuts, applied in horticultural methods, botanical equipment and methods, picking machines, etc., can solve problems such as high safety risks, difficult walnut operation, tree damage, etc., and achieve high harvesting efficiency , The effect of no decline in the amount of fruit in the next year, and the avoidance of damage and damage

Pending Publication Date: 2022-08-09
YUNNAN ACAD OF FORESTRY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0013] This application provides a method for harvesting deep-groined walnut fruit based on drones, which is used to solve the traditional walnut harvesting method in the prior art with high cost, high safety risk, low efficiency, and damage to the tree body; now There are technical problems that harvesting walnuts by drone is difficult, inefficient, easy to damage the tree body and leaf integrity, and affect the amount of tree fruit in the next year

Method used

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  • Deep-grain walnut fruit harvesting method based on unmanned aerial vehicle
  • Deep-grain walnut fruit harvesting method based on unmanned aerial vehicle
  • Deep-grain walnut fruit harvesting method based on unmanned aerial vehicle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0080] see Figures 1 to 4 Harvest according to the method provided in this application, which specifically includes the following steps:

[0081] 1) pruning obtains a multi-branch open-hearted deep-grained walnut tree body, and there is a walnut fruit with green skin opening on the tree body;

[0082] 2) When more than 80% of the leaves on the tree are yellow and the compound leaves are easy to fall off, use a large and medium-sized multi-rotor drone 1 with a total weight of 50kg to fly to the top of the tree canopy, and 1m above the canopy at a low speed of 1m / s Flying, the drone moves on the canopy according to the preset trajectory until the flight mission of the canopy in the entire picking area is completed;

[0083] 3) The multi-rotor unmanned aerial vehicle 1 flying on the canopy generates a downwash air flow 2, and under the action of the downwash air flow 2, the walnut tree body vibrates, and the ripe fruit of the walnut is swept and / or shaken off the ground. Colle...

Embodiment 2

[0096] The difference from Example 1 is: the ultrasonic radar used; the large and medium-sized multi-rotor UAV used is 20kg; the flying height is 0.5m above the tree canopy; the flying speed is 0m / s for hovering;

[0097] 5% of the fruit on the whole tree is walnut fruit with green skin opening;

[0098] The operation of spraying ethephon with a mass concentration of 0.3% to the canopy leaves.

[0099] The projected area of ​​the green peeled fruit on the plane is 7cm 2 .

Embodiment 3

[0101] The difference from Example 1 is: the ultrasonic radar used; the large and medium-sized multi-rotor unmanned aerial vehicle used is 60kg; the flight height is 2m above the tree canopy; the flight speed is 2m / s and cruises according to the predetermined trajectory;

[0102] 15% of the fruit on the whole tree is walnut fruit with green skin opening;

[0103] The operation of spraying ethephon with a mass concentration of 0.5% to the canopy leaves.

[0104] The projected area of ​​the green peeled fruit on the plane is 5cm 2 .

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Abstract

The invention discloses a deep-grain walnut fruit harvesting method based on an unmanned aerial vehicle. The deep-grain walnut fruit harvesting method comprises the following steps that 1, deep-grain walnuts are trimmed to cultivate a multi-main-branch open-center tree body; (2) when 5-15% of green peel (namely testa) cracks of fruits born on the tree body, spraying an ethephon solution with the concentration of 0.3-0.5% on the surfaces and leaves of the fruits by using an unmanned aerial vehicle, and when 80% or more of leaves on the tree body become yellow and the leaves are easy to fall off, flying to the upper part of a tree crown by using a large and medium-sized multi-rotor unmanned aerial vehicle with the total weight of 30-80kg, the unmanned aerial vehicle flies or hovers at a low speed of 0-2 m / s at a position 0.5-2 m above the crown, and the unmanned aerial vehicle moves on the crown according to a preset track until the flight task on the crown of the whole picking area is completed; (3) harvesting is completed. According to the method, after the multi-rotor unmanned aerial vehicle takes off, downward washing airflow which is generated below a vehicle body and blows downwards is mainly used for achieving comprehensive blowing of tree bodies from tree crowns to the bottoms, and therefore automatic harvesting of walnut fruits is achieved.

Description

technical field [0001] The present application relates to the technical field of walnut harvesting, in particular to a method for harvesting deep-grained walnut fruits based on drones. Background technique [0002] Juglans sigillata D and Juglans regia L are widely cultivated walnut varieties in China. Deep-grained walnut, also known as Yunnan walnut and southern walnut, has three most representative cultivated varieties, namely 'Yangbipao walnut', 'Santai walnut' and 'Xixiang walnut'. The tree body of the deep-grained walnut is particularly tall, generally 10 to 30 meters tall, and it is difficult to harvest. The walnut planting area in the province is as high as 43.8 million mu, of which the deep-grained walnut accounts for more than 98%, of which the 'Yangbipao walnut' variety accounts for more than 70%. [0003] The growth characteristics of Yunnan deep-grained walnut are: flowering and fruiting in early and mid-March, and the fast-growing period of the fruit from May ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A01D46/00A01G7/06B64C27/08
CPCA01D46/005A01G7/06B64C27/08B64U2201/10B64U10/10B64U2101/00
Inventor 习学良陈勤范志远缪福俊郭关柱
Owner YUNNAN ACAD OF FORESTRY
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