Automation of commercial wild blueberry harvester to improve harvestable berry yield and minimize operator stress

野生蓝莓产业正面临着越来越多的收获损失（15%至25%），这是由于作物参数（株高、植株密度、果区）、田间条件（岩石、斜坡、裸地、杂草）和果实产量的大幅变化造成的。目前，收割机操作员必须根据作物/田地条件的变化和果实产量，基于他/她的判断，频繁地手动调整机器设置（收割头高度、地面速度、收割头rpm），以减少果实损失。野生蓝莓种植系统与其他封闭式冠层作物相比的独特特征强调了开发自动化系统的必要性，以提高收割机和操作员的效率，从而提高浆果产量和质量。拟议研究计划的总体目标是开发一种具有成本效益的传感和控制系统，以自动化蓝莓收获机，以提高可收获产量并减少操作员的压力。野生蓝莓种植者设定了一个目标，在未来五年内将可收获产量 ** 提高33%。为了实现这一里程碑，设想的基于技术的产品和工艺包括：（i）开发一种创新技术，以在收获期间实时感测植物高度、地面/岩石和果实产量;（ii）开发一种计算机化自动控制系统，以便于在收获期间对头部高度、地面速度和头部rpm进行动态决策;（iii）开发一种基于技术的产品和工艺，以在收获期间实时感测植物高度、地面/岩石和果实产量。（iii）比较自动化收割机与传统收割机，以改善采摘浆果的效率;及（iv）以创新的自动化收割机取代非自动化收割机。该建议是达尔豪西大学与新斯科舍省科林伍德的道格布拉格企业合作进行的多学科研究工作的一部分。产业界和科学家之间的合作旨在开发创新和可行的技术，以提高可收获产量，随着时间的推移帮助稳定产量，提高农场盈利能力，并最终导致加拿大野生蓝莓产业的可持续发展。在没有额外费用的情况下提高采伐效率（仅为5%）每年将为NS经济贡献550万美元，为大西洋省和魁北克贡献3100万美元。

The wild blueberry industry is facing increased harvesting losses (15 to 25%), caused by substantial variation in crop parameters (plant height, plant density, fruit zone), field conditions (rocks, slope, bare spots, weeds) and fruit yield. Currently, the harvester operator has to frequently adjust machine settings (head height, ground speed, header rpm) manually, based on his/her judgment, according to the variation in crop/field conditions, and fruit yield to reduce fruit loss. The unique features of the wild blueberry cropping system as compared to other closed canopy crops emphasize the need for the development of automated systems to increase harvester and operator efficiency in order to improve berry yield and quality. The overall goal of the proposed research initiative is to develop a cost-effective sensing and control system to automate blueberry harvester to increase harvestable yield and decrease operator stress. Wild blueberry growers set a goal to increase harvestable yield**by 33% in the next five years. To achieve this milestone, the technology based products and processes envisioned include; (i) develop an innovative technology to sense plant height, ground/rock and fruit yields in real-time during harvesting; (ii) develop a computerized automated control system to facilitate on -the- go decision making regarding head height, ground speed and head rpm during harvesting; (iii) compare automated harvester with traditional harvester to improve berry picking efficiency; and (iv) replacement of non-automated harvester with innovative automated harvester. This proposal is part of a multi¬disciplinary research effort at Dalhousie University in collaboration with Doug Bragg Enterprises, Collingwood, Nova Scotia. This collaboration between industry and scientists was initiated to develop innovative and viable technologies that will enhance harvestable yield, assist with stabilization of yields over time, and increase farm profitability and ultimately lead to a more sustainable wild blueberry industry in Canada. Increased harvesting efficiency (say 5% only) with no additional expense would contribute $5.5 million to the NS economy and $31 million to Atlantic Provinces and Quebec every year.