An automatic apple harvesting system for intensive orchards using a peristaltic fruit transport system

The proposed system of automatic apple harvesting in intensive orchards is an autonomous mobile platform on which a manipulator for gripping fruits is installed. The disadvantages of such common designs for transporting fruits from the gripping device to the storage bin as manipulators and flexible pipes with negative pressure are considered. In order to avoid the above disadvantages and damage to apples during movement, their transportation using a peristaltic system is considered. Calculations are made of the performance of the fan of this system and the fan of the pipe vacuum with  specific models. The dependence of the aerodynamic resistance of the system on the air flow rate and the dependence of the required pressure for lifting the apple on its diameter are obtained. The proposed peristaltic system consists of a multi-segment inflatable pipe and a rotating pneumatic distributor. The operating principle of the peristaltic pipe is developed, consisting in alternately increasing and releasing the pressure in the mains. The calculation performed showed that the fan is not suitable for separating an apple from a branch, since the required vacuum is very high and unachievable by fans whose dimensions would allow them to be installed on a movable platform. For this task, it is advisable to use a vacuum pump, the performance of which is calculated with the selection of a specific model and is sufficient for the required collection performance. The hardware composition of the installation is described, its general appearance is presented and its structural diagram is developed. The developed system of automatic apple collection allows for the automation of manual labor without damaging the fruit and provides savings due to the use of low-skilled labor.

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